Method for separating a relief object from a flexible support and automated device enabling the implementation of the separation method.

Abstract

The invention relates to a method for separating a relief object from a flexible support and to an automated device for implementing the separation method. The separation method implements the following steps: - positioning a flexible support (10) against a movable element; - a step of holding a relief object (46) stuck to the flexible support, by gripping means; then - a step of detaching the flexible support (10) from the relief object (46), simultaneously implementing: - a movement of the movable element, relative to the gripping means, until the relief object (46) crosses a separation edge (14) of the movable element; and - a tensile force on the flexible support (10) so as to hold the flexible support (10) against the separation edge (14) of the movable element. Figure selected to appear on the first page of the patent application: Figure 6

Description

Title of the invention: Method for separating a relief object from a flexible support and automated device enabling the implementation of the separation method. Technical field to which the invention relates

[0001] The present invention relates to the field of robotics and, more particularly, to a method for separating a relief object from a flexible support as well as an automated device allowing the implementation of the separation method. Technological background

[0002] Robotic arms, also known as industrial robots, are mechanical devices that allow the automation of tedious or complex operations. Robotic arms are used in particular to manipulate, move or grasp objects.

[0003] More specifically, certain robotic arms are equipped with gripping heads, allowing them to attach themselves at will to objects, by implementing a suction phenomenon.

[0004] By way of example, document EP2735407A2 presents a robotic system 100 allowing the detachment of a flexible workpiece 200 from its support. To do this, the robotic system 100 illustrated by [Fig.l] below, consists of an arm 1, comprising several joints, holding a gripping head 2. The gripping head 2 is equipped with suction means controlled by the robotic system.

[0005] The robotic system is programmed so that the arm 1 positions the gripping head 2 against a flexible part 200, glued to a support 201. The suction means then generate a suction force so as to bond the flexible part to the gripping head. Then, the arm 1 moves the gripping head 2 away from the support 201 by performing a pivoting movement. This pivoting movement advantageously makes it possible to separate the flexible workpiece 200 from its support 201, by gradually detaching the part from one of its sides. Document EP2735407A2 thus proposes an automated method for detaching a flat part from its support, by applying less tensile force to said part.

[0006] However, the robotic system described in document EP2735407A2 has the disadvantage of subjecting the flat part to a twisting movement to separate it from its support. However, this twisting movement cannot be applied to raised objects without risking deforming them or even damaging them.

[0007] The object of the invention is to remedy this drawback by proposing an automated method allowing the detachment of a raised object from its support, without exerting on said object any movement likely to deform it. Subject of the invention

[0008] For this purpose, the invention proposes a method for separating a relief object from a flexible support, the relief object being glued to an upper face of the flexible support, the flexible support comprising a lower face opposite its upper face.

[0009] The invention is remarkable in that it implements the following steps:

[0010] - a step of positioning the flexible support against a mobile element, the element mobile is delimited by a separating edge, so that the lower face of the flexible support is pressed against the mobile element and the raised object is opposite the mobile element; then

[0011] - a step of holding the object in relief by gripping means; then

[0012] - a step of detaching the flexible support from the relief object, implementing simultaneously :

[0013] - a movement of the movable element, relative to the gripping means, according to a first direction until the raised object crosses the separating edge of the movable element; and

[0014] - a tensile force on the flexible support, so as to maintain the lower face of the flexible support against the separating edge of the movable element.

[0015] In other words, the invention implements a method of detaching the flexible support from the relief object, by implementing a mechanical twisting movement on the flexible support only. Thus, advantageously, the shape of the relief object is preserved during the separation method described above.

[0016] According to another embodiment of the invention, during the detachment step, the gripping means hold two opposite edges of the object in relief. This embodiment allows better support of the object, in order to best preserve its shape during detachment from the flexible support of said object.

[0017] According to an alternative embodiment, during the detachment step, the gripping means maintain at least one edge of the raised object which is perpendicular or substantially perpendicular to the upper face of the flexible support. This embodiment allows increased preservation of the shape of the raised object, during detachment from the flexible support of said object.

[0018] According to another alternative embodiment, during the detachment step, at least one surface element of a wall of the relief object is in contact with the gripping means, and the smallest distance between this surface element and the upper face of the flexible support is less than 1 cm, or less than 0.5 cm or preferably in contact with the upper face of the flexible support. In other words, the gripping means gripping devices are configured to hold the raised object as close as possible to the flexible support, in order to best preserve the shape of said object when detaching from the flexible support.

[0019] According to another embodiment, the opposite edges are perpendicular or substantially perpendicular to the direction of movement of the movable element. This embodiment promotes better preservation of the shape of the relief object, by allowing the walls of the object subjected to the greatest mechanical stresses to be maintained during detachment from the flexible support.

[0020] According to another embodiment of the invention, during the detachment step, at the separation edge of the movable element, the flexible support forms an angle of between 30° and 160°, preferably between 30° and 45°. In these ranges of values, an easier and better quality separation between the flexible support and the relief object has been observed. This embodiment also makes it possible to prevent the flexible support from coming into contact with the relief object again, following its separation.

[0021] According to another embodiment of the invention, during the detachment step, at the separation edge of the movable element, a tensile force is exerted on the flexible support, in a direction opposite or substantially opposite to the movement of the movable element. In other words, a tensile force is exerted on the flexible support so as to ensure that the lower face of the flexible support slides against the separation edge, during the detachment step. This embodiment promotes detachment of the flexible support by exerting a lesser tensile force on said support.

[0022] According to an alternative embodiment, during the detachment step, the speed of movement of the mobile element relative to the holding means is preferably less than 0.5 meters per second.

[0023] Of course, the various features, variants and embodiments mentioned above can be combined with each other in various combinations, provided that they are not incompatible or mutually exclusive.

[0024] The invention also relates to an automated device for separating a relief object, glued to an upper face of a flexible support. The device is remarkable in that it comprises:

[0025] - a movable element comprising a bearing face delimited by an edge of separation;

[0026] - motorized means allowing the movement of the mobile element between an initial position and an end position, along a working direction which is perpendicular or substantially perpendicular to the parting edge;

[0027] - gripping means capable of moving closer to or further away from the support face of the movable element when the movable element is in the initial position;

[0028] - traction means capable of exerting a traction force on a flexible support, pressed against the bearing face of the movable element, at the level of the separation edge of said face, when the movable element moves from its initial position to its final position;

[0029] - a control unit capable of controlling the motorized means, the means of gripping and traction means, for implementing a separation process described above.

[0030] According to another embodiment of the invention, the device comprises a table comprising a support face, aligned or substantially aligned with the support face of the mobile element, and the motorized means allow the movement of the mobile element relative to the table.

[0031] According to another embodiment of the invention, the support face comprises means for holding a flexible support against said face.

[0032] According to another embodiment of the invention, the bearing face of the movable element comprises means for holding a flexible support against said face.

[0033] According to another embodiment of the invention, the gripping means comprise suction means.

[0034] According to another embodiment of the invention, the traction means comprise a motorized winder, capable of allowing the winding of a flexible support.

[0035] According to another embodiment of the invention, the gripping means are mounted on a robotic arm.

[0036] According to another embodiment of the invention, the separating edge is rounded or substantially rounded. Description of figures

[0037] The invention will be better understood from the following description, which relates to the preferred embodiments of the invention, given as non-limiting examples, and illustrated by the following schematic drawings:

[0038] [Fig-1] represents a robotic system according to the state of the art, allowing the detachment of a flexible part from its support, appearing in [Fig.l] of document EP2735407A2;

[0039] [Fig.2] illustrates an embodiment of an automated device according to the invention, allowing the implementation of a method of detaching a relief object from its support, comprising a movable element in the initial position;

[0040] [Fig.3] illustrates the device represented by [Fig.2], when the movable element is in the final position;

[0041] [Fig.4] illustrates a first step in implementing a method of detaching according to the invention, a raised object from its support, by the device visible in Figures 2 and 3;

[0042] [Fig.5] illustrates a fourth step of implementing a detachment method according to the invention;

[0043] [Fig.6] illustrates the start of a sixth step of implementing a detachment method according to the invention;

[0044] [Fig.7] illustrates the end of a sixth step of implementing a detachment method according to the invention;

[0045] [Fig.8] illustrates a seventh step of implementing a detachment method according to the invention. Detailed description of the invention

[0046] As a reminder, the invention proposes a method for detaching a relief object from its support, without exerting on said object any movement likely to deform it. The invention also proposes an automated device for implementing the method.

[0047] Automated device for implementing a method of detaching a relief object from its support

[0048] Figures 2 and 3 attached show a non-limiting example of an automated device according to the invention, allowing the implementation of the method mentioned above.

[0049] The device 4 is composed of a table 6 and an element described as mobile, because the mobile element 8 is able to move relative to the table 6. To do this, the mobile element 8 is connected to the table by means of sliding connections not shown in the figures. The sliding connections allow the movement of the mobile element relative to the table, in a direction of movement AA' visible in [Fig.2], between an initial position illustrated by [Fig.2] and a final position visible in [Fig.3].

[0050] The movable element 8 comprises a so-called support face, because it is intended to support a flexible support 10 as described below. According to the present example, the support face 12A is flat or substantially flat. The support face 12A is parallel or substantially parallel to the direction of movement AA' of the movable element 8. It should be noted that according to another embodiment of the invention not shown, the support face could be curved, preferably convex in shape.

[0051] The bearing face 12A is delimited by a separating edge 14. This edge extends along an edge of the bearing face which is opposite the table 6.

[0052] Note that the length of the separation edge 14 is chosen according to the dimensions of the raised object that it is desired to detach from its support. More precisely, the separation edge 14 has a length at least equal to, and preferably greater than, the largest dimension of the raised object, measured along the separation edge and at the level of the flexible support supporting said object, when the raised object crosses the separation edge as described below.

[0053] Preferably, the separating edge 14 is rectilinear or substantially rectilinear and it extends along a direction perpendicular or substantially perpendicular to the direction of movement AA' of the movable element 8. The invention is not limited to this embodiment so that the separating edge could delimit an edge of rounded shape or comprising one or more angles.

[0054] As indicated below, the separating edge 14 is intended to allow the sliding of a flexible support, without damaging said support. To do this, the shape of the separating edge is preferably rounded or substantially rounded. Optionally, when the flexible support has sufficient mechanical strength, the separating edge may be delimited by two adjacent edges, forming an angle whose value is between 30° and 160°, preferably between 30° and 45°.

[0055] The table 6 of the device 4 also comprises a bearing face 12B, intended to support a flexible support 10. Preferably, the bearing face 12B is aligned or substantially aligned with the bearing face 12A of the movable element 8.

[0056] The table 6 serves as a support for motorized movement means of the mobile element 8. These means consist of an electric motor 16 and a worm screw 18 whose pivoting is controlled by the electric motor. The worm screw is coupled to the mobile element 8 so as to allow the electric motor 16 to control the movement of the mobile element 8, between its initial position and its final position. According to the present example, the speed of movement of the mobile element 8 is preferably less than 0.5 meters per second.

[0057] The operation of the electric motor 16 is controlled by a control unit 20 visible in the figures. The control unit is intended to allow the automation of a method of detaching a relief object from its support described below. The control unit 16 can be connected to the electric motor 16 as well as to other elements mentioned below, by means of electrical conductors not shown or by means of wireless communication means.

[0058] The above-mentioned bearing faces incorporate holding means, intended to allow the immobilization of a flexible support 10 against said faces. According to the present example, these holding means are in the form of a plurality of passages 22 which open onto the bearing faces. Each passage 22 is connected to a suction system 24, making it possible to generate a vacuum at the level of the bearing face onto which it opens. A flexible support can thus be held against the bearing faces, more or less firmly, during the detachment process described below. As for the electric motor 16, the suction systems 24A and 24B are controlled by the control unit 20.

[0059] It should be noted that the control unit 20 is capable of addressing separate commands to the suction systems 24A and 24B, so that said systems operate independently. By way of non-limiting examples, continuous operation of the suction system 24A of the mobile element 8, continuous and / or intermittent operation of the suction system 24B of the table 6 may be envisaged.

[0060] According to the present example, the device 4 comprises a winder 26 configured to allow the winding of a flexible support as described below. The winder 26 is positioned below the bearing face 12A of the movable element 8, so that a flexible support covering said bearing face can be pressed against the separation edge 14 of the bearing face, when said support is wound by the winder (see for example [Fig.4]). The winder comprises a motorization system not shown in the figures, making it possible to control the rotation speed of the winder 26 as well as the traction force exerted by the winder on a flexible support driven by said winder.

[0061] As with the electric motor 16 and the suction systems 24A and 24B, the reel motorization system is controlled by the control unit 20 visible in [Fig.2].

[0062] The device 4 comprises holding means designated by the reference 30 in the figures. The holding means 30 visible in [Fig. 3] comprise gripping means or gripper 32 forming a cavity 34. The cavity is open at an opening 36 intended to allow the insertion of a raised object. Preferably, the cavity 34 is of a shape complementary or substantially complementary to the raised object that it is desired to grasp. According to the present example, the cavity 34 is of a cylindrical or substantially cylindrical shape. The holding means also comprises a suction system 24C connected to the bottom of the cavity via a conduit 38. The suction system 24C is configured to allow the holding in the cavity 34 of a raised object, by a suction effect. The suction system 24C is also controlled by the control unit 20.

[0063] The holding means 30 are held at the end of a robotic arm 40, so as to allow the movement of said means between an initial position illustrated by [Fig.2], and a final position visible in [Fig.3]. In the initial position, the means holding means 30 are placed near the movable element 8, so that the holding means can grasp a raised object present on the bearing face 12A of the movable element, when the movable element is in the initial position as described below. The movement of the robotic arm 40 is also controlled by the control unit 20.

[0064] The control unit 20 comprises means for storing a method described below, as well as calculation means not shown, allowing the implementation of this method by the device 4.

[0065] Method for detaching a relief object from its support

[0066] Figures 4 to 8 illustrate an exemplary embodiment of a method for separating an object from a flexible support according to the invention, implemented by a device 4 described above.

[0067] The term “flexible support” means a support capable of flexing to allow its passage against a separation edge 14 described above, as well as its winding around the reel 25 of the device 4.

[0068] According to the present example, the flexible support 10 visible in [Fig. 4] comprises an upper face 42, parallel or substantially parallel to a lower face 44. The thickness of the flexible support, measured in a direction normal to its upper face, is between 0.2 cm and 1.5 cm, preferably of the order of 1 cm. The flexible support is preferably composed of synthetic polymers, natural polymers and / or metal.

[0069] A relief object 46 is held at the upper face 42 of the flexible support, by means of a layer of adhesive 48. According to the present example, the relief object is cylindrical or substantially cylindrical in shape. The dimensions of the relief object are between a few millimeters and a few centimeters. The height of the relief object, measured in a direction perpendicular to the upper face of the flexible support, is between a few millimeters and a few centimeters. The largest dimension of the flexible support, measured in a plane parallel to the upper face of the flexible support, is between a few millimeters and a few centimeters. According to the present example, the flexible support is composed of synthetic polymers, natural polymers and / or metal.

[0070] By the term "a few" is meant above several values ​​between 0 and 10, preferably between 0 and 5. By way of non-limiting example, "a few millimeters" can designate a range of values ​​between 0 and 5 millimeters.

[0071] The method according to the invention implements a first step consisting of positioning the flexible support on the device 4 described above. More precisely, as illustrated by [Fig.4], the flexible support 10 is placed on the device 4 so that its lower face 44 covers the bearing face 12A of the movable element 8 as well as the bearing face 12B of the table 6, when the movable element 8 is in the initial position. The raised object 46 is opposite the bearing face 12A of the movable element, preferably as close as possible to the separating edge 14 of said element.

[0072] According to a second step, the suction system 24B of the table is engaged to firmly hold the flexible support 10 against the support face 12B of the table.

[0073] According to a third step, a portion of the flexible support is attached to the reel 26 so that the reel can exert a tensile force on the flexible support 10 in order to press the lower face 44 of the flexible support against the separation edge 14.

[0074] According to a fourth step illustrated by [Fig.5], the robotic arm 40 moves the holding means 30 so as to allow the insertion of a part of the raised object 46 into the cavity of the holding means.

[0075] According to a fifth step, the suction means of the holding means 30 are activated in order to ensure that the raised object is held in the cavity.

[0076] According to a sixth step, illustrated by figures 6 to 8, the electric motor 16 moves the movable element 8 from its initial position to its final position, so that the raised object held by the holding means 30 protrudes from the separation edge 14. Note that during the movement of the movable element, the flexible support 10 is at the same time wound around the winder 26, so as to maintain the same tensile force or substantially the same tensile force on the flexible support 10, at the separation edge 14. Thus, the lower face 44 of the flexible support remains pressed against the separation edge 14 during the movement of the movable element 8, from its initial position to its final position. When moving, the angle formed by the flexible support 10, at the level of the separating edge 14, can vary between 30° and 160°, preferably between 30° and 45°.

[0077] During this sixth step, it should be noted that the suction system 24B exerts sufficient depression at the level of the support face 12B of the table, so that the flexible support is held stationary against said support face.

[0078] Advantageously, this sixth step makes it possible to apply a twisting movement to the flexible support 10 alone, because the raised object 46 is held firmly in the cavity 34 of the holding means 30. Thus, the part of the raised object present in the cavity 34 is not likely to deform when the flexible support is detached.

[0079] Preferably, the cavity 34 is configured to accommodate the relief object.

[0080] According to a preferred embodiment, the cavity 34 is adapted to hold the walls of the relief object which are adjacent to the upper surface 42 of the flexible support, and during this sixth step, the smallest distance between the gripper 32 or the cavity 34, and the upper face 42 of the flexible support, is less than 1 cm or less than 0.5 cm, preferably in contact with the upper face of the flexible support.

[0081] According to an alternative embodiment, during the implementation of the sixth step described above, the suction system 24A is engaged so as to allow better holding of the flexible support 10 against the bearing face 12A of the mobile element, while allowing sliding of the flexible support against said face.

[0082] According to a seventh step illustrated by [Fig.8], the robotic arm 40 moves the holding means to allow the raised object to be subsequently released in a chosen area.

[0083] The invention thus proposes the implementation of an automated method for detaching a relief object from a flexible support, by a device as described above, making it possible to preserve the shape of the relief object, by suggesting keeping the relief object immobile or substantially immobile by dedicated holding means, so that a twisting movement is applied only to the flexible support during their separation.

[0084] It should be noted that the embodiments of the invention described above are not limiting, so that those skilled in the art could envisage other variant embodiments making it possible to obtain the same effect mentioned above.

Claims

Claims

1. Method for separating a raised object (46) from a flexible support (10), the raised object (46) being bonded to an upper face (42) of the flexible support (10), the flexible support (10) comprising a lower face (44) opposite the upper face, characterized in that the method implements the following steps: - a step of positioning the flexible support (10) against a movable element (8), delimited by a separation edge (14), so that the lower face (44) of the flexible support (10) is pressed against the movable element (8) and the raised object (46) is opposite the movable element (8); then - a step of holding the raised object (46) by gripping means (32);then - a step of detaching the flexible support (10) from the relief object (46), simultaneously implementing: - a movement of the mobile element (8), relative to the gripping means (32), until the relief object (46) crosses the separation edge (14) of the mobile element (8); and - a tensile force on the flexible support (10) so as to hold the lower face (44) of the flexible support (10) against the separation edge (14) of the mobile element (8).;

2. Method according to claim 1, characterized in that, during the detachment step, the gripping means (32) hold at least one edge of the raised object (46) which is perpendicular or substantially perpendicular to the upper face (42) of the flexible support (10).

3. Method according to claim 1 or 2, characterized in that, during the detachment step, at least one surface element of a wall of the relief object (46) is in contact with the gripping means (32), and the smallest distance between this surface element and the upper face (42) of the flexible support (10) is less than 1 cm or less than 0.5 cm.

4. Method according to one of claims 1 to 3, characterized in that, during the detachment step, at the separation edge (14) of the movable element (8), the flexible support (10) forms an angle of between 30° and 160°, preferably between 30° and 45°.

5. Automated device for separating a relief object (46), glued to an upper face (42) of a flexible support (10), characterized in that it comprises: - a movable element (8) comprising a bearing face (12A) delimited by a separating edge (14); - motorized means (16, 18) allowing the movement of the movable element (8) between an initial position and a final position, along a working direction perpendicular or substantially perpendicular to the separating edge (14); - gripping means (32) capable of moving towards or away from the bearing face (12A) of the movable element when the movable element (8) is in the initial position; - traction means (26) capable of exerting a traction force on a flexible support (10), pressed against the bearing face (12A) of the movable element (8), at the level of the separation edge (14) of said face, when the movable element (8) moves from its initial position to its final position;- a control unit capable of controlling the motorized means (16, 18), the gripping means (32) and the traction means (26), for implementing a method according to one of claims 1 AA;

6. Device according to claim 5, characterized in that it comprises a table (6) comprising a bearing face (12B) aligned or substantially aligned with the bearing face (12A) of the movable element (8), and in that the motorized means allow the movement of the movable element (8) relative to the table (6).

7. Device according to claim 6, characterized in that the bearing face (12A) comprises means for holding a flexible support (10) against said face.

8. Device according to one of claims 5 to 7, characterized in that the bearing face (12A) of the movable element (8) comprises means (24A) for holding a flexible support (10) against said face.

9. Device according to one of claims 5 to 8, characterized in that the traction means comprise a motorized winder (26), capable of allowing the winding of a flexible support (10).

10. Device according to one of claims 5 to 9, characterized in that the gripping means (32) are mounted on a robotic arm (40).

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