Device and method for loading a magazine

Abstract

The present invention relates to a device (1) for loading parallelepipedal overall, flat elements (30) having four corners (300), an upper face (31) and a lower face (32), the elements (30) being stacked in the form of a pile (3), the loading being carried out by a successive transfer from the pile (3) to a processing station (2), the processing station (2) having an entrance (20) for receiving the successive elements (30), which may be held together by a tie (90) or the like to form a batch, the device (1) comprising at least: - a gripping tool (4) suitable for picking up and moving the flat elements (30) from the pile (3) to the entrance (20), the gripping tool (4) comprising at least one gripper (40), - a control unit (5) configured to execute a routine for loading the entrance (20) of the processing station (2) from the pile (3) of flat elements (30), and - a robot arm (6) designed and arranged to move the gripping tool (4) at least between the pile (3) and the entrance (20) of the station (2), the tool (4) being positioned at the distal end of the robot arm (6), the device (1) being characterized in that it comprises: - optical detection means (7), the means (7) comprising at least one camera (70) for detecting, for each flat element (30) to be moved by the gripping tool (4), at least one mark (8), the mark (8) being located on one of the faces (31, 32) of the element (30), and in that - the control unit (5) is configured to determine and / or receive coordinates of the at least one detected mark (8) and to transmit instructions to control means (60) of an actuator of the robot arm (6) in order to adjust the movement of the gripping tool (4) on the basis of the coordinates of the at least one mark (8). The invention also relates to a loading method and to an element (30) comprising at least one mark (8) on one of the faces (31, 32) thereof.

Description

[0001] Device and method for loading a store

[0002] Description

[0003] Technical Field: The present invention falls within the field of product packaging by case packing, and relates, on the one hand, to a device feeding plates intended to form cardboard boxes, and, on the other hand, to a method implementing this device.

[0004] In this sector, products are processed industrially in successive stages, and once finished, they are sent for packing into cardboard boxes. These cardboard boxes are made from flat sheets of cardboard, generally called blanks, which are assembled using a box-forming machine.

[0005] In the field of this invention, it is therefore necessary to regularly supply such a workstation with pre-cut or even pre-folded flat plates, stored on a pallet near the workstation. This supply is generally done manually by an operator who must then be assigned to the workstation, at the risk of overloading the warehouse in order to work simultaneously on other machines.

[0006] State of the art

[0007] We also know of robotic solutions, for example a robotic device described in patent EP3112302.

[0008] One of the problems with automated solutions is that, while they facilitate the supply of cardboard sheets and adapt to different formats, they require significant upfront configuration. Specifically, it is necessary to specify the sheet format, the palletization pattern, and other parameters. Furthermore, existing solutions cannot guarantee that all cardboard sheets will be picked up correctly. Indeed, if one or more sheets are misaligned in the stack, the robot cannot adjust its trajectory. In this case, the automatic feeding must be interrupted, and an operator must enter the robot's work area and unload the problematic sheet(s) manually.

[0009] The invention advantageously offers a cutting loading device and an associated process, making it possible to do without upstream parameterization, and to adapt in real time to positioning defects of the plates or cuttings.

[0010] The invention relates first to a device for loading flat, generally parallelepiped-shaped elements comprising four corners, a top face and a bottom face, said elements being stacked in the form of a pile, the loading being carried out by a successive transfer from said pile to a processing station, said processing station having an inlet to receive the successive elements, possibly held by a link or similar to form a batch.

[0011] The device according to the invention comprises at least: - a gripping tool adapted for lifting and moving said flat elements from the stack to the inlet, said gripping tool comprising at least one gripping member,

[0012] - a control unit configured to execute a routine for loading said input of said processing station from the stack of flat elements,

[0013] - a robotic arm designed and arranged to move said gripping tool at least between the stack and the station entrance, said tool being positioned at the distal end of said robotic arm.

[0014] The device according to the invention is characterized in that it comprises:

[0015] - optical detection means, said means comprising at least one camera capable of detecting, for each flat element to be moved by said gripping tool, at least one reference mark, said reference mark being located on one of the faces of said element, and in that

[0016] - the control unit is configured to determine the coordinates of said at least one detected reference frame and to transmit instructions to control means of an actuator of said robotic arm in order to adjust the displacement of said gripping tool according to the coordinates of said at least one reference frame.

[0017] According to a possible additional feature, the detection means are configured to detect and determine the position, for each flat element to be moved by said gripping tool, of at least one marker, said marker being located on one of the faces of said element.

[0018] In other words, the position of one or more markers within a flat element is determined by the detection means 7, for example via the camera 70, or by the control unit.

[0019] In some embodiments, at least one marker is previously positioned at a corner of said flat element.

[0020] According to a possible additional feature, the optical detection means are configured to detect and / or determine the position of at least one marker located on one of the faces of a flat element, said flat element comprising on at least one face four markers, said markers being located each respectively at the level of a corner and being each located at the same distance from the outer edge of said flat element.

[0021] In some embodiments, the control unit is configured to determine and / or receive the coordinates of the center of the flat element on the stack based on the coordinates of said at least one detected marker.

[0022] In some embodiments, each marker consists of one or more alphanumeric characters and / or symbols and / or geometric representations and / or pictograms and / or Unicode characters.

[0023] According to one possible additional feature, each marker is a high-intensity two-dimensional barcode.

[0024] In one possible embodiment, each marker is printed on at least one face of each flat element, preferably on the upper face of each element. In some embodiments, the loading device includes means for determining the relative distance between the gripping tool and the flat element to be grasped.

[0025] According to a possible additional feature, the distance determination means include at least one laser rangefinder attached to the gripping tool or robotic arm. In some embodiments, the control unit is configured to transmit instructions to the actuator control means of said robotic arm to automatically adapt the gripping trajectory of the gripping tool according to the coordinates of said at least one detected reference frame.

[0026] According to a possible additional feature, the control unit is configured to transmit instructions to the control means to determine the orientation of the gripping tool for grasping one or more flat elements of the stack.

[0027] In some embodiments, the camera includes a lens with a short focal length and means for correcting distortion to obtain a wide field of view at short distances.

[0028] According to a possible additional feature, the loading device includes a cutting means when the flat elements are held together by a link or similar to form a batch.

[0029] The invention also relates to a method of loading flat elements into an inlet of a processing station, each flat element being globally parallelepiped and having four corners, an upper face and a lower face, said method comprising a step consisting essentially of transferring, into said inlet, flat elements from a stack, and this by means of a gripping tool of a loading device.

[0030] The method according to the invention is characterized in that it comprises steps consisting of:

[0031] - detect at least one marker located on one of the faces of the first flat element of the battery using optical detection means for said loading device,

[0032] - process the detection data using determination methods to determine the coordinates of said detected markers and

[0033] - adjust the movement of said gripping tool using control means according to the coordinates of said at least one detected reference point.

[0034] Finally, the invention also relates to a generally parallelepiped-shaped flat element comprising an outer edge, four corners, an upper face and a lower face, said element being characterized in that it comprises at least one marker positioned on one of its faces.

[0035] According to a possible additional feature, said at least one marker consists of one or more alphanumeric characters and / or symbols and / or geometric representations and / or pictograms and / or Unicode characters. Brief description of the figures: The invention will be better understood from the description below, which is based on possible embodiments, explained in an illustrative and in no way limiting manner, with reference to the accompanying figures, in which:

[0036] - [Fig. 1] shows an overview of a loading device, between a stock and an input of a case forming machine, the items being in batch form;

[0037] - [Fig.2] shows an overview of a loading device, between a stock and an input of a case forming machine, the items being in batch form;

[0038] - [Fig.3] shows a detailed view of a gripping tool including detection means;

[0039] - [Fig. 4] schematically illustrates an example of a cardboard cutout with four reference points;

[0040] - [Fig. 5] schematically illustrates an example of taking a cardboard cutout with one reference mark; [Fig. 6] schematically illustrates an example of taking a cardboard cutout with four reference marks and

[0041] - [Fig.7] schematically illustrates another example of taking a cardboard cutout with four reference points.

[0042] Detailed description: In the following description, elements with an identical structure or analogous functions will be designated by the same reference.

[0043] The invention relates firstly to a device 1 for loading flat elements 30, also called cutouts or plates. Within the framework of the invention, a flat element 30 is generally parallelepiped-shaped and comprises four corners 300 and an outer edge 301. A flat element 30 may also include folding areas, or creases.

[0044] The 30mm cutouts are generally made from a single piece and define all or part of the future crate, possibly with reinforcement flaps. The flat 30mm sheets are formed by unfolding and folding to create the final volume for the products. The resulting crates typically have a base, usually horizontal, and sides, usually vertical, perpendicular to each other. The base, or even its lid, can be formed by flaps extending from the sides. The various elements of the 30mm cutout are generally fixed together by gluing, adhesive tape, staples, or other means for greater stability.

[0045] In addition, a flat element 30 includes an outer edge 301, a top face 31 and a bottom face 32.

[0046] The flat elements 30 are stacked in a pile 3, generally vertically, as shown in Figures 1 and 2. Within a pile 3, the elements 30 may optionally be held together by a link 90 or similar to form a batch. The loading device 1 performs a successive transfer of at least one flat element 30 from a pile 3 to a processing station 2, and more specifically to an inlet 20 of said processing station 2.

[0047] The processing station 2 is for example a case forming machine, and the 30 flat elements are deposited, by batch or by unit, on a conveying means 21, on an intermediate device, not shown, or in a store, not shown.

[0048] In the context of the invention, the die-cutting loading device 1 comprises a gripping tool 4 adapted for lifting and moving the die-cuts 30 from the stack 3 to the inlet 20. To this end, the gripping tool 4 includes a gripping member 40. The gripping member 40 is configured to lift, from the stack 3, to a gripping zone 400, a flat element 30 and / or a batch of flat elements 30, grouped and tied together by a link 90.

[0049] Figure 1 shows an example of an embodiment in which device 1 grasps flat elements 30 grouped into batches and tied together by a link 90, and deposits them onto a conveyor 21 located at the inlet 20 of a cutting processing station 2. Furthermore, Figure 1 shows a bin 900 into which the gripping tool 4 will deposit the severed link 90 after the flat elements 30 have been deposited at the inlet 20 of a processing station 2.

[0050] For this purpose, in embodiments, the gripping tool 4 also includes a cutting means 9, suitable for cutting the link 90, and a holding means, not shown, for holding the cut link 90, in order to deposit it in the waste bin 900.

[0051] According to one possible variant, the gripping tool 4 includes a cutting means 9, suitable for cutting the link 90, and a component, not shown, suitable for storing the cut links 90 in order to avoid a step of depositing them in a waste bin 900.

[0052] In order to perform a loading routine at input 20 of processing station 2 from stack 3 of flat 30 elements, device 1 includes a control unit 5.

[0053] The control unit 5 drives the action of the device 1 and is optionally programmable to adapt the operation of the loading device 1 to the type of plates 30. In particular, the control unit 5 is configured to determine the optimal gripping area 400 for the gripping tool 4 to grasp, move, optionally orient, and deposit one or more flat elements 30 from a stack 3 to the inlet 20 of an element processing station 2. The device 1 also includes a robotic arm 6, designed and arranged to move the gripping tool 4 at least between the stack 3 and the inlet 20 of station 2. The tool 4 is positioned at the distal end of the robotic arm 6. By robotic arm 6 is meant any movement system comprising at least three translations and at least one rotation. In particular, a robotic arm 6 with six degrees of freedom is suitable.

[0054] The gripping tool 4 comprises at least one gripping member 40. A gripping member 40 is, for example, a suction cup or a clamp. Figure 3 shows a gripping tool 4 comprising a plurality of suction cups 40 and a cutting means 9.

[0055] Within the framework of the invention, the device 1 also includes optical detection means 7, schematically represented in figure 3.

[0056] In one embodiment, the optical detection means 7 are fixed to the gripping tool 4. This embodiment is particularly advantageous because it allows for better optical accuracy and makes it possible to scan above the stack 3 and thus detect a single marker 8 on the flat element 30.

[0057] According to one possible variant, the detection means 7 are attached to the robotic arm 6.

[0058] According to one possible variant, the detection means 7 are fixed to the pallet receiving the stack or stacks 3 of elements 30.

[0059] The optical detection means 7 include at least one camera 70 configured to detect at least one marker 8 positioned on the upper face 31 or on the lower face 32 of the cut 30, for each first flat element 30 of the stack 3 to be lifted and moved by the gripping tool 4.

[0060] By first flat element 30 of the stack 3, we mean the flat element 30 which is located at the very top of the vertical stack 3, and which will be the element 30 lifted and moved by a gripping member 40 of the gripping tool 4, whether it is an individual element 30 or the first element 30 of a batch.

[0061] According to an additional technical feature, the control unit 5 is configured to determine the orientation and position of the flat element 30 in the stack 3 based on the coordinates of at least one marker 8, the relative position of said marker 8 with respect to the center 80 of the carton being known. Center 80 is understood to be the geometric center of said rectangular carton, that is, the intersection of its two diagonals. In other words, center 80 is the center of symmetry of the flat element 30.

[0062] Furthermore, the coordinates of a reference frame 8 correspond to its spatial position within the flat element 30.

[0063] In some embodiments, a flat element 30 comprises at least two markers 8a and 8b, each located respectively on a corner 300a, 300b of a flat element 30, for each first flat element 30 of the stack 3 to be lifted and moved by the gripping tool 4. In other words, each flat element 30 comprises at least two markers 8, located respectively on a corner 300, or near a corner 300, preferably diagonally opposite said element 30. Preferably, the at least two markers 8 are located on the upper face 31 of the flat element 30.

[0064] Preferably, the at least two markers 8 are diagonally opposite, that is, they are each located respectively in a corner 300, the two corners 300 being diagonally opposite each other of a flat element 30. Optionally, the precise position of the marker 8 within the corner 300 is known by the control unit 5.

[0065] According to this variant, the detection means 7 are configured for at least two markers 8, each of the two markers 8 being located respectively in a diagonally opposite corner 300. In this embodiment, the control unit 5 is capable of determining the coordinates of said markers 8 and deducing therefrom the orientation and position of the cut 30 within the stack 3. Thus, it is then not necessary to know the relative position of the marker(s) 8 with respect to the center 80 of said cut 30.

[0066] In some embodiments, a flat element 30 comprises four markers 8a, 8b, 8c, and 8d, each located on a corner 300a, 300b, 300c, and 300d, respectively. The detection means 7 are capable of detecting at least one of the four markers 8a, 8b, 8c, and 8d and determining their coordinates. The fact that the flat element 30 comprises four markers is advantageous because it ensures that at least one of the markers 8 will be detected by the detection means 7, regardless of the orientation of the flat element 30 in the stack 3.

[0067] Furthermore, according to a possible additional feature, the control unit 5 is capable of determining the coordinates of said four markers 8 and deducing the orientation and position of the cut 30 within the stack 3. Thus, it is then not necessary to know the relative position of the marker(s) 8 with respect to the center of said cut 30. Further, the control unit 5 of the device 1 is configured to determine the Cartesian coordinates of at least one marker 8 detected on a flat element 30, and to transmit instructions to control means 60 of an actuator of the robotic arm 6 in order to adjust the displacement of the gripping tool 4.

[0068] In other words, control unit 5 is configured to:

[0069] - determine and / or receive the Cartesian coordinates of the 8 reference points detected by detection means 7 via a communications network and

[0070] - transmit instructions to the control means 60 via a communications network. According to one possible variant, the Cartesian coordinates of the reference frame(s) 8, i.e., their position, are determined directly by the detection means 7. In this case, said detection means 7:

[0071] - receives information concerning the dimensions of the flat element 30 via a communication network, the information being transmitted by a control interface 50 of the control unit 5, and / or

[0072] - determines the coordinates in millimeters of the marker(s) 8 based on the coordinates detected in pixels,

[0073] - transmits said coordinates in millimeters to the control unit 5 via a communication network. For example, to do this, the detection means 7 are a camera 70 called a smart camera.

[0074] The control unit 5 then transmits the instructions to the control means 60 via a communication network.

[0075] The control means 60 are a control system for the arm 6, whether physical or virtual. Specifically, the control means 60 receive movement, orientation, and control instructions for the arm 6 and / or the gripping tool 4 from the control unit 5. In other words, the control unit 5 is configured to control the movement of the arm 6 via the control means 60 based on the Cartesian coordinates of the markers 8 detected on a flat element 30.

[0076] To do this, it is necessary to convert the pixel coordinates of each marker 8 obtained by the detection means 7 into millimeter (mm) coordinates.

[0077] In some embodiments, the control unit 5 is configured to convert the pixel coordinates of each marker 8 obtained by the sensing means 7 into millimeter (mm) coordinates.

[0078] For example, control unit 5 is configured to apply a so-called "hand-eye" calibration method which converts the coordinates of a reference frame 8, in pixels, into coordinates in millimeters.

[0079] According to one variant, the detection means 7 are configured to convert the pixel coordinates of each marker 8 obtained by said means 7 into millimeter (mm) coordinates and, for example, to apply the so-called "hand-eye" calibration method.

[0080] In some embodiments, control unit 5 comprises:

[0081] - a database and / or an interface to specify the type of marker(s) 8 to be detected and its relative position with respect to the center 80 of a cutout, and / or

[0082] - a database containing control programs for the robotic arm 6 and / or the gripping device 4, and / or

[0083] - a processor connected to memory to apply program instructions and / or

[0084] - a communication interface connected to the processor for communication at least with the control means 60 of the actuator of the robotic arm 6.

[0085] According to one possible variant, the control unit 5 includes a calculation unit enabling the generation of instructions to the control means 60 of the actuator of the robotic arm 6 and / or of the gripping means 4 in real time as a function of the Cartesian coordinates of the detected markers 8 and the respective relative position of each detected marker 8 with respect to the center 80 of the flat element 30.

[0086] The actuator's control means 60 then act as a slave controller controlled by unit 5, referred to as the master unit. According to an additional characteristic, unit 5 is programmed to transmit the instructions necessary for the proper execution of the transfer of one or more elements 30 from stack 3 to input 20 of a processing station 2.

[0087] The control unit 5 may include a control interface 50 for the device 1 with a dedicated human-machine interface for inputting information, in particular information concerning the type of flat element 30, its format, and / or information concerning the type of marker 8 and its relative position with respect to the center 80 of the flat element 30 or with respect to a corner 300 of said flat element 30. Furthermore, the interface 50 is configured to transmit information to the detection means 7.

[0088] According to a possible additional feature, the device 1 includes means for determining the center 80 of the flat element 30 on the stack as a function of the coordinates of the detected markers 8.

[0089] The means for determining the center 80 of the element 30 can be integrated into the detection means 7 or the control unit 5. In other words, the control unit 5 or the means 7 are configured to determine the center 80 of the flat element 30 based on the dimensions of the flat element 30 and the coordinates of the markers 8 detected on said flat element 30.

[0090] This embodiment is particularly advantageous because it allows the optimal gripping zone 400 to be determined for grasping said flat element 30, individually or in batches, and therefore the location of the gripping tool 4 to be determined, and in particular of at least one gripping member 40, as a function of said center 80. In particular, it is possible to determine the optimal gripping zone 400 relative to the center 80 of the carton calculated by the control unit 5 as a function of the information received by the detection means 7.

[0091] Thus, the determination means 7 captures at least one image of the reference frame(s) 8 of a flat element 30. Then, the coordinates of the reference frame(s) 8 are determined either directly by the means 7, and in particular by the camera 70, or by the control unit 5, said unit 5 receiving the images acquired by the means 7.

[0092] Means 7 and / or unit 5 therefore include means for determining the Cartesian coordinates of one or more frames 8 of a flat element 30.

[0093] Advantageously, in one embodiment, the control means 60 of the actuator of the robotic arm 6 automatically adjust the displacement of the gripping tool 4 by controlling said arm 6 in such a way that the center of the gripping tool 4 is at the center 80 of the flat element 30 when said element 30 is picked up by the gripping tool 4.

[0094] In other words, the center of the gripping tool 4 is preferably aligned along a normal Z axis passing through the center 80 of the flat element 30. That is to say, in some embodiments, the center of the gripping zone 400 coincides with the center 80 of the element 30. The element or set of elements 30 are then lifted so that their weight is distributed evenly, without any cantilever effect.

[0095] According to one variant, the gripping area 400 is determined in relation to the center 80, so as to move away from it, in order to facilitate the placement of one or more flat elements 30 at the level of the entrance 20.

[0096] In other words, the control unit 5 is configured to automatically adjust the gripping area 400 of a flat element 30 according to the coordinates of at least one detected marker 8, and possibly according to the center 80 of said element 30.

[0097] In one embodiment, the detection means 7 are configured to detect at least one marker 8 positioned on each of the four corners 300a, 300b, 300c, 300d of each flat element 30 of the stack 3. This embodiment is particularly advantageous because, when the element 30 includes a marker 8 on each corner 300, it is possible to detect at least one marker 8 regardless of the orientation of said element 30 within the stack 3. This also facilitates the processing of information by the control unit 5.

[0098] Preferably, information concerning each marker 8 and its relative position with respect to the center 80 of the flat element 30 is accessible by the control unit 5, via a database or a server.

[0099] In possible embodiments, reference point 8 consists of one or more alphanumeric characters and / or symbols and / or geometric representations and / or pictograms and / or Unicode characters.

[0100] Preferably, marker 8 is a high-intensity two-dimensional barcode, also known as a "data matrix" code.

[0101] Advantageously, each marker 8 of a flat element 30 is unique, that is, has a unique representation and / or a unique orientation so as to allow the determination of the orientation of the flat element 30 in the stack 3.

[0102] According to a possible additional feature, each previously positioned mark 8 can be printed, engraved, glued, obtained by embossing, or by any other means, to appear on at least one face 31, 32, of an element 30. Preferably, each mark 8 is printed on at least one of the faces 30, 31 of each flat element 30, and preferably on the upper face 31 of each element 30. This embodiment is particularly advantageous because it ensures good legibility of each mark 8 and thus minimizes the risks of error in determining the optimal gripping area 400 by the control unit 5.

[0103] In one embodiment, the loading device 1 includes means for determining the relative distance between the gripping tool 4 and the flat element 30 to be grasped, i.e., the first flat element 30 of the stack 3. The relative distance d, or depth, is understood to be the distance between the gripping tool 4 and the first flat element 30 when the tool 4 is aligned along a normal axis Z passing through the center 80 of the flat element 30. Additionally, the control unit 5 is configured to determine the relative distance d based on information received from the relative distance d determination means and, where appropriate, to transmit instructions to the control means 60 of the actuator of the robotic arm 6.

[0104] According to one possible additional feature, the means for determining the relative distance d include a 2D camera and a depth sensor.

[0105] According to one possible variant, the means of determining the relative distance d include a 3D camera.

[0106] According to one possible variant, the means for determining the relative distance d include at least a laser rangefinder 71 attached to the gripping tool 4 or the robotic arm 6.

[0107] In one embodiment, the control means 60 of the actuator of the robotic arm 6 automatically adapt the gripping trajectory of the gripping tool 4 according to the coordinates of at least one detected reference frame 8. In other words, the control unit 5 is configured to transmit instructions to the control means 60 of the actuator of the robotic arm 6, these instructions consisting of the automatic determination of the gripping trajectory of the gripping tool 4 according to the coordinates of at least one detected reference frame 8. According to a possible additional feature, the control means 60 determine the orientation of the gripping tool 4 for grasping one or more flat elements 30 of the stack.Indeed, depending on the height at which the first flat element 30 to be grasped is located, or according to its orientation within the stack 3, the gripping tool 4 can be oriented at an angle between -180 and 180 degrees in order to facilitate the grasping of said flat element 30.

[0108] In some embodiments, the detection means 7 comprise a camera 70, said camera 70 including a short focal length lens and distortion correction means for obtaining a wide field of view at short distances. This embodiment is particularly advantageous because it improves detection tolerance and allows detection of one or more markers 8 at a short distance.

[0109] Figure 1 shows an example of an embodiment in which the 30 flat elements are grasped and moved in a batch. They are therefore held by a link 90.

[0110] The flat element 30 is overall parallelepiped-shaped and comprises two long sides and two short sides.

[0111] The loading device 1 picks up a batch of 30 flat elements from a stack 3 via a gripping tool 4 mounted on a robotic arm 6. During the transfer, the gripping tool 4 changes the orientation of the 30 flat elements so that they are placed on their edge, vertically rather than horizontally; in particular, the 30 flat elements rest on their long side at the end of the transfer. After the transfer, the device 1 places the cut link 90 into the waste bin 900. Figure 2 shows an example of an embodiment in which the 30 flat elements are picked up and moved individually. In particular, it can be seen that, before picking up the 30 element, the detection means 7 are activated to detect at least one marker 8 on each 30 flat element.

[0112] Following this detection, the coordinates of the markers 8 are transmitted via a communication network to the control unit 5, which then transmits instructions to the robotic arm 6. Therefore, it is not necessary to define the routine for transferring the flat elements 30 from the stack 3 to the input 20 beforehand, as the control unit 5 transmits instructions in real time to the control means 60 of the robotic arm 6.

[0113] However, to increase the transfer rate, it is also possible to store in memory means, not shown, of the control unit 5, transfer and / or orientation routines of the gripping tool 4 according to certain formats of flat elements 30, certain parameters concerning the input 20 and in particular on the orientation that the cuts 30 must take at the end of the transfer, etc.

[0114] It is also possible to store in memory means the coordinates of markers 8 related to cut formats 30, and in particular the position of a marker 8 relative to the center 80 of a flat element 30. To do this, the control unit 5 includes memory means or is configured to access a database online, which contains examples of routines for element formats 30 in particular. Thus, when the control unit 5 receives the coordinates of a marker 8, it can, for example, deduce the format of the cut 30, and, depending on the final orientation within the input 20, can transmit instructions concerning the transfer routine related to this information.

[0115] In some embodiments, the control unit 5 accesses online, for example via a computer server, a database which includes information concerning the coordinates of markers 8 relative to a flat element format 30, transfer routines based on the format of the flat element 30 and / or the coordinates of the detected markers 8, etc. This is particularly advantageous because the marker 8 can then be located, or even previously positioned, at any point on the upper face 31 and / or on the lower face 32.

[0116] The invention also relates to a method of loading flat elements 30 into an inlet 20 of a processing station 2, each element 30 having four corners, an upper face 31 and a lower face 32, said method comprising a step consisting essentially of transferring, into said inlet 20, flat elements 30 from a stack 3, and this by means of a gripping tool 4 of a loading device 1.

[0117] The method according to the invention is characterized in that it comprises steps consisting of:

[0118] - detect at least one marker 8 located on one of the faces 31, 32 of the first flat element 30 of the stack using detection means 7 of said loading device 1, - process the detection data using determination means to determine the coordinates of said detected marker 8 and

[0119] - adjust the displacement of said gripping tool 4 using control means 60 according to the coordinates of said detected reference mark 8.

[0120] Within the framework of the invention, it is possible to detect a single marker 8. However, it is preferable that said marker 8 be located on at least two corners 300, and preferably at least four corners 300, as this enlarges the detection field of the detection means 7.

[0121] In some embodiments, the processing of the detection data, i.e., the detected markers 8, is performed by a control unit 5. Thus, the control unit 5:

[0122] - receives information concerning the coordinates of at least one marker 8, coordinates detected by the detection means 7 via a communications network and

[0123] - transmits instructions via a communications network to the control means 60 in order to adjust the movement of the gripping tool 4 between the stack 3 and the input 20 of the processing station 2 according to the detected coordinates.

[0124] According to one possible variant, the processing of the detection data, i.e. of the detected markers 8, is carried out directly by the detection means 7.

[0125] A communication network is, for example, a wireless network that allows the transmission of information, data, or instructions between two terminals. It can also be a wired network.

[0126] In embodiments, the control unit 5 is configured to determine the optimal gripping area 400, according to the coordinates of at least one reference mark 8, and also according to the format of the flat element 30, and in particular the presence or absence of folding areas or according to the possible presence of a clamping link 90.

[0127] In embodiments, the detection means 7 are configured to determine the optimal gripping area 400, according to the coordinates of at least one reference mark 8, and also according to the format of the flat element 30, and in particular the presence or absence of folding areas or according to the possible presence of a clamping link 90.

[0128] In a preferred embodiment, the displacement adjustment step includes determining the center 80 of the flat element 30 on the stack as a function of the coordinates of said detected marker 8 such that the center of the gripping tool 4 is at the center 80 of the flat element 30 when the gripping tool picks up said flat element 30.

[0129] In some embodiments, the control unit 5 transmits instructions to the control means 60 via a communication network to adjust the movement of the gripping tool 4 by controlling the robotic arm 6 so that the center of the gripping tool 4 is aligned with the center 80 of the flat element 30 when the gripping tool picks up said flat element 30. In some embodiments, the detection step consists of detecting at least one marker 8 comprising one or more alphanumeric characters and / or symbols and / or geometric representations and / or pictograms and / or Unicode characters.

[0130] According to one possible variant, the detection step consists of detecting a marker 8 in the form of a high-intensity two-dimensional barcode, also known as a data-matrix code. In some embodiments, the loading process is carried out by a loading device 1 as described above.

[0131] In some embodiments, the detection step is implemented only once, the means 7 performing a single shot of the entire stack 3 of elements 30 allowing the orientation of said flat elements 30 to be calculated as a function of at least one marker 8 detected on the first element 30 of the stack 3.

[0132] The invention further relates to a flat element 30, generally parallelepiped, comprising four corners 300, an outer edge 301, an upper face 31 and a lower face 32, said element 30 being characterized in that it comprises at least one positioned marker 8.

[0133] In one embodiment, the flat element 30 includes two markers 8a, 8b, located respectively on a corner 300a, 300b.

[0134] According to a possible additional feature, said two corners 300a, 300b are diagonally opposite on the same face 31, 32 of said flat element 30.

[0135] Two diagonally opposite corners (300°) are defined as two corners with an internal angle of 90° rotated 180° from each other. In other words, the angle bisector of one of the two corners (from the internal angle at 90° to the internal angle of the other corner) is parallel to that of the other corner.

[0136] According to one possible additional characteristic, marker 8 consists of one or more alphanumeric characters and / or symbols and / or geometric representations and / or pictograms and / or Unicode characters.

[0137] Figure 4 shows an illustrative example of a flat, generally parallelepiped-shaped element 30, comprising four markers 8a, 8b, 8c, and 8d. Advantageously, the markers 8 are located respectively in corners 300a, 300b, 300c, and 300d. Also shown is a pick-and-place area 400, determined with respect to the center 80 of the flat element 30. The pick-and-place area 400 is preferably determined by the control unit 5 and / or by the detection means 7 based on the Cartesian coordinates of at least one marker 8, and allows the determination of the best possible pick-and-place given the orientation and position of a flat element 30 in the stack 3.

[0138] Figure 5 illustrates an embodiment in which a flat element 30 includes a marker 8 located on its upper face 31. The relative position of this marker 8 with respect to the center 80 of the flat element 30 was previously entered into a control screen of the control unit 5. Following the detection of the marker 8, the control unit 5 calculated the coordinates of this marker 8 and the optimal gripping area 400. Taking into account the position of the cutout 30, the gripping device 4 rotated this cutout 30 to deposit it on its longest side at the inlet 20.

[0139] Figure 6 shows an embodiment in which a flat element 30 comprises four markers 8a, 8b, 8c, and 8d, each of said markers 8a, 8b, 8c, and 8d being located respectively in a corner 300a, 300b, 300c, and 300d of the flat element 30. Device 4 detects marker 8a. Following this detection, the pick-up area 400 is determined by the control unit 5, and device 4 performs the necessary movements to deposit the cut-out 30 at the inlet 20.

[0140] Figure 7 illustrates an embodiment in which two stacks 3 of flat elements 30 are shown. The first flat elements 30 of each stack 3 are not oriented in the same direction. By detecting at least one marker 8, the device 4 is able to perform the necessary displacements and movements to ensure that the flat elements 30 are deposited in the correct orientation at the inlet 20.

[0141] Thus, the invention advantageously enables the loading of elements 30, individually or in batches, from a stack 3 to an inlet 30 of a loading station 2, reliably and automatically, using markers 8 affixed to said flat elements 30. It is therefore no longer necessary to define a loading routine for the loading device 1 beforehand, as said device 1 can adapt in real time to the orientation and format of the flat elements 30 within the stack 3.

Claims

DEMANDS 1. Device (1) for loading generally parallelepiped-shaped flat elements (30) having four corners (300), a top face (31) and a bottom face (32), said elements (30) being stacked in the form of a pile (3), the loading being carried out by a successive transfer from said pile (3) to a processing station (2), said processing station (2) having an inlet (20) for receiving successive elements (30), optionally held by a link (90) or similar to form a batch, said device (1) comprising at least: - a gripping tool (4) adapted for lifting and moving said flat elements (30) from the stack (3) to the inlet (20), said gripping tool (4) comprising at least one gripping member (40), - a control unit (5) configured to execute a routine for loading said input (20) of said processing station (2) from the stack (3) of flat elements (30), - a robotic arm (6) designed and arranged to move said gripping tool (4) at least between the stack (3) and the inlet (20) of the station (2), said tool (4) being positioned at the distal end of said robotic arm (6), the device (1) being characterized in that it comprises: - optical detection means (7), said means (7) comprising at least one camera (70) capable of detecting, for each flat element (30) to be moved by said gripping tool (4), at least one marker (8), said marker (8) being located on one of the faces (31, 32) of said element (30), and in that - the control unit (5) is configured to determine and / or receive coordinates of said at least one detected reference frame (8) and to transmit instructions to control means (60) of an actuator of said robotic arm (6) in order to adjust the displacement of said gripping tool (4) according to the coordinates of said at least one reference frame (8).

2. Loading device (1) according to the preceding claim, characterized in that at least one marker (8) is previously positioned at a corner (300) of said flat element (30).

3. Loading device (1) according to the preceding claim, characterized in that the optical detection means (7) are configured to detect and / or determine the position of at least one marker (8) located on one of the faces (31, 32) of a flat element (30), said flat element (30) comprising on at least one face (31, 32) four markers (8a, 8b, 8c, 8d), said markers (8a, 8b, 8c, 8d) being each located respectively at the level of a corner (300) and being each located at the same distance from the outer edge (301) of said flat element (30).

4. Device (1) according to any one of the preceding claims, characterized in that the control unit (5) is configured to determine and / or receive the coordinates of the center (80) of the flat element (30) on the stack as a function of the coordinates of said at least one detected marker (8).

5. Device (1) according to any one of the preceding claims characterized in that each marker (8) consists of one or more alphanumeric characters and / or symbols and / or geometric representations and / or pictograms and / or Unicode characters.

6. Device (1) according to the preceding claim, characterized in that each marker (8) is a high-intensity two-dimensional barcode.

7. Device (1) according to any one of the preceding claims, characterized in that each marker (8) is printed on at least one of the faces (31, 32) of each flat element (30), preferably on the upper face (31) of each element (30).

8. Device (1) according to any one of the preceding claims, characterized in that it comprises means for determining the relative distance (d) separating the gripping tool (4) and the flat element (30) to be grasped.

9. Device (1) according to the preceding claim, characterized in that said means for determining the distance (d) comprise at least one laser rangefinder (71) attached to the gripping tool (4) or the robotic arm (6).

10. Device (1) according to any one of the preceding claims, characterized in that the control unit (5) is configured to transmit instructions to the control means (60) of the actuator of said robotic arm (6) to automatically adapt the gripping trajectory of the gripping tool (4) according to the coordinates of said at least one detected reference frame (8).

11. Device (1) according to the preceding claim, characterized in that the control unit (5) is configured to transmit instructions to the control means (60) to determine the orientation of the gripping tool (7) for grasping one or more flat elements (30) of the stack (3).

12. Device (1) according to any one of the preceding claims, characterized in that the camera (70) comprises a lens with a short focal length and distortion correction means to obtain a wide field of view at short distance.

13. Device (1) according to any one of the preceding claims, characterized in that it comprises a cutting means (9) when the flat elements (30) are held together by a link (90) or similar to form a batch.

14. A method for loading flat elements (30) into an inlet (20) of a processing station (2), each flat element (30) being generally parallelepiped-shaped and having four corners, an upper face (31) and a lower face (32), said method comprising a step essentially consisting of transferring flat elements (30) from a stack (3) into said inlet (20), using a gripping tool (4) of a loading device (1), the method being characterized in that it comprises steps consisting of: - detect at least one marker (8) located on one of the faces (31, 32) of the first flat element (30) of the stack using optical detection means (7) of said loading device (1), - process the detection data using determination means to determine the coordinates of said detected markers (8) and - adjust the displacement of said gripping tool (4) using control means (60) according to the coordinates of said at least one detected reference mark (8).

15. A generally parallelepiped-shaped flat element (30) comprising an outer edge (301), four corners (300), an upper face (31) and a lower face (32), said element (30) being characterized in that it comprises at least one marker (8) positioned on one of its faces (31, 32).

16. Flat element (30) according to the preceding claim, characterized in that said at least one marker (8) consists of one or more alphanumeric characters and / or symbols and / or geometric representations and / or pictograms and / or Unicode characters.

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