• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A postal sorting machine comprises a sorting conveyor (2) having sorting outlets (3), a first feed antenna (6) adapted to automatically inject into the sorting conveyor heterogeneous postal objects of the type small packets or parcels and a second feed antenna (4,5) adapted to inject into the sorting conveyor flat homogeneous mail items such as letters, magazines or the like. The first feed antenna (6) has an input adapted to receive the heterogeneous postal objects in bulk and comprises at least one robotic handling arm of the type "picks and place".
    公开号:FR3019068A1
    申请号:FR1452530
    申请日:2014-03-25
    公开日:2015-10-02
    发明作者:Karim Kara；Jacques Petit；Karine Crest；Pierre Campagnolle；Eric Moullard；Jean Rieu
    申请人:Solystic SAS；
    IPC主号:
    专利说明:

    [0001] TECHNICAL FIELD The field of the invention is that of postal sorting and more particularly of the automatic postal sorting of mail items using a sorting conveyor having sorting outlets and which is adapted for serially moving articles. of mail along the sorting outlets and selectively direct each mail item to a sorting outlet which corresponds to the mailing address affixed to the mail item.
    [0002] Prior art Sorting machines are already known comprising a pinch type sorting conveyor for mechanized sorting of small flat mail items such as letters or the like. Also known are postal sorting machines comprising a bucket carousel type sorting conveyor for mechanized sorting of mixed mail including small format flat mail items and larger format flat mail items such as magazines or magazines. similar. These machinable mail items of small or large format may for example have length dimensions of 140 to 380mm, in height from 90 to 260mm and 25 in thickness from 0.5 to 32mm, a weight that can go from 10g to 2kg. These machineable mail items can be packaged in paper envelopes, plastic envelopes and even packaged in a bundle. The spectrum of postal items distributed by Posts also includes small packets or packages whose dimensions, weight and packaging are very heterogeneous with values that may go beyond the values indicated above. For example, we can have small packages of 100mm thick and 5kg. This type of heterogeneous postal objects is sorted automatically on large machines and reduced rate. Small packages or parcels are now sorted away from flat mail items which increases the cost of postal sorting. SUMMARY OF THE INVENTION The object of the invention is to propose a solution for increasing the spectrum of postal objects sorted mechanically. Another object of the invention is in particular to provide a solution for sorting in the same automatic postal sorting machine comprising a sorting conveyor having sorting outlets, both homogeneous flat mail items and heterogeneous postal items. of type small packages or parcels. Another object of the invention is to provide such a postal sorting machine whose size and footprint remains low. The idea underlying the invention is to feed the sorting conveyor into a postal sorting machine, firstly into heterogeneous postal objects such as small parcels and parcels via an antenna. Specific feed adapted to the physical specifics of these mailpieces, and also flat homogeneous mail items via another feed antenna which remains conventional and suitable for flat homogeneous mail items. For this purpose, the subject of the invention is a feed antenna for heterogeneous postal objects such as small packets or packages intended to supply heterogeneous postal objects with a sorting conveyor having sorting outlets, characterized in that it comprises a input adapted to receive said heterogeneous postal objects, at least one robotic handling arm of the "pick and place" type adapted to collect the heterogeneous postal objects one by one and place them in series on a flat conveyor which moves them in series flat following a certain conveying path, an imaging means arranged along said conveying path to form a digital image of each mailpiece having a postal address, and a transfer means disposed at an end of said conveying path for transferring each postal object of the flatbed conveyor in the sorting conveyor. Such a specific feed antenna for heterogeneous postal objects of the small package or package type may advantageously have the following particulars: it may comprise at least one first robotic handling arm which is adapted to carry out a ginning of said heterogeneous postal objects and to least a second robotic handling arm which is adapted to flatten the said ginned postal objects in series; said second robotic handling arm may be further adapted to orient said postal objects in a longitudinal conveying direction of the flat conveyor and to place them in series with a constant pitch on said flat conveyor; said first robotic handling arm may comprise six degrees of freedom and said second robotic handling arm comprises four degrees of freedom; each handling arm may comprise a pneumatic suction grip member 5; it may comprise a flat circular conveyor between the introduction input of the bulk mailpieces and the robotic handling arm (s); the transfer means may be a carousel with 10 tilting trays; the imaging means may be disposed on two opposite sides of the flat conveyor to form two digital images respectively of two opposite sides of each mailpiece. The invention extends to a postal sorting machine capable of sorting in the same sorting outlets two separate streams respectively flat homogeneous mail items and heterogeneous mail items. More particularly, the invention extends to a postal sorting machine comprising a sorting conveyor having sorting outlets, a first feed antenna as defined above adapted to inject into the sorting conveyor heterogeneous postal objects and a second feed antenna adapted to inject homogeneous flat mail items into the sorting conveyor. This sorting machine may still have the following features: - said sorting conveyor may be a conveyor with 30 buckets with buckets that circulate in a closed loop path; the buckets of the bucket conveyor may have a large dimension oriented transversely to the direction of circulation of the buckets according to the closed loop path; the sorting outlets of the sorting conveyor may each be provided with a sorting outlet receptacle in which sorted homogeneous flat mail items are arranged sorted flat with sorted heterogeneous mailpieces.
    [0003] The invention also extends to a method for sorting homogeneous flat mail items of small or large format such as letters or magazines with heterogeneous postal items such as small parcels or parcels in a postal sorting machine as defined above. above and wherein the input of the first specific feed antenna is loaded with heterogeneous postal objects arranged in bulk and the second feed antenna is loaded with homogeneous mail items arranged in stack on edge.
    [0004] According to another particularity of the sorting method, the specific supply unit for heterogeneous postal objects is controlled in such a way that said heterogeneous postal objects are placed in series on said flat conveyor with a constant pitch.
    [0005] An exemplary embodiment of the invention is described below and illustrated by the drawings. BRIEF DESCRIPTION OF THE FIGURES FIG. 1 schematically illustrates in perspective a postal sorting machine according to the invention. FIG. 2 schematically illustrates in perspective an upstream part of an automatic feeding antenna for heterogeneous postal objects. FIG. 3 schematically illustrates in perspective a downstream part of the feed antenna of FIG. 2.
    [0006] Figure 4 schematically illustrates in another perspective the downstream portion of the feed antenna of Figure 2 with the buckets of a bucket conveyor.
    [0007] DESCRIPTION OF THE EMBODIMENTS In FIG. 1, there is illustrated a postal sorting machine 1 according to the invention as a whole and comprising here in the example a sorting conveyor of the carousel type with buckets 2.
    [0008] The bucket carousel 2 comprises buckets (not shown in Figure 1 but which are visible in Figure 4) which are adapted to carry each at least one postal object which is here in the context of the invention a flat mail item or a small package or parcel. The cups of the carousel 2 run along a closed loop path over sort output receptacles 3 which are here removable trays in which the sorted objects can be placed in a flat lay-up.
    [0009] In FIG. 1, two power supply antennas 4,5 are diagrammatically illustrated which supply in parallel the bucket carousel 2 in flat homogeneous mail articles of small and / or large format as is known to those skilled in the art. These flat mail items may be for example letters, magazines or the like.
    [0010] In FIG. 1, reference numeral 6 designates a feed antenna specific to the carousel with buckets 2 in heterogeneous postal objects such as small packets or parcels.
    [0011] The sorting machine 1 is therefore able to sort in its sorting outlets 3 a stream of small packets or parcels and a mail flow, ie flat mail items, which makes it possible to optimize the sorting costs. postal. The packaging and the characteristics of the small packages being different from those of the mail, each feed antenna has its own injection point in the bucket carousel. The feed antennas 4 and 5 each conventionally comprise an input magazine in which the flat mail articles are arranged in stack on edge, a destacker downstream of the magazine which depiles and serializes the flat mail items, a conveyor to pinch strips which carry flat mail items serially on edge at a constant distance or not in front of a camera and finally an injector which injects each flat mail piece into a carousel cup. As is known, the camera forms a digital image of the face of each mail item that includes a mailing address and more particularly the postal mail delivery address of the mailpiece and based on OCR recognition. of this distribution address in the image, a control unit of the machine determines the sorting outlet receptacle 3 in which the mail item is to be deposited by the bucket carousel.
    [0012] In Figure 2, there is illustrated in more detail now the feed antenna 6 specific for heterogeneous postal objects 7 such as small packages and packages.
    [0013] It comprises an inlet formed here by a kind of hopper 6A in which the heterogeneous postal objects 7 are poured in bulk. The heterogeneous postal items 7 in a pile in the hopper 6A are mechanically removed by means of a conveyor belt 6B which forms the sole of the hopper 6A and which conveys the postal objects 7 on a slope in line with a flatbed conveyor 6C. The equipment 6A, 6B, 6C makes it possible to make a first separation of the heterogeneous postal objects 7 ("stripping"). The postal objects 7 which fall on the circular conveyor 6C are then shredded and put in series with the aid of at least one robotic handling arm of the type "picks and place" known as "pick and place". In FIG. 2, the feed antenna 6 preferably comprises a first stage of robotic handling arms, here with two robotic arms 6D, 6E each having six degrees of freedom and associated respectively with the 3D vision systems 6F, 6G . The function of this first stage of robotic arms with vision systems is to strip the heterogeneous postal objects 7 partially still stacked on the circular conveyor 6C by taking them one by one and placing them individually one behind the other on a end of a 6H flatbed conveyor.
    [0014] The circular conveyor 6C recirculates the postal objects 7 which could not be taken by the robotic arms 6D, 6E. Each robotic arm 6D, 6E can be equipped with a suction pneumatic gripping system. As can be seen in FIG. 2, the flat conveyor 6H here comprises two tracks 6H1, 6H2 which are respectively served by the robotic arms 6D, 6E which can thus have different pick and set rates. The feed antenna 6 comprises in the example a second stage of robotic handling arms disposed at the other end of the flat conveyor 6H downstream of the arms 6D, 6E, here with two other robotic handling arms 61,6J associated with a 6K vision system. The robotic arms 61, 6J are here robotic arms with four degrees of freedom, with for example pneumatic grippers with suction cups, to take postal objects flat respectively from the tracks 6H1, 6H2 and to deposit them flat in series on the sole of another flat conveyor 6L which is adjacent to the conveyor 6H. In the example, the conveyor 6L is arranged perpendicularly to the conveyor 6H which limits the footprint of the postal sorting machine because the conveyor 6L can be in alignment with the sorting outlets 3 of the machine. Thus, in this arrangement of industrial robotic arms arranged in a fixed position, a separation of the ginning functions on the one hand and serialization on the other hand which allows to obtain maximum compactness for the power unit 6 due to the integration flexibility of the flat conveyor 6H in already existing installations in particular. The second stage of robotic arm 61,6J can be further adapted to orient in the direction of their great length (orientation landscape mode) the heterogeneous postal objects 7 in the longitudinal direction of the flat conveyor 6L. The robotic handling arms of the second stage of robotic arms can then synchronize not constant serialized heterogeneous postal objects. In FIG. 3, the downstream part of the feed antenna 6 is illustrated with the flat conveyor 6L which conveys postal articles 7 flatly and in a constant pitch to a 6M tilting tray carousel which serves to inject Heterogeneous mailpieces 7 in the cups of the cup carousel 2. As shown in FIG. 3, an imaging system 6N is arranged in the path of the conveyor 6L and on the two opposite sides thereof ( above and below) to form two digital images respectively of the two opposite sides of each heterogeneous postal object 7. From one of these two digital images, the control unit can therefore evaluate in the image selected a dispensing for the mailpiece so as to control the sorting conveyor to direct this heterogeneous postal object into a corresponding sorting output bin. In FIG. 4, it can be seen that the tilting tray carousel 6M has horizontal tray 6P which are each tiltable about an axis of rotation 6Q located on the front lateral side of the tray.
    [0015] The trays 6P travel on a closed loop path in the direction indicated by the arrows 60 above the buckets 20 of the bucket conveyor 2. At the end of the tilting movement, each tray is automatically reassembled in a horizontal position by a ramp system . Each tray of the carousel 6M is loaded with a heterogeneous postal object 7 disposed flat on the horizontal plate. The postal objects 7 arrive one by one on the trays of the conveyor 6M by a free end slope of the flat conveyor 6L which is overhanging the carousel 6M. As illustrated in FIG. 4, the tilting axis 6Q of the trays of the tray carousel is oriented transversely to the direction of circulation of the trays and the buckets 20 of the bucket carousel here have a large dimension (corresponding to the long length of the trays). mail items) which is oriented transversely to the direction of circulation 21 of 20 buckets so that each postal object 7 can be transferred by gravity and simple sliding of a tray to a bucket in which it is stored in a global manner on singing on his side of greater length. It should be noted that the control unit of the postal sorting machine controls the carousel 6M so that the trays of the carousel 6M move synchronously with the buckets 20 of the carousel 2. The injection point of the heterogeneous postal objects 7 in the carousel 2 is located at the carousel 30 6M trays while the injection point homogeneous flat mail items in the carousel 2 is at another different place, here for example at the end 50 of the antenna As shown in FIG. 4, the injection point of the heterogeneous postal objects in the bucket conveyor 2 is more particularly located on a straight path portion of the 6M tray conveyor which is above A portion of a straight path of the bucket conveyor 2. At the injection point, the buckets 20 flow in a direction opposite to that of the trays 6P. In FIG. 4, buckets 20 are shown each with three adjacent load compartments in the flow direction 21. Each compartment may be sized to carry a homogeneous mail piece or a heterogeneous mail piece. For each bucket 20 it would be possible to provide a specific compartment for flat homogeneous mail items and a specific compartment for heterogeneous mailpieces. We could also provide buckets 20 in which these specific compartments would be juxtaposed (arranged side by side perpendicular to the direction 21) without departing from the scope of the invention.
    [0016] By way of example, the synchronization between the tray carousel 6M of the specific antenna 6 can be adjusted with the flow of the bucket carousel 2 to have a heterogeneous postal object 7 to be injected every six consecutive buckets 20 of the carousel 2 . 30
    权利要求:
    Claims (3)
    [0001]
    CLAIMS1 / Antenna power supply (6) in heterogeneous postal objects (7) such as small packets or packages for feeding heterogeneous postal objects a sorting conveyor having sorting outlets, characterized in that it comprises an input adapted for receiving said heterogeneous postal objects, at least one robotic handling arm (6D, 6E, 61, 6J) of the "pick and place" type adapted to collect the heterogeneous postal objects one by one and place them in series on a flat conveyor ( 6L) which moves them in series flat following a certain conveying path, an imaging means (6N) disposed along said conveying path to form a digital image of each mailpiece having a mailing address, and a means transfer member (6M) disposed at one end of said conveying path for transferring each postal object of the flatbed conveyor into the sorting conveyor.
    [0002]
    2 / feeding antenna according to claim 1, characterized in that it comprises at least a first robotic handling arm (6D, 6E) which is adapted to perform a ginning of said heterogeneous postal objects and at least one second handling arm robotic (6I, 6J) which is adapted to put in series flat said ginned postal objects.
    [0003]
    3 / power antenna according to claim 2, characterized in that said second robotic handling arm (61,6J) is further adapted to guide said heterogeneous postal objects (7) in a longitudinal transport direction of the flat conveyor and placing them in series with a constant pitch on said flat conveyor. Antenna according to claim 2 or 3, characterized in that said first robotic handling arm (6D, 6E) comprises six degrees of freedom and said second arm of Robotic handling (61,6J) has four degrees of freedom. 5 / Antenna power supply according to one of the preceding claims, characterized in that each handling arm comprises a pneumatic suction grip member. 6 / feeding antenna according to one of the preceding claims, characterized in that it comprises a circular conveyor flat (6C) between the input of introduction of postal objects and the robotic handling arm or arms. 7 / Antenna power supply according to one of the preceding claims, characterized in that the transfer means is a tilting tray carousel (6P). 8 / power antenna according to one of the preceding claims, characterized in that the imaging means (6N) is disposed on two opposite sides of the flat conveyor to form two digital images respectively of two opposite sides of each postal object. 9 / postal sorting machine comprising a sorting conveyor having sorting outlets, characterized in that it comprises a first feed antenna according to one of claims 1 to 7 adapted to inject in the sorting conveyor postal items heterogeneous and a second feed antenna (4,5) adapted to inject homogeneous flat mail items into the sort conveyor. / Postal sorting machine according to claim 9, characterized in that said sorting conveyor is a conveyor for buckets with buckets (20) that travel in a closed loop path. 11 / postal sorting machine according to claim 10, characterized in that the buckets (20) of the bucket conveyor have a large dimension oriented transversely to the bucket circulation direction following the closed loop path. 12 / postal sorting machine according to one of claims 10 to 11, characterized in that the sorting outlets (3) of the sorting conveyor are each provided with a sorting outlet receptacle in which flat homogeneous mail items sorted are arranged flat with sorted heterogeneous postal objects. 13 / A method for sorting homogeneous flat mail items of small or large format such as letters or magazines with heterogeneous postal objects such as small packets or packages in a postal sorting machine according to one of claims 9 to 12, characterized this the input of the first specific feed antenna is loaded with heterogeneous postal objects arranged in bulk and the second feed antenna is loaded with homogeneous mail items arranged in stack on edge. 14 / A method according to claim 13, characterized in that the specific supply unit heterogeneous postal objects is controlled in such a way that said heterogeneous postal objects are placed in series on said flat conveyor with a constant pitch.
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    同族专利:
    公开号 | 公开日
    EP3122478B1|2018-05-16|
    US20160256897A1|2016-09-08|
    US20170087597A1|2017-03-30|
    EP3122477B1|2018-04-11|
    FR3019068B1|2017-10-20|
    US9676003B2|2017-06-13|
    WO2015145000A1|2015-10-01|
    EP3122477A1|2017-02-01|
    WO2015145012A1|2015-10-01|
    US9868138B2|2018-01-16|
    EP3122478A1|2017-02-01|
    引用文献:
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    法律状态:
    2016-03-22| PLFP| Fee payment|Year of fee payment: 3 |
    2017-03-20| PLFP| Fee payment|Year of fee payment: 4 |
    2018-03-14| PLFP| Fee payment|Year of fee payment: 5 |
    2020-03-19| PLFP| Fee payment|Year of fee payment: 7 |
    2021-12-10| ST| Notification of lapse|Effective date: 20211105 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1452530A|FR3019068B1|2014-03-25|2014-03-25|POSTAL SORTING MACHINE WITH ROBOTIC HANDLING ARMS|FR1452530A| FR3019068B1|2014-03-25|2014-03-25|POSTAL SORTING MACHINE WITH ROBOTIC HANDLING ARMS|
    PCT/FR2015/050373| WO2015145000A1|2014-03-25|2015-02-16|Device for supplying flat items for a bucket conveyor|
    EP15709719.7A| EP3122477B1|2014-03-25|2015-02-16|Feeder device for flat articles to a container carousel|
    US15/126,464| US9868138B2|2014-03-25|2015-02-16|Device for supplying flat items for a bucket conveyor|
    PCT/FR2015/050541| WO2015145012A1|2014-03-25|2015-03-05|Mail sorting machine with robotised handling arms|
    US14/441,454| US9676003B2|2014-03-25|2015-03-05|Postal sorting machine with robotized handling arms|
    EP15713980.9A| EP3122478B1|2014-03-25|2015-03-05|Postal sorting machine with robotic handling branch|
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