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    • 专利摘要:
    The present invention relates to a method of presentation in longitudinal file of packages initially arranged in ranks i (..., n-1, n, n + 1, ...), at a rate D of isolated packages determined, by at least three successive conveyor belts, namely a regulating conveyor belt (16) and two conveyor belts (17, 18). After separation of the adjacent rows in the longitudinal direction, each rank i is successively presented on the regulating conveyor belt (16), the dimensions of the spacings between the packages of ends of rank i and the internal reference sides are measured optically. and external vis-à-vis the regulating conveyor belt (16) and the number of packages of rank i on the carpet, the speed of the conveyor belt routing (17, 18) is calculated to maintain the flow rate determined D, the trajectories of the packages are calculated and the time of release of the packages of rank i from the regulating belt (16) on the conveyor belt (17, 18) is determined so that the internal package of the rank i does not catch the outer package of rank i-1.
    公开号:FR3052761A1
    申请号:FR1655628
    申请日:2016-06-16
    公开日:2017-12-22
    发明作者:Pascal Perrot；Sauze Philippe Le；Thierry Chollet
    申请人:SYLEPS；
    IPC主号:
    专利说明:


    Pour le calcul on prévoit une borne inférieure Si N < 7 alors N := 7
    Exemple d'Application Numérique D = 1 800 C/h Tcycle = 2 N (s)
    Larg_Palette= 1 mètre
    Avec k0 constante fonction de la palette (A CONFIRMER)
    On a représenté sur la figure 8 une courbe 85 donnant la vitesse Vi qui est donc fonction du nombre N de colis par couche, selon l'exemple d'application numérique ci-dessus. - Détermination des vitesses V2 et V3 des deuxièmes et troisièmes tapis, pour séparation longitudinale des rangs ou séries de colis entre deuxième tapis et troisième tapis : L'objet de la séparation est d'obtenir des rangs ou séries de colis séparés longitudinalement d'une longueur paramétrable à savoir un espacement E entre colis ou trou minimum déterminé.
    On distingue ici, et par exemple deux plans de palettisation possibles : . Sans imbrication Plan_Pal := (Simple, Complexité_Moy)) . Avec imbrication Plan_Pal := (Complexe),
    On limite ici l'imbrication à deux rangs, c'est-à-dire qu'un colis ne peut appartenir à plus de deux rangs.
    Soit :
    Dans le cas d'un plan de palettisation de colis non imbriqués (rangs ni, ... nh non imbriqués) correspondant à la figure 9 et de largeur li, ... lh on a une expression du TroUmin comme suit :
    Avec : μ G [0..1] Coefficient traduisant la longueur du produit nécessaire sur le deuxième tapis pour qu'il atteigne V2. V2 est déterminée dans le cas le plus critique à savoir obtenir un Troumini déterminé entre deux rangs consécutifs convoyés suivant la largeur 1.
    On a dans ce cas :
    Une application numérique donne par exemple et si on souhaite un TroUmin de 2 0 cm :
    On a lmin = 14.5 cm et On obtient :
    On a représenté sur la figure 10, un exemple de courbe 87 V2/Vi obtenue en fonction de la largeur 1 des colis et correspondant à l'exemple décrit ci-dessus .
    Dans le cas d'un plan de palettisation de colis imbriqués (du type de la couche 82 de la figure 7), on a représenté (cf. figure 11), un état initial 88 (to) un état intermédiaire 89 (11 = to+Ato) et l'état final 90 de trois colis 91, 92 et 93. A l'état final les colis 91 et 93 sont séparés par un trou 94, tout en conservant un recouvrement 95 entre les charges 91 et 92.
    Concernant l'état intermédiaire 89, on va avoir :
    Soit une distance parcourue par le colis 91 en un temps Δτι :
    Durant ce même temps Δχι, le colis 92 a quant-à-lui parcouru une distance Δΐ2 :
    Après un temps Δχ1; le colis 93 aura quant-à-lui parcouru une distance Δΐ3 :
    Ou encore
    Discussion de la position de X3(ti)
    On a : L < 2.1 donc
    Le colis 93 est dès lors toujours sur le premier tapis.
    Plus précisément et dans le cas d'une imbrication stricte, le colis 93 est exactement ou à peu près exactement à la jonction des deux tapis 14 et 15. L'écart longitudinal ainsi créé vaut :
    La condition de conservation de l'imbrication des colis 91 et 92 s'écrit alors : ΔΙ2ι < l Soit :
    On observe par ailleurs les cas limites suivants : L = 2.1 (imbrication stricte)
    L-*l (Produits à base carrée)
    Dans ce cas V2 prend des valeurs trop importantes rendant la désimbrication difficile voire impossible.
    Soit une distance parcourue en un temps Δτ3 :
    Durant ce même temps Δτ3 le colis 91 a parcouru une distance Δΐι :
    L'écart longitudinal ainsi créé durant Δτ2 vaut ainsi:
    La condition de désimbrication des colis 91 et 93 s'écrit :
    Soit :
    On doit également tenir compte des cas limites suivants : • L = 2.1 (imbrication stricte)
    Dans ce cas V2 prend des valeurs trop importantes rendant la désimbrication difficile voire impossible. On a représenté ci-après l'équation du recouvrement r = f(k), qui va pouvoir être utilisée dans les calculs selon le mode de l'invention plus particulièrement décrit ici.
    On pose
    Le recouvrement r s'exprime alors par la relation
    Soit
    Ou encore
    Cette relation est donc une droite 95 (figure 13) de pente négative L'équation du trou t(k) s'exprime quant-à-elle par la relation
    Soit
    Ou encore
    Ici encore sa représentation est une droite 96, mais cette fois-ci de pente positive Exemple numérique : L = 0.320 m , 1 = 0.235 m
    Il existe donc une valeur optimale 97 de de k = kopt tel que r(k) = t(k).
    Soit :
    A cette valeur optimale de k correspond : • une valeur optimale du recouvrement ropt = r (kopt) • une valeur optimale du trou topt = t (kopt)
    Tel que :
    Dans l'exemple précédent on a :
    On remarque que cette valeur optimale de k : • Est à rapprocher de la relation
    C'est-à-dire celle permettant de réaliser un Trou de longueur L entre deux colis transférés consécutivement selon le sens de leur largeur 1. • Mais qu'elle ne garantit pas la relation :
    (où L3 est la longueur du troisième tapis) permettant d'assurer la présence d'un seul « rang » parfaitement isolé sur ledit troisième tapis.
    La relation précédente conduit à une valeur de k telle que :
    On note que cette valeur de k est égale à kopt lorsque L3 = L+l
    En conclusion on programme V2 tel que :
    Soit pour :
    Avec des valeurs limites qui conduisent pour • L= 1 (colis de base carrée) ropt = topt = 1 • L= 2.1 (imbrication stricte) . ropt = topt =0
    Ceci permet d'obtenir une désimbrication des colis 98 et 99 de la palette 100 comme représenté sur la figure 13, sur le troisième tapis 16.
    Il vient ensuite pour V3
    Avec β coefficient multiplicateur pris pour permettre la suite de l'optimisation des espacements de colis déterminés de manière expérimentale en fonction de 1, L du colis. Par exemple β = 1,35.
    On va maintenant décrire les étapes algorithmiques de détermination des commandes des quatrième, cinquième et autres tapis suivants et ce plus particulièrement en références aux figures 14A, 14B, 15 et 16.
    Le problème que cherche à résoudre l'invention consiste, à partir d'une alimentation en rangs successifs à débit constant, à alimenter le procédé en aval à débit de colis (un par un) constant.
    Or le nombre de colis appartenant à deux rangs d'une même couche de colis donné n'est pas nécessairement constant, soit du fait de l'arrangement des rangs soit du fait de leur imbrication.
    Le principe de fonctionnement du présent dispositif 1 (de mise en file) a donc pour objet de réguler l'alimentation du poste de reprise 5 en asservissant la vitesse Vx des convoyeurs ou tapis 17, 18, 19, 20, 22 aux nombres de colis Nb_Colis du rang présent sur le troisième tapis 16 ainsi qu'à la position des colis situés aux extrémités du rang Pos_Colis_Ext et Pos_Colis_Int.
    Plus précisément et en référence à la figure 14B, une fois obtenue par la photographie numérique de la caméra M située au-dessus du troisième tapis la position du colis externe (entrée 101), la position du colis interne (entrée 102), le nombre de colis (entrée 103) et après détection (entrée 104) de la présence du rang ou de la série sur ledit troisième tapis, on détermine (carré 105) la vitesse V3 (flèche 106) .
    On calcule à partir des résultats, le signal 107 qui alimente le calcul 108 dit « consommateur de file », sur un évènement périodique (signal 109).
    On en déduit (110, 111, 112, 113) les vitesses V4, V5, V6 et V7.
    La vitesse v4 est quant à elle réinsérée (flèche 114) dans le bloc de calcul 115 estimant la distance restant à parcourir pour chaque colis, qui permet à son tour (lien 114) d'être réinjectée dans le bloc de calcul 105 pour permettre l'optimisation de la gestion des distances en temps réel ou quasiment en temps réel de façon à éviter les risques de collision et/ou d'embouteillage entre colis (temps 117 de rafraîchissement par exemple toutes les 20 millisecondes).
    Dans le bloc 105 et après acquisition des données produites par le capteur d'images CCD, on positionne le centre des charges suivant le repère 0-X,Y (voir également figure 15).
    On calcule ensuite la longueur des trajets parcourus par le colis le plus à l'extérieur (Dext) et la plus l'intérieur (Dint) ·
    Puis on calcule la vitesse (Vxr+i) qu'il faudra appliquer au rang r + 1 lorsque le dernier colis du rang r sera évacué. On évalue alors la condition de lâché du rang r + 1 avec une formule du type :
    avec
    Eest : estimation de la position du colis le plus à l'extérieur du rang r, réalisée périodiquement en 115 (cf. figure 14B) avec une périodicité par exemple de 20 ms.
    Si la condition de « lâché » est remplie, le rang r + 1 est lâché à la vitesse V3.
    Sinon, il y a arrêt du troisième tapis.
    Le bloc 108 dit consommateur de file est quant à lui programmé comme suit. Début ou initialisation des vitesses.
    Avec VDef : vitesse choisie par défaut et introduite en 118 (paramètres) dans le système.
    Cycle :
    On a représenté sur la figure 15 les éléments permettant le calcul des trajectoires, la trajectoire d'un colis étant égale à la somme des trajectoires définies de façon connue en fonction de la largeur Li des tapis et des longueurs L2, L3 (a, b, c) , L4, L5, L6, L7 et des angles oî, a' , avec :
    Li : largeur des troisième et quatrième tapis, L2 : longueur de la partie droite du quatrième tapis, L4 = L5 : longueur du côté externe des quatrième et cinquième tapis. L3 = L5 -a avec a= distance entre point d'attache de la rampe B et début du sixième tapis, b et c : paramètres définis ci-après. L6 : longueur du plus grand côté du sixième tapis. L7 = L4 : longueur du plus grand côté du septième tapis. a : angle entre côtés externes respectivement entre quatrième et cinquième tapis et entre sixième et septième tapis.
    Au vu de la figure 15, deux cas sont à considérer :
    La trajectoire interfère avec le guide B.
    La trajectoire n'interfère pas avec le guide B.
    Chacune de ces trajectoires pour un colis situé à une distance δο du bord externe du troisième tapis peut être modélisée par une droite du type
    en appliquant les règles classiques de cumul et de trigonométrie.
    On a par exemple donné ci-après et également en référence à la figure 15, un tableau faisant état des mesures des valeurs des paramètres a et b dans le cas où la largeur Li des tapis est égale à 1 350 mm, où la distance L2 est égale à 400 mm et où L4 = 1 016 mm. b est ici la distance existant entre le bord du sixième tapis 19 et le point d'impact de la trajectoire rectiligne, parallèle audit côté, du colis δ0 avec le guide B.
    TABLEAU
    Ce qui donne :
    La figure 16 montre la trajectoire suivie par le colis en fonction de la distance δο initiale du colis sur le troisième tapis sans interférence (120) avec le guide (jusqu'à δο = 0,65) et avec interférence (121) avec le guide (après).
    On a ensuite représenté plus précisément en perspective (sur la figure 17) le troisième tapis 16 avec un seul colis sur le rang qui s'apprête à partir sur le quatrième tapis 17.
    Les espaces 122 à gauche (Dint) et 123 à droite (Dext) sont mesurés par le capteur ou caméra CCD 124 situé au-dessus.
    Plus précisément la caméra ou capteur est implanté au-dessus du troisième tapis, la zone analysée étant un rectangle :
    Le CCD (puce 4/3) définit alors un repère orienté (o, x, y) par exemple de o 176 pixels suivant x o 132 pixels suivant y ο o étant le centre de l'image du CCD On détermine la hauteur H d'implantation du capteur 3D par rapport à la « surface » à analyser, par exemple avec angle d'ouverture
    angle d'ouverture
    largeur du troisième tapis par exemple = 1.350 et hauteur maximale des produits par exemple Hprodmax= 0.4 m, puis on calcule les différents paramètres par application des règles trigonométriques.
    Sur la figure 18 on voit la caméra CCD 124 disposée (de façon réglable) à la hauteur H par rapport au-dessus des colis 4, 4', 4'' disposés sur le troisième tapis, pour prendre les photographies et fournir à l'automate les données géométriques nécessaires.
    On a représenté sur les figures 19A, 19B et 19C les angles a pouvant exister entre les directions 10 et 12, entre un premier ensemble convoyeur et un deuxième ensemble convoyeur et/ou un deuxième ensemble et un troisième ensemble convoyeur (et/ou entre un n-1 ensemble et n ensemble ...) .
    La figure 19A illustre un angle ai de 120°, la figure 19B un angle a2 de 90° et la figure 19C un angle rentrant oî3 pour aller jusqu'à 30.
    Ces angles vont permettre de déterminer les vitesses que l'on veut choisir en fonction des distances et du nombre de colis déposés sur les tapis.
    On a par ailleurs représenté par des ronds 130, 130' ; 131' ; 130'' ; 131''portions de deux colis amenés à suivre deux trajets parallèles matérialisés par des droites formant donc les angles ai, a2 et cx3.
    En fonction des distances Δ entre ces deux trajectoires, des vitesses respectives Vy et Vx des parties d'angles des premier et deuxième ensembles convoyeurs et de l'angle, on détermine alors par simples règles de calcul trigonométriques les paramètres de fonctionnement.
    On a va maintenant décrire en référence aux figures 20A, 20B, 20C et 20D un exemple de mise en œuvre du procédé de transfert et d'alignement de colis selon le mode de réalisation de l'invention plus particulièrement décrit ici. A partir d'une couche 140 de colis qui est placée sur un premier tapis 14 animé d'une première vitesse Vi, on fait avancer sur le deuxième tapis 15 animé d'une deuxième vitesse V2 > Vi. De ce fait les rangs 141 et 142 successifs de colis se séparent, le rang 142 parti le premier arrivant alors sur le troisième tapis 16 où il est pris en photo pour déterminer le nombre et la distance Dext et Dint des colis d'extrémité, le troisième tapis étant arrêté.
    Ces valeurs sont transmises au calculateur 29, qui détermine alors la suite des opérations de la façon qui a été décrite ci-avant.
    En fonction de ces calculs, on injecte le rang 142 vers le quatrième tapis qui commence à écarter les colis les uns des autres à proximité du côté interne des tapis (cf. figure 20B).
    En fonction de la distance des colis par rapport au bord interne et compte tenu de l'angle a, les colis plus externes sont progressivement repris et viennent s'échelonner comme représenté sur les figures 20C puis 20D.
    Les colis les plus externes (143) viennent alors (retour à la figure 20A) se glisser s'il y a lieu le long du guide B qui permet de refocaliser les produits en file indienne comme cela apparaît à nouveau à la figure 20B.
    Grâce à une bonne programmation et gestion des vitesses, des mesures sur le troisième tapis, et des paramètres de fabrication dimensionnelle du dispositif, il est ainsi possible d'obtenir un débit optimisé, régulé et constant de colis isolés au niveau du huitième tapis et suivant.
    Comme il va de soi et comme il résulte également de ce qui précède, la présente invention n'est pas limitée aux modes de réalisation plus particulièrement décrits. Elle en embrasse au contraire toutes les variantes et notamment celles où d'autres rampes de guidage fixe ou mobile sont positionnées par exemple sur le deuxième ensemble convoyeur, et/ou les rampes de guidage ne sont pas motorisées .
    METHOD AND DEVICE FOR SCRAPING PACKAGES WITH REGULATED FLOW
    The present invention relates to a method of transferring and presenting in Indian file of packages, at a determined individual package rate.
    It also relates to a package transfer device implementing such a method.
    It finds a particularly important, although not exclusive, application in the field of the sanding of loads of various shapes, that is to say the transfer and the separation between them of loads from a layer of packages in variable numbers, in a line of isolated packages. It applies in particular and in particular in the case of loads not necessarily parallelepipedic, having high centers of gravity and / or non-flat funds thereby causing instability packages during their transfer.
    Transmission and presentation systems in longitudinal file of packages are already known. These implement gripping tongs that come to place the packages successively on a transfer belt for example, and / or use pusher jacks that crop the packages in single file as and when they advance on a carpet .
    Such systems have disadvantages. They require indeed actuators (clamps, thrust cylinders, ...) expensive, likely to fail and causing congestion, especially in the lateral direction of the systems.
    It is also known (WO 2014/17029 A, US 2001/0030102 and DE 10 2013 206790A)) methods of sorting and organizing parcel queues implementing different speed and / or height and / or weight mats. different orientation. Such systems do not take into account all types of packages and especially parcels with high centers of gravity may tilt during transport.
    They do not make it possible to achieve high flow rates (especially greater than 1,500 packages per hour), nor the processing of pallet layers with nested products, that is to say, organized in a non-homogeneous way in their distribution. In particular in the case of nested packages, rates greater than 1000 packages / hour are impossible to achieve with the processes of the prior art.
    It is known that when constituting a pallet of products or packages, they can be organized in homogeneous rows, or on the contrary nested wholly or partly in one another, depending on the filling optimization of the pallet whose overall dimensions must be maintained in a specific volume frame. This nesting and / or the increase of the rates of treatment of the packages then generate traffic jams and / or collisions between them leading to a stop or a bad queue, which considerably limits the rates of treatment.
    The present invention aims to overcome these disadvantages by providing a method and a device that better than those previously known to the requirements of the practice, in particular in that it allows sorting and presentation of optimized packages, simply, efficiently, at a high rate (for example greater than 1 700 packages per hour, for example 1 8 00 or even 2000 or even 2 200 parcels / hour), without the risk of error and / or untimely bottling and for a cost particularly advantageous, even in the presence of unstable packages and / or obtained from pallets whose layers have a product distribution or packages in nested rows.
    With the invention the number of actuators is more limited, which reduces the risk of failure, maintenance costs and thus simplifies the operation of the whole.
    Thanks to the invention, the parcel supply can also be performed by an unsophisticated depalletizing system with high flow rates (not dependent on a too long time diagram due to the actuators).
    The present invention notably starts from a different idea, consisting of making the parcels defrost naturally, by means of particular provisions of the conveyor belts on which the packages to be transferred rest and move, and by a calculated and regulated management of the packages. feeding and respective velocities of the mats.
    For this purpose the invention proposes in particular a method for transferring and presenting in longitudinal or substantially longitudinal file in the direction of their transfer, parcels initially arranged in rows i (..., n-1, n, n + 1, ...), in the direction transverse to the transfer direction, at a determined individual package D flow rate, by at least three successive conveyor belts, namely a regulating conveyor belt and two conveyor conveyor belt, in which after separating them from the adjacent rows in the longitudinal direction, each row i is presented successively on the regulating conveyor belt, the dimensions of the spacings between the end packages of said row i are measured visually and the inner and outer reference sides facing each other. with respect to said regulating conveyor belt as well as the number of packages of rank i on said belt, from said measurements the speed of the conveyor belts of queuing is calculated to maintain the flow rate determined D, the trajectories of the packages are calculated and the moment of release is determined from the regulation mat of the parcels of said rank i, on said conveyor belts, according to said calculations so that the inner package of the rank i does not catch the outer package of rank i-1 and advance said rank i on the queuing mats at the moment of release thus determined.
    In advantageous embodiments, it is moreover and / or moreover recourse to one and / or the other of the following provisions: to separate the adjacent rows in the longitudinal direction, the parcels are deposited by horizontal layer each layer comprising at least two ranks of packages i, i + 1, on a first receiving conveyor belt conveying the packages together in a first direction at a first determined speed Vi, and then these packages are advanced on a second conveyor belt for transfer in the first direction at a second speed V2> V1r the regulating mat, of speed sequenced V3, forming a third carpet located downstream of said first and second carpet; the speed Vi is a function of the number N of packages of the layer; - parcels of at least two adjacent rows are nested between them; the ratio of the speeds V2 / Vj is a function dependent on the dimensions of the packages in length L and in width 1, parameterized as a function of a determined dimension of spacing E of separation or minimum hole between packages, the spacing dimension E or minimum hole being that which one wants to see to respect systematically between two adjacent parcels of two different adjacent ranks (to guarantee their non-telescoping later during the continuation of the process); the rank i + 1 is advanced on the second belt only when all the packages of the preceding rank i have reached a certain determined position with respect to the entry on said second belt; the placing mats comprising a fourth animated mat of a determined fourth speed V4 (to increase the separation in the longitudinal direction of said ranks or series between them, and a fifth mat forming an angle with the first direction and animated at a speed V5, in a second direction, said fourth and fifth mats are fed so that there is a difference in the length of the parcels initially located in the transverse direction of the first direction; by slaving the speed V4 and that V5 of the fifth belt to the number of packages of the ranq i present on the third carpet as well as to the position of the end parcels of said rank i; - one fixes each package located beyond a distance determined with respect to the inner edge of the fifth belt by a guide ramp B at an angle to the direction of transfer at an angle γ, so that said packages are returned to the interior of said fifth carpet; the angle a is between 90 ° and 150 °; the packages are advanced on at least one complementary conveyor assembly, in a third direction or substantially in a third direction forming a second angle with the second direction of the fifth belt; - Each package is adjusted relative to a given horizontal plane in an identical gripping position by at least one motorized guide ramp, obliquely to the direction of transfer at an acute angle β with respect to one of the conveyor banks. and actuates a pivoting system if necessary, to place the packages always in the same direction relative to their longitudinal axis. The invention also proposes a device implementing the method as described above.
    It also proposes a device for transferring and presenting parcels isolated in longitudinal file in the direction of their transfer at a given speed D to a parcel pick-up station, in which the parcels are deposited per layer, each layer comprising at least two ranks (i, i + 1) of parcels transverse to the direction of transfer, comprising a first conveyor conveyor receiving the parcels together in a first direction at a first speed Vi, a second conveyor belt for transfer in said first direction to a first second speed V2> Vi, so that it results in a separation in the longitudinal direction between a first row i or a first series, aligned transversely, of at least one package and at least a second rank i + 1 or a second series , transversely aligned, at least one package because of the differential speed, a third movable mat in translation sequentially arranged to be stopped before nt supplying a fourth carpet, means for optical measurement of the position in XY packages of said rank i or said series, the number of packages of said rank i and spacings between them and / or which separate the packages of end of the inner and outer sides of the third mat at the stop, means for advancing the third mat to a third speed V3, and stop sequentially (i.e., successively or intermittently by programming specific), a fourth mat located in the extension of the third mat, arranged to be driven by a determined fourth speed V4 feeding a fifth mat forming an angle with the first direction and arranged to be driven by a speed V5 in a second direction, so that there is a difference in the path length of packages initially located in the transverse direction of the first direction, said fifth belt and means for calculating speeds Vj, V2, V3, V4 / V5, stopping the third mat and determining the moment of introduction of the packages on the fourth mat from determined parameters including the dimensions of the packages, the lengths of the carpets, the number of parcels per layer, as well as the spacing dimensions and the number of parcels per rank i measured optically, so as to allow the ginning of the packages in longitudinal or substantially longitudinal file, with a D flow rate of isolated packages determined and without risk collision during their transfer.
    Advantageously, it comprises a complementary transfer conveyor assembly in a third direction or substantially in a third direction forming a second angle with the second direction of the fifth belt.
    Also advantageously the fifth belt comprises a ramp obliquely to the direction of transfer, guiding packages.
    The optical measuring means arranged to measure the number of packages of the series or rank i which will leave on the fourth belt and the spacing dimensions or holes between the end packages of said series and the internal and external reference sides vis-à-vis the third carpet include a CCD camera (for example 176 pixels x 132 pixels).
    This is for example located above the carpet at a distance H sufficient to encompass the width of the carpet at defined angles of xOx and yOy, for example respectively 60 ° and 45 °. The invention will be better understood on reading embodiments given below by way of non-limiting examples.
    The present invention refers to the accompanying drawings in which:
    FIG. 1 is an axionometric perspective view of a device implementing the method according to one embodiment of the invention.
    FIG. 2 is a view from above of FIG. 1.
    FIGS. 3A and 3B respectively show in profile and in partial perspective the first conveyor belt of FIG.
    FIG. 4 is a partly exploded perspective view of an embodiment of the second conveyor belt of the device of FIG. 1.
    FIG. 5 shows an example of a guide ramp (bias) that can be used in one embodiment of the invention, such as that of FIG. 1.
    Figure 6 is a block diagram illustrating the initial steps for calculating the speed of the mats.
    Figure 7 illustrates four examples of a pallet package layer showing different types of nesting.
    FIG. 8 gives a curve illustrating the result of the calculation of the speed V 1 of the first belt as a function of the number of packages.
    Figure 9 is a top view showing a palletizing plan with parcels arranged differently but not nested.
    FIG. 10 shows a curve illustrating in one embodiment of the invention, the velocity ratios λ / Vi between the first carpet and the second carpet as a function of the width 1 (and / or the length) of the packages.
    FIG. 11 gives a top view of the path of three initially nested packages, which are partly disembodied thanks to the ratio V2 / V1 of speeds between belts.
    FIG. 12 shows a curve for determining the optimum value of the ratio between the speed V2 of the second belt and the speed Vi of the first belt, enabling the optimization of the disintegration.
    FIG. 13 schematically illustrates, in plan view and in perspective, an initial position of a nested package pallet layer at the level of the first conveyor belt, and an end position partially unimpressed of packages at the first, second and third conveyor belts.
    FIGS. 14A and 14B show respectively a top view of the third and fourth mats, as well as the following conveyors or belts, and on the other hand a block diagram illustrating the control of said mats.
    FIG. 15 is an enlarged view of FIG. 14A illustrating the trajectory of a package as a function of its initial position at the exit of the third carpet, according to the embodiment of the invention more particularly described here.
    FIG. 16 is a curve giving the length of the trajectory followed by a package from its initial Ox coordinates at the exit of the third carpet with the carpet system of FIG. 15.
    Figure 17 is a schematic perspective view of the third carpet at the optical measurement.
    FIG. 18 is a schematic view in elevation of the third carpet with optical measurement means of FIG. 17.
    Figures 19A-19C illustrate three types of angles between fourth and fifth mats, according to embodiments of the invention.
    Figures 20A to 20D show in perspective four package transfer steps showing their progressive alignment according to the embodiment of the invention more particularly described here.
    FIG. 1 shows a device 1 implementing a transfer and presentation process in Indian file 2, that is to say longitudinal or substantially longitudinal in the direction 3 of their transfer, of parcels 4, 4 ', 4''to a recovery station 5 for example consisting of a conveyor table 6 which will then allow the recovery of packages in known manner by itself for example by clamps and / or any other appropriate means.
    The packages 4, 4 ', 4''are brought by horizontal layer 7 in a manner known per se (arrow 8) on a first conveyor assembly 9 conveying the packages in a first direction or substantially in a first direction (arrow 10) on a second conveyor 11 for transferring said packages in a second direction 12 forming an angle α with the first direction 10 so that, as will be seen more specifically with reference to the following figures, it is observed a difference in the length of the package paths initially located in the transverse direction of the first direction which together with the other features of the invention will allow the package to égrainage in longitudinal or substantially longitudinal file.
    In the embodiment more particularly described here, the first assembly 9 comprises a reception table 13 formed by a first mat 14 which will be described more specifically with reference to FIGS. 3A and 3B, arranged to be driven by a first speed Vi.
    The first set 9 further comprises at least one second mat 15 arranged to advance the packages in first directions, for example parallel or divergent, as will be more specifically described with reference to FIG. 4, at a speed V 2> Vi (or in some embodiments at several speeds V2, V'2, V''2, ...), so that the difference in speeds causes the separation of successive ranks.
    This second mat can indeed also be arranged (or not) to advance the packages at different speeds by means of bands themselves different speeds V2, V'2, V '' 2 ...
    The first set 9 also comprises, located after the second mat 15, a third mat 16, animated with a sequential speed V3 for example greater than the speed of the parts upstream of the first set with stops greater than or equal to 1.
    According to the embodiment of the invention more particularly described here the third carpet comprises optical means M which will be more particularly described hereinafter with reference to FIGS. 17 and 18.
    The device of Figure 1 further comprises a fourth belt (corner) 17 belonging to the first conveyor assembly 9 which is the one that will be in contact without charge transfer with the second conveyor assembly 11 forming the angle here 90 ° with the direction 10 of the first set 9.
    This consists of parallel strips of the same width and continuous constitution, in noria around a rotating gear and progressive length from inside to outside.
    In the embodiment described here the second conveyor assembly 11 comprises meanwhile a fifth corner mat 18, then a sixth mat for example consisting of several central strips 19 which will itself be in contact with a third conveyor assembly 20 transferring the packages in a third direction 21, forming a second angle α, here also 90 ° with the direction 12.
    The third conveyor assembly 20 further comprises a series of two conveyor belts located downstream and conveying the packages in the same direction 21, namely a first rectangular belt 22 and a second rectangular belt 23, for example identical to the first.
    Each of these belts for example consisting of parallel strips operating in the same way as the carpet 14, but of different dimensions, has a side portion of a guide ramp 24, 25, which guides packages.
    These ramps are for example motorized as will be described with reference to Figure 5. At the exit of the last carpet 23, the packages are now arranged in single file on the table 6, receiving and evacuation to the position 5 recovery packages.
    More specifically, the table 6 comprises at its end a system 26 adapted to rotate the load or package 4 (if necessary) to always place it in the same direction relative to its longitudinal axis 27.
    The pivoting system 26 is for example constituted by a removable abutment, which comes into place when the measurements made by an optical sensor 28 allow it. The sensor will determine, based on a preliminary programming which will be detailed below, whether it is necessary to perform a pivoting through control means 29 of the assembly known in themselves (PLC).
    Table 13 will now be described more precisely with reference to FIGS. 3A and 3B. The supply of the device as indicated above is here carried out by a depalletizing system responsible for depositing the layer 7 of packages 4, 4 ', 4''... (from a pallet) on the conveyor belt 14 .
    The layer 7 may be complete or incomplete, its overall dimensions being for example in a surface defined by the standards currently encountered in logistics, namely 1200 x 800 mm2 or 1200 x 1000 mm2.
    It consists of at least two rows of packages 4, 4 ', 4''... may have different orientations.
    This variation of orientation can be observed between consecutive ranks or within the same rank.
    One or more rows can also be imbriged into each other, this having been done initially to optimize storage plans, minimizing lost volumes and / or crossing layers to improve the stability of the pallet.
    The reception table 13 is made from a band (or first mat) 14 in the form of an endless chain made of plastic links in a manner known per se.
    The dimensions of this table are greater than those of the received layer, the band 14 being endless and geared in noria on a shaft 30 (see Figure 3B) driven by a geared motor 31, in a manner known per se. It allows a transfer of loads at a speed, for example of the order of 5m / min.
    An optical device, for example composed of four photoelectric sensors 32, provides the markup of the zone, thus informing the supply system of the automaton 29 of the state of occupation of the table 14.
    Referring to Figure 4, there is then shown a portion 15 of the first conveyor assembly 9, said intermediate portion which allows better singling packages.
    It is for example made from thirteen modular strips 33, similar in design to the previous band 14 but finer. Here again these strips are mounted on a (same) shaft 34, equipped with pinions 35, driven by a (single) geared motor 36.
    In this embodiment, the initial transverse distance δ between the longitudinal axis of each of the strips increases progressively over the entire race to arrive at a distance Δ at the end of travel as shown in FIG. 4 (with for example Δ - δ = 100 mm or 96 mm).
    In this embodiment only the central strip is implanted axially in the direction of displacement and strictly parallel to the direction 10.
    The other twelve bands symmetrically implanted on either side (six on each side) of the central strip, therefore have a diverging direction with respect to the axis of displacement.
    Such an arrangement ensures a better singling of packages or charges along two axes.
    A first separation along the axis 10 of displacement of the loads 10 is achieved thanks to the speed differential applied between the first input belt and the second belt.
    For example, this differential can here be of the order of 2 and naturally causes the appearance of a distance or longitudinal clearance (or hole) between two consecutive rows. A photoelectric sensor 37 placed at the end 38 of this intermediate conveyor part then detects the space between two packages.
    A second separation along the axis normal to the displacement is due to the divergence that each band has between them.
    This divergence naturally causes the appearance of a distance or game transverse to the displacement between each of the loads of the same rank (up to the value Δ - δ).
    In the embodiment of the invention more particularly described here there is provided a third carpet 16 (see Figures 1 and 2).
    This third belt 16, for example of a length substantially two times shorter than the length of the second belt 15 of the first conveyor assembly (upstream), is made from a modular strip of similar design or identical to the previous bands by example of the type of those of the conveyor portion 13 described above.
    A single geared motor 40 of the same type as the other geared motors driving the belts and also provided, arranged to apply a speed differential for example here of the order of 1.7 with the second belt 15 and allow the successive stops and restarts.
    The presence of this rank and the detection of its transfer is performed by a CCD optical camera placed directly above the third carpet as will be detailed later and in combination with a PLC programming which will also be explained below. .
    According to the embodiment of the invention more particularly described here the previously isolated row is then transferred to the second conveyor assembly 11.
    This comprises two conveyor parts namely and first a first portion or fifth belt 18 which forms an angle of 90 ° with the fourth belt 17 of the first conveyor assembly, which allows a bevel junction 41 (cf. Figure 1 and 2).
    This bevel junction ensures the continuity of the transfer, ie a transfer without breaking the load and here materializes the bisector of the angle equal to 90 °.
    It then comprises a second part or sixth conveyor belt 19 of this second conveyor assembly 11, formed by parallel strips of the same type as those described above and makes it possible to move the packages a little further to a third conveyor assembly 20 which will be described below.
    In the example described here more precisely the two conveyor parts 18 and 19 are made from seventeen modular strips similar in design to the previous strips, implanted parallel to each other and guided in grooves in a support of plastic material. All these strips are mounted on the same shaft driven by a geared motor, here again in a manner known per se, ensuring a displacement of the loads at, for example, an approximate speed of between 15m / min and 40m / min, for example 24m / min.
    Each load of the same rank is thus applied an identical linear speed
    During the transfer at 90 ° between the end of the first conveyor assembly and the beginning of the second conveyor assembly 18, the path to be traveled by each of the loads is substantially variable as will be specified with reference to Figures 20A to 20D below.
    Indeed, if one seeks to characterize the position of each of the loads we can remember that the closer the initial position is closer to the top of the angle, the greater the path that the load must travel.
    The linear velocity applied to each of the loads being hypothetically the same, it is thus observed that each load realizes its path in a time proportional to the distance to be traveled, thus creating at the end of the transfer a shift in position between each of them. will result through the controlled management of other parameters and as will be described below their linear alignment as seen for example in Figure 20D.
    There is then only one rank (in the process of Indian filing) on all the conveyors.
    The zone having a complex shape, its markup is achieved by a scanning laser sensor 42 (see Figure 2) whose cover is adaptable.
    The second set further comprises a straight bar B, extending over a portion or over the entire length of said second set of complementary guiding end packages. The bar is fixed on one side to the outer side C of the second set, to an axis A located on the side of the first set, around which it is adjustable in rotation and comprises on the other side a free end L. The end free L is adjustable in position, the bar to bring packages too far to the end which allows better management of parcels stripped.
    In the embodiment of FIGS. 1 and 2, a third conveyor assembly at 90 ° is therefore implanted afterwards to complete the queuing.
    A portion of angles, symmetrical and identical to the corner portion 17 is provided. The alignment of the loads is in turn completed by two belt conveyors 22, 23 (or belts), for example identical to each other, having an approximate length for example of 2.50 m.
    Each carpet of similar type to the carpet 14, is equipped with a vertical guide 24, 25 motorized, independent, having an acute angle β relative to one of the banks or sides of the conveyor 44, whose choice of the right or left side will determine the reference plane of the alignment.
    Advantageously, the angle β is adjustable manually or motorized in a programmed manner according to the speeds and package sizes to be aligned from an initial storage pallet. The action of the guides is maintained over the entire length of each belt 22, 23, these being placed one behind the other.
    The second belt 23 is offset on the axis transverse to the displacement, so as to ensure continuity of the alignment action over a distance here for example 5 m.
    The first conveyor 22 supports the alignment of the loads having the shortest paths, the second realigning if necessary the other loads.
    Referring to Figure 5 the guide 24, (25) comprises an endless vertical band 46 moving longitudinally in a manner known per se about an axis 47 actuated by a geared motor (not shown). The orientation of the loads is here carried out by belt conveyors with a length of approximately 3 m. These conveyors are actuated by motor means 48, 49, 50 known in themselves and therefore have packages in the transverse direction or the longitudinal direction. At the exit of the conveyor 23, the loads are taken up by the table 6 and oriented with the system 26. The function of this subassembly is to ensure a single orientation along the long side length for example to all loads.
    To do this, three basic operations are provided, namely the measurement of the length of the object, the comparison of this measurement with a theoretical data stored in the memory of the controller 29 and the reversal of the load if necessary by via a pusher cylinder (not shown).
    The measurement of the length of the charge is for example carried out in the following way: the charge 4 enters the conveyor 6 and activates the photocell forming the optical sensor 28. the control system (PLC 29) then stores the position of the charge 4 given by the said sensor 28. As soon as the charge no longer blocks the photocell, the controller 29 stores the position of the charge 4 again.
    The length of the charge is then obtained by simple subtraction of the two previously stored values.
    The value obtained is then compared to the expected theoretical value. If the difference is non-zero (within a tolerance) then the load is reversed.
    Indeed the real-time monitoring of the position of the load on the conveyor 22 allows if it is necessary to exert a force at a specific point of said load (in this case its first corner) by a mechanical actuator.
    Referring to Figure 6, and according to the embodiment of the invention more particularly described here, each conveyor belt (14, 15, 16 ...) of the device 1 is a discrete variable modifiable in real time system to design based on input data related to the initial data 71 on packages and layers, namely: - length L of the package (arrow 72), for example 0.2 <L <0.6m - width 1 of the package (arrow 73), for example 0.14 5m <1 <0.4m - the number N of packages of a layer (arrow 74) - a data characterizing the stability of the product (arrow 75) STAB = (Stab, Non stab) and according to the data 76 measured optically on the carpet 16 thanks to the CCD camera used, namely: - the space between the outer side or outer side of the third mat and the outer face opposite the outermost end package (arrow 77) - the space between the inner side or the inner side of the third mat and the face opposite the end package located furthest inside the device (arrow 78) - the number of packages on the series package ready to leave on the carpet 17 (arrow 79). From these initial data, the speeds Vi, V2... Of the different belts will be able to be calculated by the automaton 29 to obtain the queuing without bottling at the flow rate D of isolated packages sought.
    FIG. 7 shows, by way of example, four types of layers 80, 81, 82, 83 respectively giving four pallet nesting arrangements, which can also be introduced in the form of data in the system 70 for optimizing row untying. .
    More precisely, the layer 80 is a simple plane with, for each rank, packages in the same direction (no nesting).
    The layer 81 shows a medium complexity arrangement with two different package directions.
    The layer 82 gives a complex arrangement where the notion of homogeneous rank no longer exists.
    The layer 83 in turn gives a plane where some packages are not subjected to pressure, leaving spaces 84 between parcels in the center of the layer. Determining the speed Vi of the first belt 14
    The principle of the speed control consists in adapting the speed Vi of this belt so that the flow rate of packages D that it provides is fixed and independent of the number of packages N of the layer.
    For the calculation a lower bound is provided Si N <7 then N: = 7
    Example of Digital Application D = 1,800 C / h Tcycle = 2 N (s)
    Larg_Palette = 1 meter
    With k0 constant function of the pallet (TO CONFIRM)
    FIG. 8 shows a curve 85 giving the speed Vi, which is therefore a function of the number N of packages per layer, according to the numerical application example above. - Determination of the velocities V2 and V3 of the second and third mats, for longitudinal separation of the rows or series of parcels between the second and third mats: The object of the separation is to obtain rows or series of parcels separated longitudinally from a configurable length namely an E spacing between packages or minimum determined hole.
    Here, for example, there are two possible palletization planes: Without nesting Plan_Pal: = (Simple, Complexity_Moy)). With Plan_Pal nesting: = (Complex),
    Here we limit the nesting to two ranks, that is to say that a package can not belong to more than two ranks.
    Is :
    In the case of a palletizing plan of non-nested packages (non-nested rows ni, ... nh) corresponding to FIG. 9 and of width li, ... lh we have an expression of the TroUmin as follows:
    With: μ G [0..1] Coefficient which translates the length of the product required on the second belt so that it reaches V2. V2 is determined in the most critical case namely to obtain a determined Troumini between two consecutive rows conveyed along the width 1.
    We have in this case:
    A digital application gives for example and if we want a TroUmin of 20 cm:
    We have lmin = 14.5 cm and we get:
    FIG. 10 shows an example curve 87 V2 / Vi obtained as a function of the width 1 of the packages and corresponding to the example described above.
    In the case of a nested package palletizing plan (of the type of the layer 82 of FIG. 7), an initial state 88 (to) an intermediate state 89 (FIG. + Ato) and the final state 90 of three packages 91, 92 and 93. In the final state the packages 91 and 93 are separated by a hole 94, while maintaining an overlap 95 between the charges 91 and 92.
    Concerning the intermediate state 89, we will have:
    Let a distance traveled by the package 91 in a time Δτι:
    During this same time Δχι, the package 92 has meanwhile traveled a distance Δΐ2:
    After a time Δχ1; package 93 will have traveled a distance Δΐ3:
    Or
    Discussion of the position of X3 (ti)
    We have: L <2.1 so
    Parcel 93 is therefore still on the first carpet.
    More precisely and in the case of a strict nesting, the package 93 is exactly or almost exactly at the junction of the two mats 14 and 15. The longitudinal gap thus created is:
    The condition of conservation of the nesting of parcels 91 and 92 is then written: ΔΙ2ι <l Let:
    The following limiting cases are also observed: L = 2.1 (strict nesting)
    L- * l (Square Products)
    In this case V2 takes too large values making the désimbrication difficult or impossible.
    Let a distance traveled in a time Δτ3:
    During this same time Δτ3 the package 91 has traveled a distance Δΐι:
    The longitudinal gap thus created during Δτ2 is thus:
    The condition of désimbrication parcels 91 and 93 is written:
    Is :
    The following borderline cases should also be considered: • L = 2.1 (strict nesting)
    In this case V2 takes too large values making the désimbrication difficult or impossible. The recovery equation r = f (k) is shown below, which can be used in the calculations according to the mode of the invention more particularly described here.
    We pose
    The recovery r is then expressed by the relation
    Is
    Or
    This relation is therefore a line 95 (figure 13) of negative slope The equation of the hole t (k) is expressed as for it by the relation
    Is
    Or
    Here again its representation is a straight line 96, but this time with a positive slope. Numerical example: L = 0.320 m, 1 = 0.235 m
    There is therefore an optimal value of k = kopt such that r (k) = t (k).
    Is :
    At this optimal value of k corresponds: • an optimal value of the recovery ropt = r (kopt) • an optimal value of the hole topt = t (kopt)
    Such as :
    In the previous example we have:
    We note that this optimal value of k: • Is to be compared to the relation
    That is to say, that allows to make a hole of length L between two packages transferred consecutively according to the direction of their width 1. • But that it does not guarantee the relation:
    (where L3 is the length of the third carpet) to ensure the presence of a single "row" perfectly isolated on said third carpet.
    The preceding relation leads to a value of k such that:
    Note that this value of k is equal to kopt when L3 = L + l
    In conclusion we program V2 such that:
    For:
    With limit values that lead to • L = 1 (square base package) ropt = topt = 1 • L = 2.1 (strict nesting). ropt = topt = 0
    This makes it possible to obtain a désimbrication packages 98 and 99 of the pallet 100 as represented in FIG. 13, on the third carpet 16.
    He then comes for V3
    With β multiplier coefficient taken to allow the further optimization of the experimentally determined parcel spacings as a function of 1, L of the package. For example, β = 1.35.
    The algorithmic steps for determining the commands of the fourth, fifth and other subsequent mats will now be described, more particularly with reference to FIGS. 14A, 14B, 15 and 16.
    The problem that the invention seeks to solve consists, from a feed in successive rows at a constant rate, to feed the downstream process at a constant parcel rate (one by one).
    However, the number of packages belonging to two ranks of the same layer of packages given is not necessarily constant, either because of the arrangement of ranks or because of their nesting.
    The operating principle of the present device 1 (of the queue) therefore has the object of regulating the supply of the recovery station 5 by slaving the speed Vx of the conveyors or belts 17, 18, 19, 20, 22 to the numbers of packages. Nb_Colis rank on the third carpet 16 and the position of packages located at the ends of the row Pos_Colis_Ext and Pos_Colis_Int.
    More specifically, and with reference to FIG. 14B, once obtained by the digital photograph of the camera M situated above the third carpet, the position of the external package (entry 101), the position of the internal package (entry 102), the number of package (entry 103) and after detection (entry 104) of the presence of the row or the series on said third belt, the square (105) determines the speed V3 (arrow 106).
    From the results, the signal 107 which supplies the so-called "line consumer" calculation 108 on a periodic event (signal 109) is calculated.
    The velocities V4, V5, V6 and V7 are deduced therefrom (110, 111, 112, 113).
    The speed v4 is in turn reinserted (arrow 114) in the calculation block 115 estimating the remaining distance to be traveled for each package, which in turn (link 114) to be reinjected into the calculation block 105 to allow the optimization of the management of the distances in real time or almost in real time so as to avoid the risks of collision and / or bottling between parcels (refresh time 117 for example every 20 milliseconds).
    In block 105 and after acquisition of the data produced by the CCD image sensor, the center of the charges is positioned according to the 0-X, Y mark (see also FIG. 15).
    The distance traveled by the outermost package (Dext) and the innermost package (Dint) is then calculated.
    Then we calculate the speed (Vxr + i) that will be applied to rank r + 1 when the last package of rank r will be evacuated. We then evaluate the condition of release of rank r + 1 with a formula of the type:
    with
    Eest: estimate of the position of the outermost package r rank, periodically performed at 115 (see Figure 14B) with a periodicity for example 20 ms.
    If the condition of "let go" is fulfilled, the rank r + 1 is dropped at the speed V3.
    Otherwise, there is stop of the third carpet.
    The block 108 called consumer line is programmed as follows. Start or initialization of the speeds.
    With VDef: speed chosen by default and entered in 118 (parameters) in the system.
    Cycle:
    FIG. 15 shows the elements that make it possible to calculate the trajectories, the trajectory of a package being equal to the sum of the trajectories defined in known manner as a function of the width Li of the belts and the lengths L2, L3 (a, b , c), L4, L5, L6, L7 and angles o1, a ', with:
    Li: width of the third and fourth carpet, L2: length of the right part of the fourth carpet, L4 = L5: length of the outer side of the fourth and fifth carpet. L3 = L5 -a with a = distance between attachment point of the ramp B and beginning of the sixth belt, b and c: parameters defined below. L6: length of the largest side of the sixth carpet. L7 = L4: length of the largest side of the seventh carpet. a: angle between external sides respectively between fourth and fifth carpet and between sixth and seventh carpet.
    In view of Figure 15, two cases are to be considered:
    The trajectory interferes with Guide B.
    The trajectory does not interfere with Guide B.
    Each of these trajectories for a package located at a distance δο from the outer edge of the third mat can be modeled by a straight line of the type
    applying the classic rules of cumulation and trigonometry.
    For example, a table giving the measurements of the values of the parameters a and b in the case where the width Li of the belts is equal to 1350 mm, where the distance L2 is given and also with reference to FIG. is equal to 400 mm and where L4 = 1016 mm. b is here the distance between the edge of the sixth belt 19 and the point of impact of the rectilinear trajectory, parallel to said side, of the package δ0 with the guide B.
    BOARD
    Which give :
    FIG. 16 shows the trajectory followed by the package as a function of the initial distance δο of the package on the third carpet without interference (120) with the guide (up to δο = 0.65) and with interference (121) with the guide (after).
    The third belt 16 is then shown more precisely in perspective (in FIG. 17) with a single package on the row that is about to leave on the fourth belt 17.
    The spaces 122 on the left (Dint) and 123 on the right (Dext) are measured by the sensor or CCD camera 124 situated above.
    More precisely, the camera or sensor is located above the third carpet, the analyzed area being a rectangle:
    The CCD (chip 4/3) then defines a reference oriented (o, x, y) for example of o 176 pixels following xo 132 pixels depending y ο o being the center of the image of the CCD One determines the height H of implantation of the 3D sensor with respect to the "surface" to be analyzed, for example with opening angle
    opening angle
    width of the third carpet for example = 1.350 and maximum height of the products for example Hprodmax = 0.4 m, then the various parameters are calculated by application of the trigonometric rules.
    In Figure 18 we see the CCD camera 124 arranged (adjustably) at height H relative to the packages above, 4 ', 4''arranged on the third carpet, to take the photographs and provide the automate the necessary geometric data.
    FIGS. 19A, 19B and 19C show the angles that may exist between the directions 10 and 12, between a first conveyor assembly and a second conveyor assembly and / or a second assembly and a third conveyor assembly (and / or between a n-1 together and n together ...).
    Fig. 19A illustrates an angle α1 of 120 °, Fig. 19B an angle α2 of 90 °, and Fig. 19C a recess angle o3 to go to 30.
    These angles will make it possible to determine the speeds that one wants to choose according to the distances and the number of packages deposited on the carpets.
    It has also been represented by circles 130, 130 '; 131 '; 130 '';131''portions of two packages brought to follow two parallel paths materialized by lines thus forming the angles ai, a2 and cx3.
    As a function of the distances Δ between these two paths, respective speeds Vy and Vx of the corner portions of the first and second conveyor assemblies and the angle, the operating parameters are then determined by simple trigonometric calculation rules.
    FIGS. 20A, 20B, 20C and 20D will now be described with reference to an example of implementation of the package transfer and alignment method according to the embodiment of the invention more particularly described here. From a layer 140 of packages which is placed on a first moving belt 14 of a first speed Vi, the second moving belt is advanced with a second speed V2> Vi. As a result, the successive ranks 141 and 142 of parcels separate, the first rank 142 then arriving on the third carpet 16 where it is photographed to determine the number and distance Dext and Dint of the end packages, the third carpet being stopped.
    These values are transmitted to the computer 29, which then determines the sequence of operations in the manner described above.
    Based on these calculations, the row 142 is injected to the fourth mat which begins to separate the parcels from each other close to the inner side of the mats (see FIG. 20B).
    Depending on the distance of the packages with respect to the internal edge and taking into account the angle a, the more external packages are progressively resumed and come to scale as shown in Figures 20C and 20D.
    The outermost packages (143) then come (back to Figure 20A) to slip if necessary along the guide B which allows to refocus the products in Indian file as it appears again in Figure 20B.
    Thanks to good programming and speed management, measurements on the third belt, and dimensional manufacturing parameters of the device, it is possible to obtain an optimized, regulated and constant flow of isolated packages at the level of the eighth belt and following .
    As is obvious and as also follows from the above, the present invention is not limited to the embodiments more particularly described. On the contrary, it embraces all the variants and in particular those where other fixed or movable guide ramps are positioned for example on the second conveyor assembly, and / or the guide ramps are not motorized.
    权利要求:
    Claims (15)
    [1" id="c-fr-0001]
    1. Method of transfer and presentation in longitudinal or substantially longitudinal file in the direction of their transfer, packages (4, 4 ', 4' '; 91, 92, 93) initially arranged in rows i (..., n -1, n, n + 1, ...), in the direction transverse to the direction of transfer, at a determined individual package flow rate D, by at least three successive conveyor belts, namely a regulating conveyor belt and two conveyor belts. conveyors in which, after separating adjacent rows in the longitudinal direction from each other, each row i is successively presented on the regulating conveyor belt (16), the dimensions of the spacings between the end packages of said rank i and the inner and outer reference sides opposite said regulating conveyor belt (16) and the number of packages of rank i on said belt, from said measurements the speed of the conveyor belts of queuing to maintain the debit flow When D is completed, the trajectories of the packages are calculated and the time of release of the parcels of said rank i from the regulation mat is determined on said conveyor belting pads, according to the said calculations so that the internal package of the rank i do not catch the outer package of rank i-1 and advance said rank i on the queuing mats at the moment of release thus determined.
    [2" id="c-fr-0002]
    2. Method according to claim 1, characterized in that, to separate the adjacent rows in the longitudinal direction, packages are deposited by layer (7) horizontal, each layer comprising at least two ranks of packages i, i + 1, on a first receiving conveyor belt (14) conveying the packages together in a first direction at a first determined speed Vi, and these packages are then advanced on a second conveyor belt (15) for transfer in the first direction at a second speed V2 > Vi, the control mat, speed sequenced V3f forming a third carpet located downstream of said first and second carpet.
    [3" id="c-fr-0003]
    3. Method according to claim 2, characterized in that the speed Vi is a function of the number N of packages of the layer.
    [4" id="c-fr-0004]
    4. Method according to any one of claims 2 and 3, characterized in that the packages (91, 92, 93) of at least two adjacent rows are interleaved with each other.
    [5" id="c-fr-0005]
    5. Method according to any one of claims 2 to 4, characterized in that the ratio of velocities V2 / Vi is a function dependent on the package dimensions in length L and in width 1, parameterized according to a given dimension d separation spacing E or minimum gap between packages, the spacing dimension E or minimum hole being the one that is to be systematically observed between two adjacent packages of two different adjacent ranks.
    [6" id="c-fr-0006]
    6. Method according to any one of claims 2 to 5, characterized in that it advances the second rank i + 1 on the second belt (15) when all the packages of the previous rank has reached a predetermined position with respect to the entrance on said second carpet (15).
    [7" id="c-fr-0007]
    7. Method according to any one of claims 2 to 6, characterized in that the putting mats comprising a fourth belt (17) animated with a fourth speed V4 determined to increase the separation in the longitudinal direction of said ranks between them, and a fifth belt (18) forming an angle α with the first direction and animated with a speed V5, in a second direction, feeding said fourth and fifth mats, so that there is a difference in length of path of parcels initially located in the transverse direction of the first direction.
    [8" id="c-fr-0008]
    8. Process according to claim 7, characterized in that the fifth belt (18) is fed by slaving the speed V4 and that V5 of the fifth belt to the number of packages of rank i present on the third belt (16) as well as the position of the end parcels of rank i.
    [9" id="c-fr-0009]
    9. A method according to any one of claims 7 and 8, characterized in that each package is rearranged beyond a given distance from the inner edge of the fifth belt (18) by a guide ramp B biased relative to the direction of transfer at an angle γ, so that said packages are returned to the interior of said fifth belt.
    [10" id="c-fr-0010]
    10. Method according to any one of claims 6 to 9, characterized in that the angle a is between 90 ° and 150 °.
    [11" id="c-fr-0011]
    11. A method according to any one of claims 6 to 10, characterized in that the packages are advanced on at least one complementary conveyor assembly, in a third direction (21) or substantially in a third direction forming a second angle with the second direction of the fifth carpet.
    [12" id="c-fr-0012]
    12. Process according to any one of the preceding claims, characterized in that each package is straightened with respect to a given horizontal plane in an identical gripping position by at least one motorized guidance ramp, obliquely to the direction of transfer. at an acute angle β relative to one of the banks (44) of the conveyor and actuates a pivoting system if necessary, to place the packages always in the same direction relative to their longitudinal axis.
    [13" id="c-fr-0013]
    13. Device (1) for transferring and presenting parcels (4, 4 ', 4 ", 91, 92, 93) in longitudinal file in the direction of their transfer to a parcel pick-up station (5), in which packages are deposited per layer, each layer comprising at least two ranks of transverse packages in the direction of transfer, comprising a first conveyor belt (14) conveying conveyance packages (4, 4 ', 4' '...) together in a first direction at a first speed Vi, a second conveyor belt (15) for transfer in said first direction at a second speed V2> Vi, so that a longitudinal separation occurs between a first rank i or a first transversely aligned series of at least one package and at least a second rank i + 1 or a second series transversely aligned with at least one package because of the speed differential, a third mat (16) movable in translation sequentially to be stopped before food ion of a fourth belt (17), means M for optical measurement of the position in XY of packages of said rank or series, the number of packages of said rank i and the spacings between them and / or which separate the packages end of the inner and outer sides of the third outer and inner edges of said third mat (16) at the stop, means for advancing the third mat to a third speed V3, and stop sequentially said fourth mat (17) located in the extension of the third carpet, arranged to be driven by a fourth determined speed V4 feeding a fifth belt (18) forming an angle with the first direction and arranged to be driven by a speed V5 in a second direction, said fifth belt, means (29) for calculating the speeds Vi, V2, V3, V4, V5 and stops of the third belt and determining the moment of introduction of the packages on the fourth belt from parameter determined, including package sizes, carpet lengths and widths, number of packages per layer and spacing dimensions and number of packages per row i measured optically, so as to allow longitudinal or substantially longitudinal packages with an isolated package flow determined D and without risk of collision during their transfer to a flow D.
    [14" id="c-fr-0014]
    14. Device according to claim 13, characterized in that it comprises a complementary transfer conveyor assembly in a third direction or substantially in a third direction forming a second angle with the second direction of the fifth belt.
    [15" id="c-fr-0015]
    15. Device according to any one of claims 13 and 14, characterized in that the fifth belt (18) comprises a ramp B bias relative to the direction of transfer, guiding packages.
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    同族专利:
    公开号 | 公开日
    US20190161285A1|2019-05-30|
    EP3472075A1|2019-04-24|
    JP2019519449A|2019-07-11|
    FR3052761B1|2021-10-22|
    WO2017216482A1|2017-12-21|
    US10773898B2|2020-09-15|
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    法律状态:
    2017-06-12| PLFP| Fee payment|Year of fee payment: 2 |
    2017-12-22| PLSC| Publication of the preliminary search report|Effective date: 20171222 |
    2018-06-12| PLFP| Fee payment|Year of fee payment: 3 |
    2020-05-20| PLFP| Fee payment|Year of fee payment: 5 |
    2021-05-19| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1655628A|FR3052761B1|2016-06-16|2016-06-16|PROCESS AND DEVICE FOR STREAMING PACKAGES AT REGULATED FLOW.|FR1655628A| FR3052761B1|2016-06-16|2016-06-16|PROCESS AND DEVICE FOR STREAMING PACKAGES AT REGULATED FLOW.|
    EP17740048.8A| EP3472075A1|2016-06-16|2017-06-14|The method and device for separating a string of packages into single file at a regulated pace|
    PCT/FR2017/051533| WO2017216482A1|2016-06-16|2017-06-14|The method and device for separating a string of packages into single file at a regulated pace|
    JP2018566414A| JP2019519449A|2016-06-16|2017-06-14|Method and apparatus for partitioning a series of packages into a single row at a coordinated rate|
    US16/308,684| US10773898B2|2016-06-16|2017-06-14|Method and device for separating a string of packages into single file at a regulated pace|
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