DEVICE AND METHOD FOR TRANSFERRING ELASTOMER BLOCKS

Abstract

The disclosure relates to a device for the automated transfer of an elastomeric block between a first position, where it is installed on a flexible support, and a second position. The device comprises a gripper that is able to take hold of the block and a manipulator that is able to move and orient the gripper so as to set the block in motion.

The disclosure also relates to a method for running such a device.

Claims

1. A device for the automated transfer of an elastomeric block between a first position, where it is installed on a flexible support, and a second position, comprising a gripper that is able to take hold of the block and a manipulator that is able to move and orient the gripper so as to set the block in motion, it also comprises a means for maintaining the position of the support during a movement of the elastomeric block and a means for returning the flexible support into position, comprising a device for blowing air in the direction of the flexible support.

2. The device according to claim 1, wherein the means for maintaining the position of the support comprise includes a linear actuator intended to exert a force normal to the surface of the flexible support.

3. The device according to claim 2, wherein the means for maintaining the position of the support also includes an arm installed on the linear actuator, the arm having a device for bearing on the flexible support.

4. The device according to claim 1, wherein the flexible support has a rectangular shape, and the position-maintaining means are positioned above at least two corners of the flexible support.

5. The device according to claim 1, wherein the flexible support is a non-stick support.

6. The device according to claim 1, comprising a means for automating at least one of the position-maintaining means and the position-returning means.

7. A system for transferring blocks, having a plurality of elastomeric blocks installed on a flexible support of rectangular shape, and a transfer device according to claim 1.

8. A method for running a system according to claim 7, the method comprising: at least one step of gripping and lifting an elastomeric block positioned on the support, at least one step of activating the position-maintaining means over a corner of the support, at least one other step of gripping and lifting an elastomeric block, which is repeated as many times as the number of blocks positioned initially on the support, minus one.

9. The running method according to claim 8, comprising another step of activating the position-maintaining means over another corner of the support.

10. The running method according to claim 8, also comprising a step of activating position-returning means.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Further embodiments and advantages of the disclosure will be described, in a non-limiting manner, with the aid of the figures, in which:

[0025] FIG. 1 shows an overall view of a device according to the disclosure,

[0026] FIG. 2 shows a detailed view of an element of a device according to the disclosure,

[0027] FIG. 3 shows several examples of cycles that are applicable in a method according to the disclosure.

DETAILED DESCRIPTION OF THE ENABLING EMBODIMENT

[0028] An example of a device according to the disclosure is shown in FIG. 1. The device comprises a table 1 on which is disposed a flexible support 2, intended to receive elastomeric blocks (not shown in this figure).

[0029] The device comprises a robot 3 provided with an arm, at the end of which there is a claw for catching hold of the blocks to be moved.

[0030] The device also comprises three vertical actuators 4a, 4b and 4c that are disposed at the corners of the table 1. The operation of one of these actuators will be described in detail, but this description applies to all three actuators, which are identical. It is specified here that the disclosure is not restricted to this number of actuators. Specifically, a device according to the disclosure may have between one and four actuators, preferably two.

[0031] The actuator 4a is a rodless pneumatic cylinder allowing a bearing system to be raised and lowered. This system has an arm 5 that is automatically actuable, by a cylinder or a motor, at the end of which is positioned a cylindrical bearing surface 6, configured so as not to damage the flexible support during bearing. The actuable arm is, in the example, a pneumatic clamp, a device that is well known to those skilled in the art.

[0032] The arm is surmounted by two blowing nozzles 7a and 7b for controlling the falling of the support onto the table, if it is lifted during the removal of the block, specifically before a fold is formed during this falling.

[0033] These blowing nozzles are advantageously orientable, in order to be able to blow in different directions depending on the step in the cycle of moving the blocks, as described below.

[0034] Specifically, the advantages of a system according to the disclosure will be enhanced if it is used in an optimized operating cycle.

[0035] FIG. 3 shows seven different configurations, numbered 10 to 16, for positioning elastomeric blocks, shown in top view by way of black rectangles.

[0036] Configurations 10 to 13 show combinations with six elastomeric blocks, configurations 14 and 15 have four larger blocks, and configuration 16 has three blocks, which are likewise larger.

[0037] The disclosure applies specifically to different types of blocks, regardless of their base area and their height. When larger blocks are intended to be moved, the format of the gripper should be adapted so that it has a jaw, or claw, that is fairly large. Depending on the embodiments, different types of gripper can be used, such as a claw, a jaw, a drill bit.

[0038] The top line indicates the state of each configuration at the start of a cycle.

[0039] In all the configurations, it is apparent that the blocks are distributed over the entire support, represented by the outer rectangle. Consequently, at the start of the cycle, in step E1, there is no room and it is necessary to position the position-maintaining means on the support.

[0040] Each step of the cycle, number chronologically from E1 to E6, shows a removal of a block. Thus, a block transferring method has as many steps as the number of blocks to be transferred.

[0041] Surprisingly, it has been found that it was advantageous not to lift the block at the middle but at one of the ends. Specifically, when a vertical traction force is applied to one end of the block, the other end will be pushed in the direction of the flexible support and will therefore play a role in maintaining the position of the support.

[0042] Even more advantageously, it has been found that it was necessary to take hold the block at the end furthest away from the center of the support in order that the force exerted on the support by the block is not applied to one side of the support, which is more able to fold under the effect of this force.

[0043] The gripping points of the blocks are represented in FIG. 3 by the white dots 100. The arrows present in the figure only show the presence of these gripping points in four cases, but each step in each configuration comprises such a point.

[0044] The different steps of a transfer method will now be described. The three first steps are common to all of the configurations. [0045] Step A: the elastomeric block of which one end is located in the bottom left-hand corner of the support is removed, by taking hold of it at this end, [0046] Step B: at the position thus freed up, the vertical actuator is vertically lowered so as to bear, with the aid of the pneumatic clamp, at the location indicated by the circles 101 in the figure, and the block of which one end is located in the bottom right-hand corner is removed, by taking hold of it at this end, [0047] Step C: at the position thus freed up, the second vertical actuator is lowered, and then a third block is removed. [0048] Subsequent steps: in the configurations shown in this example, only two actuators are used. The subsequent steps therefore consist in removing the remaining blocks one by one in an order that depends on the configurations.

[0049] It is specified that, like for the points 100, only four circles 101 are referenced in the figure, but all of the circles should be understood as being bearing points of the pneumatic clamp.

[0050] However, certain rules common to all the configurations allow optimal operation of a system according to the disclosure: [0051] the elastomeric blocks of which one end is located in the top (right-hand or left-hand) corners will be removed last. Thus, they can play the position-maintaining role up to the last, or penultimate, step of the cycle. [0052] the blocks are removed in decreasing order of distance from the center of the support, apart from the two abovementioned blocks, [0053] each block is taken hold of at the end situated furthest away from the support.

[0054] Thus, a system according to the disclosure makes it possible to remedy the drawbacks of the prior art by providing a solution for easily transferring the elastomeric blocks. The effectiveness of the system is further enhanced when it is run according to a predetermined cycle depending on the position of the elastomeric blocks on the support.