FR3027018A1 - COMPACT BANDERING MACHINE AND METHOD FOR INSTALLATION AND UNINSTALLING - Google Patents

Abstract

The invention proposes a rotating arm wrapper equipped with material safety barriers, and integratively carries a dynamic security system by remote scanning of a protective volume located outside of, and leading to, an opening of access in these material barriers. This wrapping machine comprises support members fixed to the carrying structure by a hinge allowing it to be moved between: - an extended position providing a stabilizing support, and - a closed position reducing the size of the machine. The support members, in their open position, define the protection volume of said machine. The supporting structure and / or the support members permanently carry a catch and cut group comprising a gripping pliers and a cutting element on a retractable arm, all actuated a single electric actuator. The invention also proposes a method of installing or removing such a wrapping machine.

Description

- 1 - "Compact wrapping machine and method of installation and deinstallation" The invention proposes a wrapping machine with a rotating arm provided with material safety barriers, and integratively carries a dynamic security system by remote scanning of a machine. protection volume located outside of, and leading to, an access opening in these material barriers. This wrapping machine comprises support members fixed to the carrying structure by a hinge allowing it to be moved between: - an extended position providing a stabilizing support, and - a closed position reducing the size of the machine. The support members, in their open position, define the protection volume of said machine.

The supporting structure and / or the support members permanently carry a hanging and cutting group comprising a gripping pliers and a cutting element on a retractable arm, all actuated by an electric actuator, preferably single. The invention also proposes a method of installing or removing such a wrapping machine. STATE OF THE ART The field of the invention is that of banding machines operating from a static structure, and more particularly the so-called "rotating arm" wrapping machines. To transport a load of goods, in particular a group of several objects, it is known to surround this load of a plastic film by performing several laps distributed in covering to cover the entire height of the load. The film used, usually from a spool, is often of a stretchable plastic material and adheres easily to itself when it is plated in several turns under the effect of tension. This type of packaging is widely used at the end of the production line, for example to provide additional protection and to maintain several packages together in a single load, typically on a pallet. A wrapping machine is a more or less automated device which surrounds such a load of several turns of films when it is placed on a support, for example on the ground or on a conveyor. This device performs a lateral winding, that is to say around an axis approximately vertical and without having to go under the load. There are manual devices that consist of a coil holder that is manually moved around the load.

Other types of more automated devices form a self-supporting machine whose structure is movable and moves around the load. This movement is generally motorized, for example mounted on a forklift or on a mobile robot. Static machines Other machines, generally more efficient, are based on a static load-bearing structure, which is permanently installed along a path of circulation of the loads to be packaged. Loads are moved on this path for example by a forklift or more automatically by a fixed conveyor.

Some static, so-called turntable machines include a vertically moving reel stand, and the load rests on a turntable while the reel unrolls the film. Other static machines work on a load that remains motionless, and it is the film that is moved around the load.

Some static machines, called rotating rings, have an annular structure which descends around the load and guides the film by a carriage moving inside this ring. These machines are generally very productive, but have a complexity and a significant cost.

Rotating arm machines Other static machines, called rotating arms, comprise an element which carries a film reel and moves around the load, generally by modifying the height of the reel as it goes along. winding. This arm occupies only part of the region surrounding the load, and therefore has a position in which it does not interfere with the horizontal displacement of the load, to introduce it into the work area or to extract it. Such a machine is described in EP2569218. In general, this arm moves around a vertical axis substantially above the geometric center of the load. Some of these machines are provided with an arm whose axis can tilt or the arm to move in more complex trajectories, for example to achieve more varied movements and improve the recovery of film layers or even cover the upper angles or even the top of the load. In the context of the present description, however, such a machine will be considered as a "vertical" wrapping machine also producing a "lateral winding" around the load as long as it does not pass under the load, even if its axis winding is not constantly vertical. Wrapping machines with a rotating arm thus constitute a category which 15 responds well to a whole range of needs, for example by providing significant productivity with relative simplicity, for heavy loads and with less positioning constraints than with a turntable, while allowing a good separation of the incoming and outgoing flows of the machine.

20 Protection zone For all these machines, when they are more or less automated, the legislation generally imposes standards for the safety of people. Most often, these standards include the definition of a protection zone, generally a protective volume encompassing the moving parts of the machine, in which any movement must trigger a form of safety of this machine. For example, this protection zone may comprise an alert zone, in which any movement causes a slowing down of the machine or its moving elements, and more inside a safety zone in which any movement causes a stop immediate. This protection zone can be simply achieved by hardware protections whose opening causes the security, for example partitions or housings or grilles. In addition, in places where this protection zone is not surrounded by physical barriers physically preventing any access, for example for an access opening, this protection zone is sometimes defined by a minimum distance in front of it. exist between the volume of evolution of the moving elements at normal speed and the nearest free access. This constraint is intended to ensure that the movable elements have time to immobilize the machine before any contact, in case of intrusion into this volume of protection. For example, this distance is currently set in France by a formula which gives a distance of approximately 1.50 m, as a result of the transposition of the European Directive entitled "Machines". Even when the protection zone is provided by a surveillance based detection means, the periphery of the protection zone is generally materialized in a visible or even binding by elements 15 forming a physical barrier. This avoids, for example, inadvertently interrupting the machine by inadvertently entering the protection zone. Thus, material barriers or grids are installed around a volume covered by detection means such as light barriers or microwave or ultrasonic operating by interruption of a ray. Such detection means may also be carried directly by elements of the material barrier, for example a light barrier between two posts of a material barrier, thus forming a material barrier supplemented by one or more non-material barriers. A typical security configuration is shown in US5450709. It comprises vertical grids fixed to the ground and which surround the entire working area of the machine and in particular the evolution volume of the rotating arm. Thus, to be fully operational, the installation of such an automated wrapping machine in a workshop occupies a large area and requires not only to position and fix the load-bearing structure of the machine but also to install and adjust different elements delimiting the protection zone, material and / or detection elements. 3027018 - 5 - Such an installation thus represents a significant cost, because of the cost of the machine but also the work and the time required for its installation. The impact of the installation is all the more important for companies that regularly change the configuration of the products they package, for example during a manufacturing change or for companies specialized in logistics. An object of the invention is to overcome the various disadvantages of the prior art, and in particular to reduce the cost and bulk of transport and use of such a wrapper. DESCRIPTION OF THE INVENTION The invention proposes a machine for wrapping a load, of the type comprising a bearing structure (preferably which remains static in operation) supporting a mobile element forming a rotating arm which rotates around a load placed on a support, typically on a vertical axis or oscillating around the vertical or at least without passing under the load, so as to envelop said load by a continuous film. This is typically a stretch film unwound from a spool, which is, for example, carried by the rotating arm. There are several groups of innovative features that are particularly interesting when combined together. However, there is also provided a machine on which are implemented only some of these groups of characteristics, or only one of these groups. "Dynamic" security system Typically, this machine is of a type comprising one or more material elements forming a material barrier (preferably fixed to the supporting structure) which delimits a protection volume 30 encompassing the movement space of the rotary arm to prohibit access to people. According to a first aspect, this machine then further comprises a dynamic security system (preferably integrated) by remote scanning of a detection volume, including detection means (15, 3027018 - 6 - 16) presence and / or movement operating by artificial vision and / or scanning by a point radius, in that said presence detection means are arranged and controlled for (during operation) that their detection volume 5 includes a so-called external protection volume, which is situated outside said material barrier and occupies a space leading to an access opening formed in said material barrier, and in that said dynamic security system communicates with control means of the machine to trigger a shape putting security of said machine (in particular a slowing down of its movement). Although the physical barrier protections provide many advantages, it is common to provide an access opening which is permanently free, or even two different openings for a through-flow installation. However, these permanent openings most often require, according to the safety legislation, to provide a certain distance between the area of evolution of the rotary arm and the access opening.

By implementing a security system which monitors a protective volume outside the material barriers, the invention makes it possible to reduce the footprint represented by the hardware elements of the machine in its operating configuration. Of course, this external protection volume can not be used or traversed by anyone without triggering a form of safety of the machine. However, the intangible characteristic of this volume of protection is that it remains usable, for example when the machine is stopped. It can also possibly be used during operation without major inconvenience, especially if this safety is a simple slowdown and / or if this use is episodic as in the case of a passageway in a driveway. Thus, by accepting what may appear at first sight to be a risk of a decrease in productivity compared to the theoretical possibilities, the invention makes it possible to install the machine in lesser areas, while respecting the same constraints of security, which generally represents a global advantage. According to a second aspect, there is also provided a machine for wrapping a load, of the type comprising a bearing structure (preferably static in operation) supporting a mobile element forming a rotating arm which rotates around a load placed on a support, typically along a vertical axis or oscillating around the vertical or at least without passing under the load, so as to envelop said load by a continuous film, typically a stretch film unwound from a coil, which is for example worn by the arm turning. According to this second aspect, said machine comprises at least one support member which is fixed to the support structure by at least one articulation arranged to enable it to be moved between at least: a so-called extended position, in which said member of support is deployed to be separated from said carrier structure by a determined distance to provide a stabilizing support point of said carrier structure, and 20 - a so-called closed position, wherein said support member is folded or folded by approaching to said carrier structure, so that said machine has a ground footprint less than that of the open position, and thus reduce the size of said machine.

The features of deployable support members of this second aspect are particularly interesting to combine with those of dynamic security system of the first aspect. However, such a configuration of deployable support members, and all of its features described herein, is also contemplated and independently provided for dynamic security system features, i.e., for example, implemented in a machine. of a type otherwise known or of a type as described herein but not including this external scanning security system. According to another aspect, the invention proposes one or more methods for managing and handling such a machine. Thus the invention proposes a method of installation and / or such a machine, which comprises the steps of: - setting up the carrier structure at a location determined for its operation, for example by a forklift or a crane or rolling bridge of said bearing structure on rolling means, stabilization of the machine by deployment of at least one support member, and deployment of all the support members, thereby achieving a visible and a validation of the protection volume and the volume of congestion of said machine for its operation. Preferably, this method further comprises a step of operating a protection volume by activating a light curtain or a dynamic security system permanently carried by one or more support members. According to the same concept, the invention also proposes a method of moving such a machine, which comprises the steps of: - closing the support members, by folding or folding said support members against the supporting structure, thereby reducing the size of said machine, and - removal of the machine from its operating position, by gripping the carrier structure (for example by a lift truck or a traveling crane) or by rolling said carrier structure on means rolling. In a known manner, it should be noted that the document US5423163 proposes a mobile version of a wrapping machine with a rotating arm, by mounting its carrying structure on wheels allowing it to be moved from one zone to the other inside a machine. workshop. This solution, however, allows only short-distance movements and on hard and flat ground. In addition and contrary to the invention, it does not reduce the size of the machine, and does not change the installation problems of the protection zone. Thanks to the invention, a machine is thus obtained which has a better compactness and a significantly smaller bulk, for example by reducing a dimension of at least one third or at least half; while retaining the benefits of static and rotating arm technology, while maintaining stringent safety standards.

In its closed position, the machine may be less stable, for example with a geometry allowing to rest stably but not enough to be put into operation. However, many advantages of the invention are still provided including in closed geometries that do not provide stability at rest.

Due to this reduction in size, many operations are facilitated as for example transport and storage. For example, an embodiment where the machine has a geometry of 2.50m x 2.50m in the extended position and a geometry of 3.50m x 0.60m (or less) in the closed position, it becomes possible to transport by for example twelve machines in a standard road transport trailer, placing them in the direction of the road at the rate of four machines in the width of the trailer and three groups of four on the length of the trailer.

During installation as in the case of an uninstall, this machine can be moved more easily within the site, while requiring less reassembly and disassembly respectively. At the installation, the deployment of the support member or members makes it possible to obtain final stability rapidly or even immediately.

When uninstalled, their folding allows for quick removal from its location. Whether by transport and handling that are facilitated and more efficient, or by the flexibility of installation and uninstallation thus obtained, it thus becomes much faster and more economical to modify a packaging site and therefore production site. . Such a machine is for example made with known technologies and operates according to known methods, for example with regard to film management and / or security devices and systems. According to an optional feature, the carrier structure comprises at least an inverted "U" -shaped rigid gantry resting on the ground by two legs, for example substantially vertical, and which supports the rotating arm in the middle part of a connecting beam connecting said legs integrally. More particularly, the two legs are arranged on either side of the flow path of the loads when they enter and leave the banding zone, and at two locations forming opposite angles of a polygon (typically a rectangle or a square) forming a footprint which includes the footprint of the machine footprint and / or the footprint of a guard volume provided to be protected during operation of said machine. Such a configuration provides a good result in terms of reduced space and good stability once deployed, while maintaining good rigidity and a certain simplicity of forms for design and manufacture.

Alternatively, the "U" is disposed transversely rather than diagonally to the polygon of the footprint. According to one particularity of the invention, which may or may not be combined with the others, the support member or members define, in their open position, a footprint which includes that of a protective volume intended to be protected during the operation of said machine. Typically, this delimitation is made at least in a transverse dimension to the flow path of the loads on entering and leaving the banding zone. Preferably, at least one support member then additionally carries, permanently, one or more elements forming a barrier preventing access to the protective volume, by physical obstruction and / or by detecting an interruption of a immaterial barrier. Deployable Machine with Dynamic Security Preferably, these two groups of features are preferably combined together: a deployable type machine is then obtained comprising a dynamic security system monitoring an external protection volume. Thus, it is understood that the invention makes it possible to obtain a machine 35 whose security system is integrated, whether it is hardware, or intangible, by interruption or dynamic, or a combination of all or part of these modes. . In such a configuration, the invention further provides a feature wherein the one or more support members form a physical barrier physically prohibiting access to the area of motion of the rotatable arm on a portion of the perimeter of the protection volume, and wherein the dynamic security system detecting means is carried by the one or more support members so as to monitor an external protection volume which runs along the entire periphery unobstructed by said support members. Thus, the improvements in the installation flexibility provided by the deployable configuration are all the more interesting that the dynamic security system allows a less bulky installation, and therefore easier to add to a site temporarily or for a duration short or average, for example for periods of a few weeks to one or two years. As is understood, in different combinations of these features, the deployment of the support member or members also allows an immediate delimitation of the future work area, in a clear and visible manner, which facilitates and accelerates the others. installation work, in particular for the rest of the equipment and traffic routes surrounding the machine. Safety elements carried or delimited by the support members are also more quickly operational, and / or with less adjustment or mounting. Fastening and cutting group According to a third aspect, there is also provided a machine for wrapping a load, of the type comprising a bearing structure (preferably static in operation) supporting a movable element forming a rotating arm which rotates around a load placed on a support, typically along a vertical axis or oscillating about the vertical or at least without passing under the load, so as to envelop said load by a continuous film, typically a stretch film unwound from a coil, which is by example carried by the rotating arm. According to this third aspect, said machine comprises at least one system or "group" of attachment and / or cutting of the film, which group comprises a said cutting arm carrying, at a so-called working end: - a substantially vertical cutting mast comprising a low end which is integral with the cutting arm, and which carries a movable cutting element in translation along said mast between a high position and a low position, said cutting element being arranged to cut a a strip of film applied along said mast during said translation; a gripping clamp comprising a fixed branch which is fixed to said cutting arm and on which is articulated a movable branch which can be moved between: an open position in which it is remote from the fixed branch so as to allowing a strip of film coming out of the coil to come to bear against said fixed branch, and o a closed position in which it is brought closer to said fixed band to cooperate with it and clamp said film strip. According to this third aspect, said cutting arm, at another said end pivot, is articulated at least along a vertical axis relative to the structure of the machine, and can be moved motorized between: - a so-called retracted position wherein said arm is located outside the evolution volume of the rotating band for wrapping; and a so-called exit position, in which: at the end of packing a load, the cutting mast is applied against a strip of film coming out of the reel and surrounding said load, then the cutting element said film strip is cut off, and / or at the beginning of packaging of a load, the gripping clamp approaches said load a film strip exiting the reel, and then the rotating arm starts filming by at least a turn passing over the cutting arm. Preferably, such a fastening and cutting system comprises an element said core moved in translation along the cutting mast by an actuating means, for example by a worm in the cutting mast. In addition, said displacement of the core causes at least two of the following actions, and preferably all three: actuation of the gripper by actuation of a cam, for example secured to the movable branch by articulation about at least one pivot; ; - arming the cutting element by pushing to its position from which its cutting movement can be triggered; - Movement of the cutting arm relative to the structure of the machine, under the effect of a rod connected by one of its ends to said core 10 and not its other end at a fixed point relative to said structure. According to this third aspect, it is also proposed to use such a hooking and / or cutting group to implement an automated hooking or automated cutting process, and preferably a method that brings the two together successively and automatically. for example as described in one of the exemplary embodiments presented herein. According to a preferred feature, the displacement of the core is obtained by a single electric motor disposed in the cutting arm, and in that said displacement of the core causes the actions of maneuvering the clamp and arming the cutting element. and moving the cutting arm. Deployable Machine with Attachment Group and Automated Cutting Preferably, these two groups of features are combined together, and the cutting arm is permanently attached to the machine by its pivot end, to the supporting structure or preferably to a support member in its remote part of the supporting structure. Fixing the attachment and cutting group on a support member allows positioning it at a location remote from the carrier structure, for example at an angle of the machine away from the supporting structure, which may be useful for facilitating the design of the work cycle and the coordination of the different robotic movements of the machine. This produces a more productive machine or even completely automated, while remaining faster and flexible in its use and its management since this group hook and cut does not require additional assembly or disassembly. The group of attachment and cutting, carried by the machine and in particular by the support member, is also more quickly operational, and / or 5 with less or no adjustment or assembly. The flexibility of use of the deployable machine is all the more interesting as the better productivity of the attachment / cutting group can allow shorter durations of use for the same work. On the other hand, the higher productivity of the fastening / cutting group 10 is all the more interesting because the flexibility of the deployable machine makes it possible to use it in short durations and on less prepared sites. Dynamic safety machine with self-gripping group and automated cutting These two groups of characteristics are preferably combined together: the dynamic safety system makes it possible to obtain a volume of protection outside the bulk of the machine, and therefore to increase the overall protection volume according to the needs generated by the operation of the attachment and cutting group, but without increasing the hardware bulk volume of the dynamically-security deployable machine, and with attachment group and Thus, these three groups of characteristics are preferably combined all three together. Thanks to these different aspects and groups of characteristics, alone or combined together, the invention thus provides a greater modularity of the processes. The same machine can also be used in more locations and / or take up less space when it is stored. Each machine becomes easier and more economical to manage. Through its various advantages, the invention makes it possible, for example, to provide one or more machines on demand, for example for short-term rental, including for production at a high but short rate, for example order of one day to 35 a week. Various embodiments of the invention are provided, incorporating, according to all of their possible combinations, the various optional features set forth herein.

List of Figures Further features and advantages of the invention will become apparent from the detailed description of a non-limiting embodiment, and the accompanying drawings in which: FIGURE 1, FIGURE 2 and FIGURE 3 schematically illustrate a first exemplary embodiment of the invention in different steps: o in the closed position, FIGURE 1 in transparent perspective and FIGURE lb in top view, 15 o in the deployed position, FIGURE 2a in perspective and FIGURE 2b in plan view, and o with a load in the work area, FIGURE 3 in perspective; FIGURE 4 is a schematic top view illustrating certain advantages of the dynamically safe machine according to the invention, shown by way of example in the first exemplary embodiment; FIGURE 5a and FIGURE 5b schematically illustrate, respectively in perspective and in plan view, a second exemplary embodiment of the invention in the deployed position; FIGS. 6a and 6b show a top view of a third exemplary embodiment of the invention, respectively in the deployed position and in the closed position; FIGS. 7a and 7b illustrate schematically in view of a fourth embodiment of the invention, respectively in the deployed position and in the closed position; FIGS. 8a and 8b illustrate schematically in plan view a fifth exemplary embodiment of the invention, respectively in the deployed position and in the closed position; FIG. 9a, FIG. 9b and FIG. 9c schematically illustrate, in plan view, a sixth exemplary embodiment of the invention, respectively in the deployed position, in the intermediate position and in the closed position; FIGURE 10a and FIGURE 10b schematically illustrate in perspective a seventh exemplary embodiment comprising an automated hanging and cutting group, attached to a support member of the expandable dynamic security system machine of FIGURE 1, respectively in closed position and deployed position; FIGURE 11 is a side view schematically illustrating the relative position of the attachment and cutting group and the wrapping rotary arm of the machine of FIGURE 10; FIGURE 12 is a partial perspective view illustrating the cutting arm (without the cutter) of FIGURE 10 in the extended position; FIG. 13 is a fragmentary perspective view showing (without the cutter) the cutting arm of FIG. 10, with the clamp in the closed position; FIGURE 14 is a partial perspective view illustrating the cam mechanism of the cutting arm clamp (without the cutting mast) of FIGURE 10, with the clamp in the open position; FIGURE 15 is a partial perspective view illustrating the cutting member of the cutting arm of FIGURE 10; FIGURE 16a to FIGURE 16f schematically illustrate in view from above a filming cycle with automated hooking and cutting, in the seventh embodiment of FIGURE 10; FIG. 17a to FIG. 17f schematically illustrate in a top view a filming cycle with automated hooking and cutting, in a seventh embodiment of FIGURE 10 with the clip on the lateral side of the cutting mast. DESCRIPTION OF SEVERAL EXAMPLE EMBODIMENTS In all of the embodiments described here, the carrier structure 11 is formed by an inverted "U" -shaped rigid gantry 35 resting on the ground by two vertical legs 113 and 114. In their upper part, these two jambs support the two ends of a link beam 111. 7 In the middle part, this connecting beam 111 carries a pivot connection of vertical axis All, which supports the arm 12. This comprises a rotor 121 radially away from the axis All and which carries at its outer end a downward column 122 on which moves a device containing a coil or connected to a coil 123 This device moves from top to bottom along the rotary column 122 and thus dispenses the film 990 around the load 99 over its entire height, for example in a known manner.

The gantry formed by the supporting structure 11 is arranged with its two legs 113 and 114 on either side of the flow path of the loads to be wrapped, here in a direction D9 and on a conveying path 90. The movement of the arm Turn 12 is in a vertical cylindrical volume ZB footprint. A ZP protection zone is defined and delimited by the support members, and monitored by the machine. Embodiment 1 FIGURE 1, FIGURE 2 and FIGURE 3 illustrate a first exemplary embodiment of the invention, in different stages of installation or uninstallation of the machine. The other exemplary embodiments will only be described in their differences. In this first embodiment, each of the two support members 13 and 14 is articulated on one of said legs, respectively 113 25 and 114, by one or more pivot joints, A13 and A14 respectively, of vertical or substantially vertical axis, making for example less than 10 ° with the vertical. Each support member 13 (or respectively 14) comprises a panel 132 (or 142), here vertical. Once deployed, this panel is here in a longitudinal position relative to the circulation path D9, here substantially parallel. This panel carries at its end a transverse return, for example rigid in the form of a narrow vertical panel 131 which closes the passage around the conveyor 90. These panels are for example solid, but may also be perforated for example in the form of grids or mesh elements. It should be noted that the use of material barriers has interesting advantages, for example in terms of cost, reliability, visibility and accessibility. Optionally, not shown here, all or part of these panels form a structure arranged to receive at least one such panel by simple attachment and preferably without tools, for example a frame or a "U". As can be seen in FIG. 1, the horizontal space occupied by the machine 1 in the closed position is much smaller than in the production position illustrated in FIG. 2 and FIG. 3. This closed horizontal space can be reduced to dimensions close to, or equal to, the footprint of the gantry 11 itself. In comparison, in the production position, the beam 111 of the gantry comes to form the diagonal of a space rectangle of the machine. Thus, for example for a production footprint of the order of 2.50mx2.50m (6.25m2), the folded machine is only a footprint of the order of 3.53mx0.30m (or 1m2) if the beam has a width of 30cm, or 2.1m2 if the lateral size is 60cm. The ground surface is much smaller, and its footprint is much narrower and almost linear. Dynamic Security System Although as an option in the invention, the first exemplary embodiment illustrated herein includes a dynamic security system of a type operating by remote scanning of the ZP protection volume. This is for example a laser scanner such as the scanner 0532C Omron company. This type of security system is currently known in the field of autonomous robotic trucks as a detection means for informing the control computer and enabling it to provide anti-collision functions. This type of system is currently not used on a fixed wrapping machine, for which it would be more difficult to parameterize and a significant cost compared to that of simple material barriers or single detectors radius interruption. However, to obtain a faster and simpler installation, for a machine of a known type and even more so for a folding machine according to the invention, this type of system has the advantage of being able to monitor any an area with a single module.

By way of example in the first embodiment illustrated here, such a dynamic security system comprises detection means 15, 16 which are carried by the support member or members, here the returns 131, 141 of the support members. 13 and 14. Each of these detection modules 15, 16 is thus directly in the working position as soon as its support member is deployed. Alternatively, not shown here, these modules are fixed on the carrier structure itself. Preferably, and regardless of the location where they are attached, these modules are oriented and set to cover a ZP protection volume which is delimited by the one or more support members in the open position. By using support members formed of solid panels or grids with fine mesh, or opaque to the detectors 15, 16, it thus becomes possible to simplify the adjustment of the depth of the monitored volume since the panels 132, 142 then prevent the detection of 20 movements outside them. Optionally, the support members or the support structure are arranged to receive at least one such dynamic security system by simple attachment and preferably without tools.

It is also explicitly planned to implement this first embodiment without the use of such a dynamic security system. Although here illustrated in the configuration of a first exemplary embodiment, such a dynamic security system is also provided for each of the other embodiments shown.

FIG. 4 illustrates some advantages of the dynamically safe machine according to the invention, for example in the exemplary embodiment of FIGURE 1 to FIGURE 3. This figure illustrates various examples of implantation in a typical warehouse, comprising a loading dock 80 outside the building, shown here with docking locations 802 separated by advances 801 of the dock. The platform 80 is separated from the interior by a wall 89 pierced with several doors. Inside, a main aisle 88 runs along the outer wall 89, and which serves a plurality of transverse aisles 81, 82, 83. These aisles are separated by series of rack racks, for example standardized widths. of the order of 2,50m. These racks are sometimes installed in a single 8RS width, or in two 8RD contiguous widths. An 8S machine with hardware safety barriers according to the state of the art is shown in dashed lines in different possible installation positions. Such a machine typically has a dimension of the order of 3.50m to 4.00m in the direction of the path of the loads in the machine, represented by the dotted inside. As can be seen in the figure, such a machine is generally installed on the outer platform 80 or in the main aisle 88, which constitutes a significant inconvenience for the circulation, represented here by the double arrows. Such a machine also can not easily be installed under a single rack 8S, because the material barriers exceed in aisles 82, 83 and significantly hamper traffic.

Such a machine equipped with material safety barriers according to the state of the art can also be installed in an 8D pair of two machines arranged one behind the other, which makes it possible to simultaneously package two pallets, which are transported and deposited together by a forklift truck or "double fork".

As is also seen in the figure, such an 8D pair of machines is all the more cumbersome, and often also installed in the main aisle 88 or on the outer platform 80. It can not be installed either under a double row of 8RD racks, which are often used in coordination with dual forklift trucks, without exceeding in the 30 aisles 81, 82 on each side. As illustrated in the figure, a machine according to the invention with dynamic safety system can be made in a smaller material dimension, for example 2,50m by 2,50m, while respecting the same standards of safety distances. Such a machine 35 1S can thus be installed in a 1S copy under a single rack 8RS 3027018 - 21 - without the safety barriers protrude in the aisles 82, 83. Although the ZPE external protection volume or volumes exceed actually on these aisles 82 and 83, their presence does not physically block the passage of carts. Although the passage of the trolleys in this external protection volume can effectively trigger a safety of the machine, this passage occurs only for a short time each time. A significant space saving is thus obtained at the cost of a possibility of a slight decrease in the overall productivity of the machine compared to its theoretical value.

Moreover, in the embodiments in which this ZPE external protection volume triggers a safety trip without complete stopping of the machine but of the type of slowing down of the rotary arm 12, this decrease in productivity is all the more acceptable, and this slowing down avoids the risk of damage that could result from a large number of sudden stops. Similarly, a pair 1D of two such machines according to the invention forming a "duo" handling two pallets simultaneously can be installed under a double rack 8RS without the material safety barriers protrude in the aisles 81, 82 that surround this row 20 double racks. Embodiment 2 FIGURE 5a and FIGURE 5b illustrate a second exemplary embodiment of the invention, which will only be described in its differences. In this second embodiment, each of the two support members 13 and 14 of the machine 2 is articulated on one of said legs, 113 and 114 respectively, by one or more pivot joints, A13 and A14 respectively, of vertical axis or substantially vertical, for example less than 10 ° with the vertical. In this example, each support member 23 (or respectively 24) forms a structure 231 (or 241) supporting a light curtain 233, 234, 243, 244 operating by radius interruption. This structure 23 (or 24) is here formed by two horizontal link arms 232 (or 242) articulated by pivots of substantially vertical axis A23 (or A24) on the corresponding leg 113, 114. These arms horizontal members carry, directly or via a vertical post, joints of vertical axis A231 (or A241) carrying a pivoting panel (231 (or 241) forming a transverse return directed towards the circulation path D9 to close or decrease the passage along the conveyor 90. This embodiment can of course also use fixed returns as the first mode.Such mobile returns are also usable in all other embodiments shown here.Optionally, not shown Here, all or part of these panels form a structure arranged to receive at least such light curtains by simple attachment and preferably without tools, for example a frame or a "U". FIG. 6a and FIGURE 6b illustrate a third exemplary embodiment of the invention, which will only be described in its differences. In this third embodiment, the machine 3 comprises four different support members: 331, 332 and respectively 341 and 342. Each of them is articulated on one of said legs 113 (or respectively 114) by one or more pivot joints vertical axis A331, A332 (or respectively A341, A342) or substantially vertical, for example less than 10 ° with the vertical. In this example, each of the support members forms a vertical movable panel carrying at its end a transverse return directed towards the conveyor. However, the other types of support members described herein are also usable in this configuration. Embodiment 4 FIGURE 7a and FIGURE 7b illustrate a fourth exemplary embodiment of the invention, which will only be described in its differences. In this fourth embodiment, the machine 4 comprises two support members 43 and 44 respectively. Each of them comprises a mobile upright 431, 441 which rests on the ground and is secured to a connecting arm articulated on the central region of the connecting beam by 3027018 - 23 - a pivot joint axis A43, A44 vertical or substantially vertical, for example less than 10 ° with the vertical. In this example, one 431 of these movable legs supports a light curtain 432 operating by spoke interruption, the other end of this movable barrier being carried by the leg 113 of the gantry which is located on the same side of the conveyor 90. In this example, the other mobile leg 441 is arranged to receive a removable material barrier 442, by simple attachment and preferably without tools.

Embodiment 5 FIGS. 8a and 8b illustrate a fifth exemplary embodiment of the invention, which will only be described in its differences. In this fifth embodiment, the machine 5 comprises four different support members: 531, 532 and 541 and 542. Each of them comprises a mobile upright which rests on the ground and is secured to a link arm articulated on the central region of the connecting beam by an axis pivot joint A53, A54 vertical or substantially vertical, for example less than 10 ° with the vertical.

In this example, the two movable legs 531 and 532 (or respectively 541 and 542) located on the same side of the conveyor 90 each support one end of a light curtain 551 (or respectively 552) operating by radius interruption.

Embodiment 6 FIGS. 9a and 9b illustrate a sixth exemplary embodiment of the invention, which will only be described in its differences. In this sixth embodiment, the machine 6 comprises two support members 63 and 64, located on either side of the gantry 11 of the carrier structure. Each of these support members itself forms a mobile gantry, comprising two uprights which rest on the ground on either side of the conveyor 90. Each of these support members 63 and 64 respectively is connected to the support structure by means of connecting arm so as to allow it to approach said carrier structure. In the present example, each mobile gantry 63 (or respectively 64) is articulated at each of its two ends to a connecting arm 631 and 632 (or 641 and 642) by a pivot axis connection A631 and A632. (or A641 and A642) vertical or substantially vertical, for example less than 10 ° with the vertical.

At its other end, each of these link arms 631, 641 (and respectively 632, 642) is hinged by a vertical axis pivot connection A651 (and A652) with a carriage connected to the carrier beam 111 in a movable manner. translation in a parallel direction 110 to this carrier beam 111.

Thus, the displacement M6 'in translation of these carriages on the carrying beam 111 makes it possible to bring the mobile gantries 63, 64 of the central gantry 11 into a translational movement M6, as illustrated in FIG. 9b, until they are pressed against the carrier structure as shown in FIGURE 9c.

Other known types of kinematics may be used in the invention to guide the movement of mobile gantries to the central gantry, for example with horizontal axes and / or additional intermediate axes.

Embodiment 7 FIGURE 10a and FIGURE 10b illustrate a seventh exemplary embodiment of the invention, which will only be described in its differences. In this seventh embodiment, the machine 7 is of the type 25 deployable similar to the machine 1 of FIGURE 1 to FIGURE 3, with panels 13, 14 solid or finely perforated and pivoting on the legs 113 and 114 of the gantry "U" In this example, the machine 7 is provided with a dynamic safety system by scanning an external protection volume extending in front of the openings left by the panels in the deployed position. This security system comprises detection means 15 and 16, which are here fixed on the legs 113 and 114, respectively, of the "U" gantry of the supporting structure 11. This machine 7 furthermore comprises a fastening and cutting group 35. 17 comprising a cutting arm 170 carrying, at a so-called working end, on the one hand a gripping clamp 173 and on the other hand a cutting mast 171 extending upwards, here so vertical or possibly less than 20 ° with the vertical. It should be noted that it is also planned to make a gripping group 5 comprising the gripper and its functions of automated film hooking, but without including the cutting mast and its cutting element. Conversely, it is also planned to make a cutting unit comprising the cutting mast and its automated cutting functions but without the gripping pliers.

In the present example, this cutting arm 170 is permanently attached to one of the support members, here within the side panel 132 of one of these support members, for example to a distance between one half and three quarters of the length of the support member 13.

This attachment is achieved by a hinge, here hinges, forming a pivot for a vertical axis A17 rotation between: - an extended position, illustrated for example in FIGURE 10b and FIGURE 12, and - a retracted position, or several, wherein said arm is located outside the evolution volume ZB of the rotary wrapping arm, illustrated for example in FIGURE 10a, FIGURE 16c and d and FIGURE 17c and d. This permanent fixing makes it possible to keep the speed of installation with little or no assembly / disassembly. As illustrated in FIG. 10a, the attachment and cutting group such a retracted position is configured to accommodate this group 17 within the volume occupied by the machine in the closed position, which provides protection for transport and optimizes the size of the folded machine. As illustrated in FIGURE 11, the bottom of the upright 122 of the rotatable arm 12 stops above the top of the cutting arm 170 by a height H127. The column 122 of the rotary arm 12 can thus pass above the cutting arm 170 itself when the cutting arm 170 is in the extended position. The rotatable arm assembly 12 may also perform one or more complete turns as long as the bottom of the coil 123 is in a position higher than the top of the cutting mast 171. As shown in dotted line on the right of the figure, the carriage carrying the coil 123 has a cantilever downward which allows the coil to descend M741 sufficiently low to cover down an additional height (see reference H120) protruding below the bottom 5 of the column 122 which carries this trolley. It is thus possible to cover the entire height of the load 99, including a part of the foot of the pallet, similarly to the machines of the state of the art, or even more extensive, as long as the cutting arm 170 is in position retracted. As shown in FIGURE 12, FIGURE 13 and FIGURE 15, the cutter mast 171 carries a movable cutting member 174 translationally D17 along said mast between a high position 174H and a low position 174B. This cutting element, also called "cutter", here comprises a carriage 1741 maintained in a vertical slide carried by the cutting mast. This carriage carries a plate having an advance 1742 including a slot 1740 provided with an inner blade 1743. This advance has an opening opening downwards to accommodate the edge of the film to be cut when moving the cut M174B, and guide the film towards the blade. As illustrated in FIG. 13 and FIGURE 14, the cutting arm 170 also carries a gripping clamp 173 comprising a fixed branch 20 integral with said cutting arm, here formed by a lateral surface of the cutting mast 171. On this branch fixed is articulated a movable branch 1731, here formed by a bar preferably provided with anti-slip gaskets a series of elastomer O-rings threaded around said bar. Actuation core 25 In this embodiment, the attachment and cutting system 17 comprises a said core element (172) which is moved in translation (M712) along the cutting mast (171) by an actuating means (179). In the present example, the displacement of the core (172) is obtained by an electric motor (179) disposed in the movable part (170) of the attachment and cutting system (17), for example by a worm arranged longitudinally in the cutting mast actuated through a bevel gear by an electric motor 179 disposed longitudinally in the base 170 of the cutting arm. In the present example, the displacement of this core on the cutting mast accomplishes both the operation of the clamp (173), the arming of the cutting element 174 and the movement of the cutting arm. 170 himself. Alternatively it is also planned to perform one or more of these movements by different actuators, preferably electric. Actuation of the arm 5 In the present example, the displacement of this core 172 realizes the displacement (M71, M73, M75) of the cutting arm (170) with respect to the structure of the machine, under the effect of a connecting rod ( 178) connected by one of its ends to said core (172) and not its other end to an anchor point (137) which is fixed relative to said structure, here in the corner at the end of the support member 13. Alternatively, it is also intended to perform the movement of the cutting arm by another actuator, preferably also electrical, for example an electric jack connecting the cutting arm and the structure of the machine (for example the support member 13 or part of the carrier structure). Actuation of the Clamp In the present example, the operation of the clamp 173 is performed by interaction of the core 172 with a fork 1732 forming a cam by receiving this core in an opening disposed at a location of its stroke determined according to the instant of the cycle in which this maneuver must take place. As illustrated in FIG. 14, in the open position, the movable branch is remote from the fixed branch 171, for example in a horizontal position or within 15 °. This position thus allows a strip of film 990 coming out of the coil 123 to come to bear against the fixed branch 171. This movable branch 1731 is secured to the fork 1732 around a pivot (A173), here horizontal. When the core 172 enters the opening of this fork 1732 during its descent M172B, it pushes it downwards which causes the movable arm M173H to pivot upwards to a closed position in which it is tightened against the cutting mast, and thus comes to pinch and hold the film strip. In this exemplary embodiment, the movable leg 1731 of the gripper 173 is movable in a vertical plane, and pinches the film against the face of the cutting mast located on the side opposite to the load, that is to say the face oriented towards the pivot axis A17 of the cutting arm 170. In general, the assembly of the group 17 but also of the machine 7 is preferably driven solely by electrical energy. This avoids having to implement a hydraulic or pneumatic pressure routing infrastructure at the location of the machine, which facilitates the flexibility of installation and use. Arming and Cutting In the present example, the movement of this core on the cutting mast also realizes arming of the cutting element 174 by pushing it (M174H) upwards to its high position (174H).

This cutting element 174 is then held in the armed position by a controlled release retention mechanism, here a magnet fixed on a plate present at the end of the cutting mast. Alternatively, other retention mechanisms are provided, for example a hooking mechanism or a retractable stop.

Once the cutting mast is applied against the film to be cut, in order to define a cutting reference which guarantees the position of the film on the stroke of the cutting element, this retention mechanism is triggered. The cutting element then abruptly moves M174B to its lower position 174B by gripping the film in its cutting aperture 1740 as it passes.

This cutting movement is for example obtained under the effect of gravity, according to the principle of the guillotine. Alternatively or in combination, there is also provided a mechanism that replaces or assists gravity, for example elastic mechanism such as a metal spring or a pneumatic spring.

In the present example, the cutting is triggered by a rotation of the plate carrying the retaining magnet, under the effect of the rotation of a rod internal to the cutting mast and which is actuated at the base of said mast by a cutting rod connected to the structure of the machine, for example the anchoring point 137.

Using the race of the core 172 to arm the cutting element 174 without triggering it immediately allows greater freedom of design and adjustment of the function cycle of the traction and cutting group 17 while limiting the number of actuators, preferably with a single actuator 179 for clamping and cutting or even moving the cutting arm 170. Alternatively, this cutting trigger is also provided by another mechanism, for example by controlling an electromagnet forming the retaining magnet, or another type of actuator, preferably electrical.

Film Cycle FIGURE 16a to FIGURE 16f schematically illustrates in a top view an automated gripping and cutting filming cycle, for example for machine 7 of the seventh exemplary embodiment illustrated in FIGURE 10 in FIGURE 15.

In FIGURE 16a: the load 99 is introduced M991 to its packing position in the working space ZB of the machine 7. If it is not already in position, the arm 170 moves M71 to bring the end of the film 990 near the load 99, by lowering the core 172 in the low position.

The cutting arm 170 maintains in its gripper 173, 171 the end of the film 990 coming out of the unwinding reel 123 of the rotary arm 12. The reel is positioned at an intermediate height, preferably ergonomically, situated above the arm of FIG. In FIGURE 16b (and FIGURE 11 in the left-hand part): while clamp 173 holds the end of the film, the rotating arm and the reel perform one or more first rounds of filming by turning M72 around the load while rising up M721, preferably of sufficient height that the coil 123 passes over the cutting mast 171 at the end of its first turn.

In FIGURE 16c: the free end of the film 990 is now held under the first or the first M72 filming towers. The cutting arm retracts M73 by a rise of the core 172 in the high position, which brings at the same time the cutting element 174 in the armed position. In FIGURE 16d (FIGURE 11 in the right-hand part): the rotatable arm 12 and the coil 123 perform all the M74 revolutions necessary for the complete filming of the load without being impeded by the hanging and cutting group 17. In FIGURE 16e: The rotating arm 12 stops in a position to keep the film taut and removed from the load in the access area of the cutting mast. The cutting arm 170 exits M75 under the effect of a descent of the core 172, which applies the cutting mast 171 against the tensioned film, here on its outside face to the winding, preferably a shortly before the end of the exit stroke, with the cutting element 174 above the film. In FIGURE 16f: the end of the output run M75 actuates the cutter rod, which releases the cutting element 174. This cuts down along the cutter mast 171 in sectioning the film over its entire width, and releases thus the charge. The load 99 is extracted M992 from the machine 7, with or without retraction of the cutting arm 170 as required.

FIG. 17a to FIG. 17f schematically illustrate in a top view a filming cycle with automated hooking and cutting, in a variant 7 'of the seventh exemplary embodiment. In this variant, the movable leg 1731 'of the gripper 173' is arranged, to come to grip the film against a face of the cutting mast which is oriented towards the load 99 or to the reel 123 or between the two, and more near the spool as the cutting member 174. In FIGURE 17a to FIGURE 17d, the filming cycle proceeds in a manner similar to that of FIGURE 16a in FIGURE 16d.

As can be seen in FIGURE 17e, in the output movement M75 a little before the cutting arm 170 reaches the end of the stroke (in a "preliminary" output position) putting the cutting mast in contact with the film The gripper 173 'tightens upwards and clamps the stretched film against the mast 171 between the mast 171 and the spool 123, for example by moving in a vertical plane. As illustrated in FIGURE 17f, it is only after this pinch, when the end of the movement M76 (in full extended position), that the cutout is triggered. The free end of the film is thus already arranged in the clamp 173 ', which makes it possible to start a filming cycle again without manual intervention on the wrapper 7'. In other variations not shown here, the cutting arm is arranged to retract to the jamb on the side of which it is attached rather than to the outer corner as shown here. 3027018 - 31 - In still other variants, with retraction outwardly or preferably inwardly, the cutting mast is applied against the film stretched by the inner side of the film, that is to say before that the coil arrives at its position.

The invention is advantageously applied to a machine arranged for a "through" flow, that is to say where the charges enter on one side and exit on the other side, but it can also be applied to machines arranged for a non-through flow, that is to say that the same access serves for the introduction of the load and its recovery after packaging. Of course, the invention is not limited to the examples that have just been described and many adjustments can be made to these examples without departing from the scope of the invention.

Claims (15)

REVENDICATIONS1. Machine (1 to 6) for wrapping a load, of the type comprising a supporting structure (111, 113, 114) supporting a movable element forming a rotating arm (12) which rotates around a load (99) placed on a support of so as to envelop said load by a continuous film (123), said machine comprising one or more material elements forming a material barrier which delimits a volume of protection including the movement space of the rotating arm to prohibit access to persons, characterized in that it comprises a dynamic security system (preferably integrated) by remote scanning of a detection volume, including detection means (15, 16) for presence and / or movement functioning by artificial vision and / or scanning by a point radius, in that said presence detection means are arranged and controlled so that their detection volume includes a so-called external protection volume, which is located outside said material barrier and occupies a space leading to an access opening formed in said material barrier, and in that said dynamic security system communicates with control means of the machine to trigger a form of implementation. security of said machine. 2. Machine according to claim 1, characterized in that said machine comprises at least one support member (13, 14, 23, 24, 331, 332, 341, 342, 43, 44, 531, 532, 541, 542, 631, 632, 641, 642) which is fixed to the support structure by at least one articulation (A13, A14) arranged to allow it to be displaced between at least: - a so-called deployed position (FIGURE 2a and b), in which said support member is deployed to be spaced apart from said carrier structure by a determined distance to provide a stabilizing support point of said supporting structure, and a so-called closed position (FIGURE 1a and b), wherein said support member is folded or folded closer to said supporting structure, such that said machine has a ground footprint smaller than that of the open position, and thus reduce the bulk of said machine. 3. Machine (1 to 6) according to the preceding claim, characterized in that the support member or members delimit, in their open position, a footprint which includes that of a protective volume provided to be protected during the operation of said machine. 4. Machine (1, 2) according to the preceding claim, characterized in that at least one support member permanently carries one or more elements forming a barrier prohibiting access to the protection volume (ZP), by obstruction (132, 142) and / or by detecting an interruption of a light curtain (233, 234, 242, 244). 5. Machine (1) according to claim 1 and any one of claims 2 to 4, characterized in that the support member or members (131, 141) form a physical barrier physically prohibiting access to the zone of movement of the rotating arm on a portion of the periphery of the protection volume, and in that the detection means (15, 16) of the dynamic security system are carried by the support member or members (131, 141) so as to monitor an external protection volume that runs along the entire periphery unobstructed by said support members. 6. Machine (1 to 6) according to any one of the preceding claims, characterized in that the carrier structure comprises at least one rigid gantry shaped "U" inverted resting on the ground by two legs (113, 114) , and which supports the arm (12) rotating in the middle portion (A21) of a connecting beam (111) connecting said legs integrally. 7. Machine (1, 2, 4) according to the preceding claim, characterized in that the two legs (113, 114) are arranged on either side of the flow path (90, D9) loads (99) upon entering and leaving the wrapping area, and at two locations forming opposite corners of a polygon 5 forming a footprint that includes the footprint of the machine footprint and / or or the footprint of a protective volume (ZP) provided to be protected during operation of said machine. 10 8. Machine (1, 2, 3) according to any one of the preceding claims, characterized in that one or more support members (13, 14, 23, 24, 331, 332, 341, 342) is articulated on one of said legs (113, 114) by at least one vertical axis pivot joint (A13, A14), and in that: said support member (13, 14, 23, 24, 331, 332, 341, 342, 63, 64) forms at least one solid or perforated vertical movable panel (131, 132, 141, 142, 231, 241), or - said support member forms a structure (231, 241) supporting an immaterial barrier (233). , 234, 243, 244) operating by radius interruption or a dynamic security system (15, 16) operating by scanning a protection volume (ZP), or - said support member forms a structure arranged to receive at least such a panel or such a light curtain or such a dynamic security system. 25 9. Machine (4, 5) according to any one of the preceding claims, characterized in that one or more support members (43, 44, 531, 532, 541, 542) comprises a movable post (431, 441). which rests on the ground and is secured to a connecting arm articulated on the central region of the connecting beam by at least one pivot joint (A43, A44, A53, A54) of vertical axis, and in that: said moving leg (431, 531, 532, 541, 542) supports a light curtain (432, 551, 552) operating by radius interruption or a dynamic security system operating by scanning a protection volume (ZP), or 3027018 -35- said movable leg (441) is arranged to receive at least one such light curtain or such a dynamic security system or a removable hardware barrier (442). 5 10. Machine (7) according to any one of the preceding claims, characterized in that it further comprises a system (17) for hooking and / or cutting the film (990), which comprises a so-called cutting arm (170) carrying, at a so-called working end: - a substantially vertical cutting mast (171) comprising a low end which is integral with the cutting arm, and which carries a cutting element (174) movable in translation (D17 ) along said mast between a high position and a low position, said cutting element being arranged to cut a strip of film applied along said mast during said translation; A gripping clamp (173) comprising a fixed branch (here formed by the cutting mast 171) which is fixed to said cutting arm, and on which is articulated a movable branch (1731) which can be moved (M703 ) between: an open position in which it is remote from the fixed branch (171) so as to allow a film strip (990) coming out of the reel (123) to be applied against said fixed branch, and a closed position in which it is close to said fixed branch to cooperate with it and clamp said film strip; and in that said cutting arm (170), at another so-called pivot end, is articulated at least in a vertical axis (A17) with respect to the structure (11, 13, 17) of the machine (7), and can be moved (M71, M73, M75) motorized (and automated) between: - a so-called retracted position, wherein said arm is located outside the evolution volume (ZB) of the rotary wrapping arm; and a position called output, in which: at the end of packing a load (99), the cutting mast (171) is applied (M75) against a strip of film (990) coming out of 3027018; 36 - the coil (123) and surrounding said load (99), then the cutting element (174) cuts said film strip, and / or o at the beginning of packing a load (99), the clamp (173) approaches said load a strip of film (990) exiting the coil (123), then the rotating arm (12) begins filming by at least one turn (M772, M74) passing over the cutting arm. 11. Machine according to the preceding claim, characterized in that the attachment and cutting system comprises a said element core (172) moved in translation (M712) along the cutting mast (171) by an actuating means ( 179), and in that said displacement (M712) of the core causes at least two of the following actions (and preferably all three): - operation of the clamp (173) by actuation of a cam (1732) ( secured to the movable arm 1731 about a pivot (A173) for example horizontal), - arming the push cutting element (M174H) of said cutting element to its position (174H) from which its displacement section (M174B) can be triggered, and - displacement (M71, M73, M75) of the cutting arm (170) relative to the structure of the machine, under the effect of a rod (179) connected by a from its ends to said core (172) and not its other end to a fixed anchorage point (137). to said structure. 25 12. Machine according to any one of claims 10 to 11, characterized in that the displacement of the core (172) is obtained by a single electric motor (179) disposed in the movable part (170) of the attachment and cutting system. (17), and in that said displacement of the core causes at least three maneuvering actions (M173) of the gripper (173), arming (M174H) of the cutting element (174) and displacement ( M71, M73, M75) of the cutting arm (170). 13. A method of installing a machine according to any one of claims 2 to 12, characterized in that it comprises the steps of: setting up (FIGURE 1a and b, FIGURE 6b, FIGURE 7b, FIGURE 8b, FIGURE 9c) of the supporting structure at a location determined for its operation, - stabilization of the machine by deployment (M1 to M6) of at least one support member, and - deployment of the assembly support members, thereby achieving a visible definition and validation of the protection volume (ZP) and congestion volume of said machine for its operation. 10 14. Method according to the preceding claim, characterized in that it further comprises a step of operating a protection volume (ZP) by activation of a light curtain (233, 234, 243, 244, 432, 551, 552) or a dynamic security system (15, 16) permanently supported by one or more support members. 15 15. A method of moving a machine according to any one of claims 1 to 12, characterized in that it comprises the steps of: - closing the support members, by folding or folding (M1 to M6) said members of support against the carrier structure (111, 113, 114), thereby reducing the bulk volume of said machine, and - removing the machine from its operating position, by gripping the bearing structure or by rolling of said structure carrier on rolling means.