DE102015107438A1 - Apparatus and method for sharpening blanks of flexible material - Google Patents

Abstract

The invention relates to an apparatus and a method for sharpening blanks (42) made of flexible material, in particular of leather, synthetic leather, rubber or plastics, with a sharpening device (12) for sharpening the blanks (42), with a feed (18, 20, 22) for feeding blanks (42) to be sharpened, with a handling device (26) on which a gripper (30, 31, 32, 33) is received to receive blanks (42) to the sharpening device (12) with a control unit (16) for controlling the device (10) and with at least one sensor device (23, 24, 25, 40) for detecting the position of the blank (42) and with means for automatic Adjusting the setting parameters of the sharpening device (12) via the control unit (16) as a function of characteristic data of the blank (42).

Description

The invention relates to a device and a method for sharpening blanks made of limp material, in particular leather, synthetic leather, rubber or plastics, with a sharpening device for sharpening the blanks.

Devices for sharpening blanks of pliable material, which are also referred to as sharpening machines, have been in use for decades to provide blanks of pliable material, for example of leather, at their edges by trimming with a predetermined cross-sectional shape.

At the sharpening machine, the blanks are usually moved by means of a feed roller and a pressure roller with a defined feed on a sharpening knife, usually in the form of a bell knife, to perform the sharpening cut, such as from DE 37 32 059 A1 known. In this case, the blank to be sharpened is held by an operator and guided into the area of the pressure roller until the feed is taken over by the sharpening machine, wherein at the same time the blank is continued by the operator. If a different type of cut must now be sharpened, the sharpening parameters, such as the depth of sharpening and sharpening width, the type of sharpening cut, etc., must first be set by the operator before the new blanks can be sharpened.

Errors may occur when setting the sharpness parameters. In addition, small batches lead to a significant reduction in the processing speed due to the re-adjustment of the sharpening parameters.

Against this background, the invention has for its object to provide a device for sharpening blanks of pliable material, which allows the most automatic possible processing of different blanks of pliable material.

This object is achieved by a device for sharpening blanks made of pliable material, in particular leather, synthetic leather, rubber or plastics, with a sharpening device for sharpening the blanks, with a feed for the supply of blanks to be sharpened, with a handling device to which a gripper is received to receive blanks, transfer to the sharpener and sharpen on a sharpener, with a control unit for controlling the device, and with at least one sensor means for detecting the position of the blank and with means for automatically adjusting the setting parameters of the sharpening device via the control unit based on characteristic data of a blank.

The object of the invention is completely solved in this way.

According to the invention, blanks to be sharpened are automatically detected in their position by means of the sensor device and the adjustment parameters of the sharpening device are set automatically in a corresponding manner on the basis of characteristic data of the blanks. The supply of blanks to be sharpened takes place automatically by means of the gripper, which is moved by the handling device, for example in the form of a robot.

The automatic detection of the characteristic data of the blanks can in principle be done in any way. For this purpose, an encoding, for example in the form of a barcode or an RFID coding, can be provided on each blank, which coding can be read out with an associated sensor device or by means of an RFID reading device. Alternatively, the characteristic data of a blank can also be stored, for example, in a memory which is automatically read out when a blank is picked up from a specific storage location.

The characteristic data of a blank include, in particular, the sharpening parameters, as the sharpening width and the depth of sharpening, preferably also the type and thickness of the material.

In this way, a fully automatic sharpening of blanks is possible. The necessary adjustment parameters for the sharpening device are set automatically on the basis of the characteristic data of a blank. Operating errors are thereby reduced and downtimes largely avoided.

It is understood that the handling device can be designed in any way. Besides a robot, e.g. Also a portal with multiple axes suitable, on which a gripper is moved movable.

According to a further embodiment of the invention, a control unit for quality control of the blanks after sharpening is also provided, to which the blanks can be fed after sharpening.

As a result, an automatic quality control is made possible, and parts with errors can be immediately recognized and sorted out.

According to a further embodiment of the invention, at least one magazine is provided for receiving blanks to be sharpened, can be removed from the blanks by means of the gripper and fed to the sharpening device.

In this way, different blanks can be prepared and kept in different magazines for sharpening processing. Alternatively, the blanks can also be supplied in another way, for example by means of a tape guide.

If magazines are used, each magazine can be assigned a memory with the characteristic data of the blanks, which is automatically read out when a blank is removed from a memory. In this way, it is possible to dispense with coding on the blanks themselves.

On the other hand, if the blanks are otherwise formed, e.g. supplied by means of a tape guide, so the use of codings on the blanks offers to ensure a correct adjustment of the sharpening device with changing blanks.

According to a further embodiment of the invention, the gripper for guiding the blank along the sharpening blade for sharpening controlled by the sharpening device feed is controlled.

In other words, the precise guidance and the feed of the blank is ensured by the sharpening device itself, so that a corresponding program control for guiding the gripper is subordinated to the feed movement predetermined by the sharpening device. For this purpose, the control of the handling device suitably allows a certain deviation from a desired path of the handling device to allow the feed, which is specified by the sharpening device.

According to a further embodiment of the invention, the sensor device has a camera for reading out an optical coding and / or an RFID reading device for reading out an RFID code.

In this way, all data necessary for later processing and quality control can be stored on the blanks to be sharpened and automatically read out.

In this case, an RFID writing device can additionally be provided in order to store the measured values in the RFID chip after quality control. This allows a complete quality control, as it is partially desired in the automotive industry.

For detecting the position of the blanks, the sensor device preferably has a camera with an image evaluation. In this case, either a magazine can be assigned to each magazine, or it is used an image capture, which is approached separately for this purpose.

In this case, the image acquisition of the control unit, which is already provided for checking the blanks after sharpening, can also be used for position detection.

For this purpose, a support surface is preferably provided for a blank, which can be scanned preferably from below by means of a camera or a scanner. In a scan from below adverse effects of extraneous light and / or different surface textures of the material are further avoided because of the transmitted light is used.

The control unit preferably has a supporting surface for a blank, which can be scanned by means of a camera or a scanner, wherein the blanks are preferably distinguished by a comparison with a blank with nominal dimensions in good parts and bad parts, the associated storage magazines for good parts and bad parts can be fed.

In this way, a very accurate and simple distinction in good parts and bad parts is possible.

According to a further embodiment of the invention, the gripper is replaceable received on the handling device and provided a gripper magazine for receiving different grippers.

In this way, suitable grippers for different blanks can be kept and automatically coupled to the gripper arm.

According to a further embodiment of the invention, the gripper is designed as a suction gripper.

It has been found that flexible parts, in particular with suction pads, can be picked up particularly reliably and guided to the sharpening device and can be held during the sharpening process.

For this purpose, the gripper preferably has a contact surface into which a plurality of Suction ports opens, which are coupled to a suction channel.

More preferably, in this case the suction channel with the gripper arm via a coupling can be connected, wherein preferably a sensor for monitoring the negative pressure is provided on the gripper arm, preferably in the region of the coupling.

In this way, a simple supply of the suction pad can be ensured with negative pressure and a precise adherence to a certain negative pressure can be ensured.

Preferably, the suction gripper is connected to a vacuum source whose suction power is controlled such that a negative pressure of -0.5 to -0.8 bar, preferably from -0.4 bar to -0.8 bar, more preferably -0, 6 bar to -0.75 bar, more preferably from -0.65 bar to -0.7 bar is maintained.

It has been shown that pliable parts can be reliably picked up with such a negative pressure and can also be guided during the sharpening process, without resulting in wrinkling and the like. The blanks can rather be held and guided precisely.

• – Bereitstellen von Zuschnitten;
• – Erfassen eines Zuschnitts mittels eines Greifers;
• – Erfassen von charakteristischen Daten eines Zuschnittes;
• – automatisches Einstellen der Bearbeitungsparameter einer zugeordneten Schärfeinrichtung anhand der charakteristischen Daten des Zuschnitts;
• – lagekorrektes Zuführen des Zuschnitts zu der Schärfeinrichtung und Bewegen entlang eines Schärfmessers mit durch die Schärfeinrichtung kontrolliertem Vorschub zum Schärfen des Zuschnitts.

The invention further provides a method of sharpening blanks of flexible material, in particular of leather, synthetic leather, rubber or plastics, comprising the following steps:

• - Provision of blanks;
• - Detecting a blank by means of a gripper;
• - acquiring characteristic data of a blank;
• - Automatically adjusting the processing parameters of an associated sharpening device on the basis of the characteristic data of the blank;
• - Position correct feeding of the blank to the sharpening device and moving along a sharpening knife with controlled by the sharpener feed to sharpen the blank.

Also in this way the object of the invention is completely solved.

According to the invention, blanks can thus be picked up by means of the gripper and the characteristic data of the blank can be used for automatically setting the processing parameters of the sharpening device. In this way, a precise automatic processing of blanks is possible.

As already mentioned, the characteristic data of a blank on a coding, for example in the form of a barcode or an RFID coding, can be stored on each blank, so that an automatic readout can take place.

If, alternatively, coding on the blanks is to be dispensed with, the characteristic data of the blanks can for example be stored in a memory, which is then automatically read out when a blank is taken from a specific storage location.

In order to enable a position detection of the blanks, preferably the position of a blank can be determined by evaluating a camera image in order to feed the blank to the sharpening device with correct position.

More preferably, the blank is preferably detected by means of a suction pad, which is subjected to negative pressure.

In this case, the negative pressure is preferably monitored on the suction pad and to -0.5 to -0.8 bar, preferably to -0.4 bar to -0.8 bar, more preferably to -0.6 to -0.75 bar, especially preferably adjusted to -0.65 bar to -0.7 bar.

It has been shown that with such a negative pressure on the one hand a sufficiently secure recording of the blanks is ensured and on the other hand, the negative pressure is not so high that problems arise by wrinkling or the like.

According to a further embodiment of the invention, the blanks are scanned after sharpening, preferably optically, in order to check the precision of the sharpening, wherein preferably a comparison with stored data of a blank with desired dimensions is carried out.

In this way, a precise quality control can be carried out. If desired, the measured data can be stored on the blank, preferably in an RFID chip or by printing by means of an inkjet printer.

It is understood that the features of the invention mentioned above and those yet to be explained below can be used not only in the particular combination indicated, but also in other combinations or in isolation, without departing from the scope of the invention.

Further features and advantages of the invention will become apparent from the following description of preferred embodiments with reference to the drawings. Show it:

1 an overview of the device according to the invention in a perspective view;

2 a cross section through the gripper according to 1 in an enlarged view;

3 a section through the gripper according to 2 along the line III-III;

4 a perspective view schematically showing the coupling of the suction pad to the robot arm;

5 an enlarged view of the section of the sharpener for sharpening the blanks; and

6 an enlarged view of the pressure roller in the region of the section for sharpening the blanks.

In 1 a device according to the invention for sharpening blanks is shown in perspective and in total with the numeral 10 designated.

The device 10 has three magazines 18 . 20 . 22 on, in which different types blanks of pliable material, such as leather, may be included. Every magazine 18 . 20 . 22 is a sensor device 23 . 24 . 25 in the form of a camera associated with image analysis.

A sharpening device is used to sharpen the blanks 12 basically known type, on which the blanks at a recess by means of a sharpening knife 14 sharpened in the form of a bell knife.

Furthermore, the device 10 a control unit 36 for quality control of the sharpened blanks. In the present case, this is a flat bearing surface 38 provided on the blanks 42 be hung up and with a scanner or a camera 40 be scanned. In 1 is a camera 40 below the transparent support surface 38 shown with an associated lighting device (not shown) with which the outlines of the blanks 42 can be detected. To distinguish between "good parts" and "bad parts", a comparison is made with blanks 42 performed, the target dimensions have.

The sharpened blanks 42 are thus divided into good parts and bad parts and in associated storage magazines 44 . 45 . 46 stored.

For handling the blanks 42 is a handling device 26 provided in the form of a robot. The handling device 26 has a gripper arm 28 with multiple axes on which a gripper 30 is interchangeable added. A gripper magazine 34 serves to store different grippers 31 . 32 . 33 , the geometry of different blanks 42 adapted in the magazines 18 . 20 . 22 can be included. Depending on the type of blank 42 becomes the suitable gripper 30 . 31 . 32 . 33 to the gripper arm 28 coupled.

The grippers 30 to 34 are designed as suction pads and point accordingly 2 a flat contact surface 50 on, into which a plurality of suction openings 48 opens. The suction openings 48 stand with a central suction channel 49 in connection, as from the 2 and 3 can be seen.

To safely hold the blanks 42 at the contact surface 50 a gripper 30 to 33 to ensure the negative pressure in the central suction channel 49 by means of a sensor 52 (see. 4 ) and preferably controlled to a range of -0.65 bar to -0.7 bar.

By such a negative pressure ensures that on the one hand a secure gripping the limp blanks 42 is guaranteed and on the other hand avoids that wrinkles and the like. Form, whereby the precision of the sharpening process would be impaired.

To control and monitor the device 10 serves a central control 16 , in the 1 is indicated schematically.

According to 4 is at the end of the gripper arm 28 a clutch 50 provided to the different grippers 30 to 33 can be coupled. In 4 is the back side of the case 44 of the gripper 30 recognizable, by means of a positioning aid 56 can be recorded on an assigned part. With 54 is additionally optional an electrical interface 54 denotes, with which an electrical connection between the gripper 30 and the gripper arm 28 can be produced.

Immediately on the coupling on the side of the gripper arm 28 is a pressure sensor 52 for monitoring the negative pressure in the suction channel of the coupling 50 arranged with the suction channel 49 of the gripper 30 can be coupled. A suitable vacuum line, which is connected to a vacuum pump, is connected to the gripper arm 28 coupled (not shown) and generates the negative pressure via the clutch 50 to the central suction channel 49 of the gripper 30 is applied.

The blanks 42 are preferably with a coding 43 in the form of an optical coding (eg barcode) or an RFID coding Mistake. In the coding 43 All the characteristic data of the blank (such as material type and sharpening parameter) are stored.

The coding 43 can with the help of the magazines 18 . 20 . 22 associated sensor devices 23 . 24 . 25 be read out automatically. It can simultaneously the location of the blank 42 be detected via a suitable image analysis. This makes it possible, when taking a blank 42 by means of the gripper 30 from one of the magazines 18 . 20 . 22 on the one hand automatically the location of the relevant blank 42 and on the other hand the necessary sharpening parameters for the sharpening device 12 adjust.

Alternatively, to the sensor devices 23 . 24 . 25 be waived and instead the control unit 36 for the location of the blanks 42 and to capture the characteristic data of the blanks 42 be used. In this way, the sensor devices 23 . 24 . 25 , which are expensive camera systems, can be saved. To ensure a better workflow, in this case, the arrangement of the gripper magazine 34 and the control unit 36 swapped, so a cut 42 after removal from a magazine directly to the control unit 36 arrives at the location detection takes place.

At the control unit can also be an RFID reader 41 be provided to an RFID coding of a blank 42 to read out the characteristic data for setting the sharpening device 12 to obtain.

On the other hand, should be on a coding on the blanks 42 can be dispensed with, so can any magazine 18 . 20 . 22 be associated with a memory in which the characteristic data of the blanks stored therein are stored. Will be from a particular magazine 18 . 20 . 22 a cut 42 taken, the assigned memory is automatically read. An example is the magazine 18 a memory 17 indicated.

The gripper 30 takes the relevant blank 42 and automatically guides you to the sharpener 12 at which the cut on the sharpener 14 (Bell knife) is guided in a defined position and with a defined feed to perform the sharpening process.

As in 5 is indicated, the sharpener moves 14 during the cutting to be sharpened 42 in the direction of the arrow 64 is fed perpendicular thereto. Immediately before the sharpener 14 is a transport roller 60 Arranged in the direction of the arrow 66 turns and so the cut with a defined feed against the sharpener 14 emotional.

How out 6 recognizable, this serves a counter role 68 in addition, the contact pressure of the transport roller 60 in a suitable way.

The movement of the handling device 26 is now from the central controller 16 controlled so that the feed during the sharpening process by the transport roller 60 the sharpening device 12 is given. The programming leaves a sufficient tolerance of the gripper arm 28 to, so that during the sharpening process, the movement solely by the feed of the transport roller 60 is determined.

Upon completion of the sharpening process, the sharpened blank becomes 42 to the control unit 36 moved there and is checked there in terms of its geometry.

If desired, the coding 43 be formed in the form of an RFID chip, which also allows a write operation.

The at the control unit 36 optionally provided RFID reading device 41 can also be designed as a combined read / write device. Then, so far as this is desired, the geometry data in the RFID chip 43 of the blank 42 or a time code, for example, with which the test is documented as a good part at a certain point in time.

Depending on the test result then the relevant blanks 42 by means of the gripper 30 in one of the assigned storage magazines 44 . 45 . 46 for different cuts 42 or bad parts stored.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 3732059 A1 [0003]

Claims (21)

Apparatus for sharpening blanks ( 42 ) made of flexible material, in particular of leather, synthetic leather, rubber or plastics, with a sharpening device ( 12 ) for sharpening the blanks ( 42 ), with a feeder ( 18 . 20 . 22 ) for feeding blanks ( 42 ), with a handling device ( 26 ), on which a gripper ( 30 . 31 . 32 . 33 ) to cut blanks ( 42 ), to the sharpening device ( 12 ) and on a sharpening knife ( 14 ), with a control unit ( 16 ) for controlling the device ( 10 ), and at least one sensor device ( 23 . 24 . 25 . 40 ) for determining the position of the blanks ( 42 ) and means for automatically adjusting the setting parameters of the sharpening device ( 12 ) via the control unit ( 16 ) on the basis of characteristic data of a blank ( 42 ). Apparatus according to claim 1, comprising a control unit ( 36 ) for the quality control of the blanks ( 42 ) after sharpening the blanks ( 42 ) can be fed after sharpening. Device according to claim 1 or 2, with at least one magazine ( 18 . 20 . 22 ) for receiving blanks ( 42 ), from the blanks ( 42 ) by means of the gripper ( 30 . 31 . 32 . 33 ) and the sharpening device ( 12 ) can be supplied. Device according to one of the preceding claims, in which the means for automatically adjusting the setting parameters of the sharpening device ( 12 ) an encoding ( 43 ) on the blanks ( 42 ) or a specific storage location for receiving blanks ( 42 ) associated memory ( 17 ), wherein characteristic data of the blanks ( 42 ) are deposited. Device according to one of the preceding claims, in which the gripper ( 30 . 31 . 32 . 33 ) for guiding the blank ( 42 ) along the sharpening blade ( 14 ) for sharpening with by the sharpening device ( 12 ) controlled feed. Device according to one of the preceding claims, in which the sensor device ( 23 . 24 . 25 . 40 ) a camera ( 23 . 24 . 25 . 40 ) for reading out an optical coding ( 43 ) and / or an RFID reader ( 41 ) for reading an RFID coding ( 43 ) having. Device according to one of the preceding claims, in which the sensor device ( 23 . 24 . 25 . 40 ) a camera with an image evaluation for detecting the position of the blank ( 42 ) having. Device according to Claim 7, in which the sensor device has a support surface ( 38 ) for blanks ( 42 ), which by means of a camera ( 40 ) or a scanner is preferably scanned from below, Device according to one of the preceding claims, in which the control unit ( 36 ) a support surface ( 38 ) for blanks ( 42 ), which by means of a camera ( 40 ) or a scanner is preferably scanned from below, the blanks ( 42 ) preferably by comparison with a blank ( 42 ) with specified dimensions into good parts and bad parts, the assigned storage magazines ( 44 . 45 . 46 ) can be supplied for good parts and bad parts. Device according to one of the preceding claims, in which the gripper ( 30 . 31 . 32 . 33 ) replaceable on the handling device ( 26 ) and a gripper magazine ( 34 ) for receiving various grippers ( 30 . 31 . 32 . 33 ) is provided. Device according to one of the preceding claims, in which the gripper ( 30 . 31 . 32 . 33 ) is designed as a suction pad. Apparatus according to claim 11, wherein the gripper ( 30 . 31 . 32 . 33 ) has a contact surface in which a plurality of suction openings ( 48 ), which opens with a suction channel ( 49 ) are coupled. Apparatus according to claim 12, wherein the suction channel ( 46 ) with the gripper arm ( 28 ) via a coupling ( 50 ) is connectable, preferably on the gripper arm ( 28 ) a sensor ( 52 ) is provided for monitoring the negative pressure, preferably in the region of the coupling ( 50 ). Device according to one of claims 10 to 12, wherein the suction gripper ( 30 . 31 . 32 . 33 ) is connected to a vacuum source whose suction power is controlled such that a negative pressure of -0.5 to -0.8 bar, preferably from -0.4 bar to -0.8 bar, more preferably from -0.6 to -0.75 bar, more preferably from -0.65 bar to -0.7 bar is maintained. Method for sharpening blanks ( 42 ) made of flexible material, in particular leather, synthetic leather, rubber or plastics, comprising the following steps: - providing blanks ( 42 ); - Capture a blank ( 42 ) by means of a gripper ( 30 . 31 . 32 . 33 ); Acquiring characteristic data of the blank ( 42 ); Automatic setting of the processing parameters of an associated sharpening device ( 12 ) based on the characteristic data of the blank ( 42 ); - Correct feeding of the blank ( 42 ) to the sharpening device ( 12 ) and moving along one Sharpening knife ( 14 ) with the sharpening device ( 12 ) controlled feed for sharpening the blank ( 42 ). Method according to claim 15, wherein on the blanks ( 42 ) an optical coding and / or an RFID coding is used, which by means of a sensor device ( 23 . 24 . 25 . 40 . 41 ) is read out. Method according to Claim 15 or 16, in which the position of a blank ( 42 ) is determined by evaluating a camera image in order to correct the cut to the sharpening device ( 12 ). Method according to one of Claims 15 to 17, in which the blank ( 42 ) by means of a suction gripper ( 30 . 31 . 32 . 33 ), which is subjected to negative pressure, is detected. Method according to Claim 18, in which the negative pressure on the suction gripper ( 30 . 31 . 32 . 33 ), and wherein the negative pressure to -0.5 to -0.8 bar, preferably to -0.4 bar to -0.8 bar, more preferably -0.6 to -0.75 bar, more preferably is set to -0.65 bar to -0.7 bar. Method according to one of Claims 15 to 19, in which the blanks ( 42 ) are preferably scanned optically after sharpening in order to check the precision of the sharpening, preferably a comparison with stored data of a blank ( 42 ) is carried out with nominal dimensions. The method of claim 20, wherein the characteristic data of the measurement are stored on the blank, preferably in an RFID chip.

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