EP0192994A1 - Manipulateur d'article pour robot - Google Patents

Manipulateur d'article pour robot Download PDF

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Publication number
EP0192994A1
EP0192994A1 EP86101277A EP86101277A EP0192994A1 EP 0192994 A1 EP0192994 A1 EP 0192994A1 EP 86101277 A EP86101277 A EP 86101277A EP 86101277 A EP86101277 A EP 86101277A EP 0192994 A1 EP0192994 A1 EP 0192994A1
Authority
EP
European Patent Office
Prior art keywords
article
frame
sensing
vacuum
lifting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP86101277A
Other languages
German (de)
English (en)
Other versions
EP0192994B1 (fr
Inventor
Raymond Joseph Boucher Jr.
Jack Elwood Inscoe
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
International Business Machines Corp
Original Assignee
International Business Machines Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by International Business Machines Corp filed Critical International Business Machines Corp
Publication of EP0192994A1 publication Critical patent/EP0192994A1/fr
Application granted granted Critical
Publication of EP0192994B1 publication Critical patent/EP0192994B1/fr
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
    • B66C1/24—Single members engaging the loads from one side only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the gripping type article handling systems invariably include a gripping mechanism that attaches to the top of an article, such as a box, and moves said article from one position and/or place to the next.
  • a gripping mechanism may include suction cups to which a source of negative pressure is applied to effectuate attachment to the article. Alternately, attachment may occur by magnetic means and/or mechanical means.
  • U.S. Patents 4,266,905; 4,299,533; 4,242,025 and 4,392,766 describe gripping mechanisms in which negative pressure is used to effectuate attachment.
  • the robot positions the article manipulating system above the load of boxes.
  • a sensor mounted on the lower frame section, senses for the presence of a box. Once the box is sensed, the robot transports the article manipulating system from the zone above the box to a zone whereat the extremities of the forks are placed in a plane substantially parallel to the bottom surface of the first layer of boxes on the pallet.
  • a sensor seated on the air cylinder piston rod senses for the presence of a box in the horizontal plane.
  • an electrical signal is generated and is used to activate the vacuum/air supply.
  • the vacuum cups on the piston rod grip the box at its side pulling it onto the forks.
  • the box is then transferred to its predetermined location on a conveyor belt.
  • the article handling apparatus 10 includes a frame assembly (12A, 12B, 28A and 28B) , a gripper mechanism 14, a lifting device 16, a set of sensors (18, 20 and 22) for sensing the position ot the article manipulator relative to an article and a second set of sensors (24 and 26, Fig. 2) for sensing when an article is securely held by the article manipulator.
  • a general purpose robot positions the lifting member 16 relative to the bottom surface of a box to be transported.
  • the gripper mechanism 14 is extended beyond the extremity of the lifting device to grip the box and pull the box onto the lifting device (Fig. 3).
  • the box With the box being secured on the lifting members by the gripper mechanism, the box is then moved from the pallet (not shown) to the conveyor line (not shown).
  • the box as it progresses down the line will be accessed by a robot to remove parts and fabricate a product.
  • the product is then loaded into the box and the box is palletized for shipping to respective customers.
  • a plurality of slots identified by numerals 34, 36, 38 and 40 are fabricated on the lower extremity of the member 28A.
  • a similar set of slots are fabricated on member 28B. As will be explained subsequently, these slots serve a dual purpose. The slots are used to fasten the top section of the frame to the lower section (to be described hereinafter) and provide an adjustment mechanism so that the lower section of the frame can be adjusted relative to the upper section.
  • the lower section 12 comprises of irregularly shaped members 12A and 12B.
  • Each of the members is fabricated from flat light-weight metal such as aluminum.
  • Member 12B is fabricated with a plurality of circular holes some of which are identified by numerals 42, 44, 46, 48, 50 and 52.
  • a similar set of holes (not shown) is fabricated on the upper extremity of member 12A.
  • the holes on members 12A and 12B are used for fastening the lower section of frame 12 to the upper section 28.
  • a plurality of screws some of which are shown in Fig. 1, are inserted into the holes located on the respective members of the frame. By tightening respective nuts on the respective screws, the lower section of the frame is connected firmly to the upper section.
  • a bracket member identified by numeral 54 is traversely fastened to the upper members at the point whereat the lower frame joins the upper frame. The function of the traverse strap 54 is to provide structural strength to the frame assembly.
  • the lifting device 16 is substantially U-shaped with a pair of spaced lifting forks or members 16A and 16B, respectively.
  • a traverse member 54 interconnects the lifting fork at its rearward extremity.
  • the lifting device 16 is connected to the lower frame section 12.
  • a hinged means 56 is fabricated in each of the lifting members 16A and 16B, respectively. In the figure, only one of the hinges is shown, it being understood that a similar hinge is provided in lifting member 16A. The front extremities of the lifting members are beveled.
  • the lifting device 16 can get relatively close to a pallet, (not shown) carrying carton boxes of parts, and approach the carton at an angle without causing the main body of the bottom section of the article handling mechanism to hit the pallet.
  • the gripper mechanism 14 is mounted by a pair of mounting brackets, only one of which is shown and is identitied by numeral 56 to member 54.
  • the function of the gripper mechanism 14 is to grip a box from the side (Fig. 3), separate said box from a pallet load of boxes (not shown), and place the box on lifting devices 16A and 16B, respectively.
  • the mounting brackets are pivotally coupled to slide mount means 58.
  • the slide mount means 58 is slidably coupled to air cylinder 60. By slidably coupling the air cylinder 60 to slide mount means 58 the air cylinder 60 (to be described subsequently) can be adjusted in the direction shown by arrow 62. As a result of this adjustment feature, the gripper mechanism 14 can be made to handle variable size boxes.
  • the air cylinder 60 is adjusted so that the slide mount means 58 is positioned at a point on the air cylinder that enables the gripper mechanism 14 to extend vacuum cups 62 and 64, respectively, beyond the tips of lifting members 16A and 16B, respectively.
  • the air cylinder 60 is adjusted so that the slide mount means 58 is at the extreme front end of the air cylinder 60. With this adjustment the reach of vacuum cups 62 and 64 is less than that of Figs. 2 and 3.
  • the adjustment is effectuated by loosening a plurality of screws, two of which are identified by numberal 57, and sliding a plurality of mounting rods, two of which are identified by numerals 78 and 80, relative to the slide mount means.
  • the mounting rods are part of the cylinder.
  • the air cylinder 60 is adjusted relative to slide mount means 58.
  • a relatively large opening having a size that will accept the width of the air cylinder 60 is fabricated in the center of the slide mount means.
  • Four small holes similar to those fabricated in front block 66 and rear block 68 are fabricated in slide mount means 58.
  • the front block 66 is removed from the air cylinder and the respective rods are passed through the respective holes in slide mount means 58.
  • the front block 66 is then refitted.
  • An adjustment means preferably a screw identified by numeral 90, is threaded through cross member 54. The leading end of the screw is in contact with front block 66. By turning the screw the front block and attached mechanism are made to be adjusted upward or downward in a vertical plane identified by numeral 65.
  • a mounting bracket identified by numeral 92 is connected to piston rod 82.
  • a swivel block 94 (Figs. 1 and 4) is pivotally mounted to mounting block 92.
  • a manifold 96 is pivotally mounted to swivel block 94.
  • the swivel block and pivotally coupled manifold operate as a universal joint to enable vacuum cups 62 and 64 to adjust relative to the shape or position of a box to be picked.
  • Two vacuum cups 62 and 64 are mounted via mounting posts 98 and 100 to the manifold.
  • the invention further includes a air/vacuum system which provides vacuum and air for proper operation of the picker mechanism.
  • the air/vacuum system includes a vacuum generator identified by numeral 102.
  • the vacuum generator 102 is a conventional device that generates a vacuum when air is allowed to enter into the device. Since this is a well-known conventional device, details of its operation and construction will not be given. Suffice it to say that in the preferred embodiment of this invention a PIAB vacuum generator was used.
  • An interconnecting hose identified by numeral 104 interconnects the side of the generator which provides negative pressure to manifold 96. Similarly, air from an air generating source (not shown) is conveyed through tube 106 to the positive pressure side of the generator.
  • the vacuum generator provides vacuum (negative pressure) for suction cups 62 and 64, respectively.
  • controller air is admitted into the vacuum generator 102 and as a result a vacuum is created in the manifold 96 and ultimately to suction cups 62 and 64, respectively.
  • the air cylinder 60 requires air for proper operation.
  • two tluid conduction means identified by numerals 108 and 110 (Figs. 2 and 3) interconnect the air cylinder 60 to a suitable air supply (not shown).
  • the piston When the air in conducting means 110 is activated, the piston is forced to be extended and moves in the direction shown by arrow 86, Fig. 1. Similarly, when the air in conducting means 108 is activated, the piston is retracted in the direction shown by arrow 88.
  • F ig. 6 shows an air logic schematic for the air/vacuum system.
  • the air logic schematic provides vacuum/air supply to vacuum cups 62 and 64 and air cylinder 60, respectively. Air is supplied with a pressure of approximately 80-90 psi.
  • the output line from the air supply is coupled through a solenoid 108.
  • the solenoid is an off-the-shelf air solenoid which functions as a on-off switch and is activated by a signal outputted from the robot's control.
  • the solenoid was fabricated by Schrader, Inc.
  • the output from the on-off solenoid switch 108 is fed into a vacuum off-on solenoid switch 110 and a double-throw solenoid 112.
  • the double-throw solenoid 112 controls the air cylinder 60.
  • the double-throw solenoid is provided with exhaust valve 114 and 116, respectively. Each exhaust valve provides a means for bleeding air from the piston when it is about to move in the opposite direction.
  • solenoid 110 provides the on-off air to vacuum generator 102.
  • the output from vacuum generator 102 is coupled through vacuum switch 114 to the vacuum cups 62 and 64. As will be explained subsequently, whenever vacuum is applied to the cups, the switch will output a signal when vacuum is made between the cup and a box. The output from the vacuum switch is utilized by the robot controller to move the box.
  • Two proximity sensors identified by numerals 18 and 20 are located on top of the vacuum manifold 96 and on the side of lower frame 12. Sensor 18 is used to determine whether there is a carton box in the path of the gripper in the horizontal plane when the gripper is searching for a carton and it is simultaneously used to signal the robot's controller to turn on the vacuum generator in the event the carton is found. This is done by the robot controller generating a signal to solenoid 110, Fig. 6.
  • sensor 20 (on the side of the lower frame) is mounted in the vertical plane and is used to determine (in a search procedure to be described hereinafter) if the carton is where it should be (that is, enough boxes in the stack). That initial point is used as a reference point for the robot's controller to determine where the bottom of each carton in the stack should be, thus allowing the arms of the lower frame to be located at the level of the bottom of the carton.
  • Reed switch 114 (Fig. 3) senses when a carton is fully seated on the lifting legs and outputs a signal on conductor 116.
  • a magnetic ring (not shown) is fitted on the piston (not shown) which is attached to the extreme end of piston 82 and lies within air cylinder 60.
  • the robot controller Because the reed switch is situated at the extreme back of the cylinder, whenever the magnetic ring passes the reed switch a signal is generated and outputted on conductor 116. The signal indicates that the picking mechanism is fully retracted and the carton is properly seated on the lifting mechanism (that is lifting members 16A and 16B). At this point the robot controller generates a signal which moves the article handling mechanism and the attached box, Fig. 3, to a predetermined point, usually to a conveyor belt (not shown).
  • the frames are designed with slots that allow approximately 800-inch of upward travel by the lower frame 12 and/or a 15° upward tilt of the lower frame.
  • the sensor's light beam will be broken by the passing of the lower frame over the mounting holes of the sensors.
  • the breaking of the beam signals the robot controller to stop all program activity and therefore all motion. This prevents unnecessary damage to the gripper by cartons, etc. which are encountered out of place by the gripper.
  • Fig. 7 shows a flow chart of the process steps which must be performed in order for a box to be depalletized and placed on a conveyor (not shown).
  • the flow chart includes the functions which the robot controller (not shown) must perform in order to provide the motion control necessary for positioning the box.
  • the robot controller utilizes the signals which are generated from the above described sensors to position the article handling mechanism.
  • the programming of such controllers is well known; therefore, the detailed code which is written in the controller in order to perform the process steps outlined in the flow chart is not given, it being understood that it is well within the skill of one skilled in the art of programming to utilize the information set forth in the flow chart to provide the necessary code for controlling the robot.
  • the first step in the process is identified in block 116.
  • the block signifies the beginning of the process.
  • the program then descends into block 118 where the gripper mechanism is transferred to a zone above the pallet carrying the boxes.
  • the program utilizes the vertical sensor (previously described) to search the vertical plane to make sure there is a box. If no box is discovered (block 122), the program then enters block 124 where it is stopped and then into block 126 where it waits for another instruction.
  • the program then descends into block 130 where the robot moves the gripper mechanism and aligns the lifting members with the bottom surface of the tirst row of boxes on the pallet.
  • the program then descends into block 132 where it searches the horizontal plane for the presence of a box via the horizontal sensor (previously described above). If no box is sensed in the horizontal plane (block 134), the program then enters block 136 where it stops and then to block 138 where it waits for an instruction.
  • the program then enters block 142 where it extends the piston and turns the vacuum.
  • the program then enters block 144 where it checks to make sure the vacuum is made between the vacuum cups and the box to be picked. This checking is done by vacuum switch 24 (Fig. 1). If there is no vacuum, the program enters block 146 where it stops and then block 148 where it waits for an instruction.
  • the program controlled robot utilizes signals outputted from the above described sensors to orientate the gripper mechanism so that the forks or lifting members are oriented in a plane parallel to the boxes bottom side.
  • the piston of the air cylinder with its attached vacuum cups are extended beyond the forks.
  • vacuum is applied to the suction cups
  • a signal is outputted from the vacuum switch 24.
  • the robot controller then activates the air supply which causes the piston to be retracted to pull the carton box onto the forks.
  • the carton is then lifted free of the stack on the pallet.
  • the ends of the forks are hinged to allow the gripper to operate on the surface of the pallet or slip-sheet.
  • the gripper can be tilted to allow only the hinged portion of the lifting members to contact and to follow the surface of the pallet or slip-sheet while approaching the bottom cartons of a load.
  • the gripper can be adjusted forward and backwards relative to its mounting plate and can be open or closed in height to allow for larger or smaller boxes.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP19860101277 1985-02-26 1986-01-31 Manipulateur d'article pour robot Expired EP0192994B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US70577785A 1985-02-26 1985-02-26
US705777 1985-02-26

Publications (2)

Publication Number Publication Date
EP0192994A1 true EP0192994A1 (fr) 1986-09-03
EP0192994B1 EP0192994B1 (fr) 1989-11-29

Family

ID=24834900

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19860101277 Expired EP0192994B1 (fr) 1985-02-26 1986-01-31 Manipulateur d'article pour robot

Country Status (4)

Country Link
EP (1) EP0192994B1 (fr)
JP (1) JPS61197398A (fr)
CA (1) CA1256913A (fr)
DE (1) DE3667162D1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0244984A2 (fr) * 1986-05-02 1987-11-11 Cascade Corporation Véhicule guidé automatiquement muni d'une pince de charge
US5004399A (en) * 1987-09-04 1991-04-02 Texas Instruments Incorporated Robot slice aligning end effector
GB2293362A (en) * 1994-09-20 1996-03-27 Long Airdox Co Mine Vehicle Battery Changer
US5953812A (en) * 1997-07-03 1999-09-21 Schlumberger Technologies, Inc. Misinsert sensing in pick and place tooling
US6113342A (en) * 1998-08-12 2000-09-05 Long-Airdox Company Self-aligning battery changing system for electric battery-powered vehicles
WO2011048576A1 (fr) * 2009-10-23 2011-04-28 Eitl Fourche pour engin de manutention
EP2384864A1 (fr) * 2010-04-28 2011-11-09 IPR-Intelligente Peripherien für Roboter GmbH Poignée de robot et robot de manipulation
US8647043B2 (en) 2009-04-17 2014-02-11 Olav Lauvdal Hand truck
US9440828B2 (en) 2009-04-16 2016-09-13 Ugland & Lauvdal As Holding device to be mounted on a carrier and the use of such a device
CN108927821A (zh) * 2018-10-16 2018-12-04 广东美的智能机器人有限公司 一种机械手机构和机器人

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3914596C2 (de) * 1989-05-03 1996-12-05 Focke & Co Verfahren und Fördervorrichtung zum Abnehmen von Gegenständen von einer Unterlage
JP2535959Y2 (ja) * 1991-07-17 1997-05-14 住友重機械工業株式会社 積み卸し装置
JP2559181Y2 (ja) * 1993-04-08 1998-01-14 東洋運搬機株式会社 荷役車両

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2388458A (en) * 1944-09-09 1945-11-06 James R Alfonte Fork-lift truck
US2996204A (en) * 1959-05-27 1961-08-15 Clark Equipment Co Attachment device for industrial truck
US3750804A (en) * 1969-03-07 1973-08-07 Triax Co Load handling mechanism and automatic storage system
US3782565A (en) * 1971-12-23 1974-01-01 J Doran Automated handling system for container held material
US3820667A (en) * 1972-12-12 1974-06-28 Materials Management Syst Inc Article handling machine
GB1557577A (en) * 1977-11-25 1979-12-12 British Steel Corp Coil engagement
EP0113155A1 (fr) * 1983-01-04 1984-07-11 Selectiebedrijf Kooi Beheer B.V. Dispositif pour déplacer une pile d'objets, par exemple des boîtes ou des balles

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5028618Y2 (fr) * 1973-05-11 1975-08-23
JPS57117500A (en) * 1981-06-08 1982-07-21 Komatsu Mfg Co Ltd Loading system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2388458A (en) * 1944-09-09 1945-11-06 James R Alfonte Fork-lift truck
US2996204A (en) * 1959-05-27 1961-08-15 Clark Equipment Co Attachment device for industrial truck
US3750804A (en) * 1969-03-07 1973-08-07 Triax Co Load handling mechanism and automatic storage system
US3782565A (en) * 1971-12-23 1974-01-01 J Doran Automated handling system for container held material
US3820667A (en) * 1972-12-12 1974-06-28 Materials Management Syst Inc Article handling machine
GB1557577A (en) * 1977-11-25 1979-12-12 British Steel Corp Coil engagement
EP0113155A1 (fr) * 1983-01-04 1984-07-11 Selectiebedrijf Kooi Beheer B.V. Dispositif pour déplacer une pile d'objets, par exemple des boîtes ou des balles

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0244984A2 (fr) * 1986-05-02 1987-11-11 Cascade Corporation Véhicule guidé automatiquement muni d'une pince de charge
EP0244984A3 (fr) * 1986-05-02 1989-11-15 Cascade Corporation Véhicule guidé automatiquement muni d'une pince de charge
US5004399A (en) * 1987-09-04 1991-04-02 Texas Instruments Incorporated Robot slice aligning end effector
US5855467A (en) * 1994-09-20 1999-01-05 Long-Airdox Company Pivot locking device
US5664932A (en) * 1994-09-20 1997-09-09 Long-Airdox Company Pivoted lifting device
GB2293362B (en) * 1994-09-20 1998-09-30 Long Airdox Co Pivoted lifting device
GB2293362A (en) * 1994-09-20 1996-03-27 Long Airdox Co Mine Vehicle Battery Changer
US5953812A (en) * 1997-07-03 1999-09-21 Schlumberger Technologies, Inc. Misinsert sensing in pick and place tooling
US6113342A (en) * 1998-08-12 2000-09-05 Long-Airdox Company Self-aligning battery changing system for electric battery-powered vehicles
US9440828B2 (en) 2009-04-16 2016-09-13 Ugland & Lauvdal As Holding device to be mounted on a carrier and the use of such a device
US8647043B2 (en) 2009-04-17 2014-02-11 Olav Lauvdal Hand truck
WO2011048576A1 (fr) * 2009-10-23 2011-04-28 Eitl Fourche pour engin de manutention
FR2951712A1 (fr) * 2009-10-23 2011-04-29 Eitl Fourche pour engin de manutention
EP2384864A1 (fr) * 2010-04-28 2011-11-09 IPR-Intelligente Peripherien für Roboter GmbH Poignée de robot et robot de manipulation
CN108927821A (zh) * 2018-10-16 2018-12-04 广东美的智能机器人有限公司 一种机械手机构和机器人

Also Published As

Publication number Publication date
JPS61197398A (ja) 1986-09-01
DE3667162D1 (de) 1990-01-04
EP0192994B1 (fr) 1989-11-29
CA1256913A (fr) 1989-07-04

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