EP0421167A2 - Device and method for gripping, picking-up, transporting and joining of web-like workpieces - Google Patents

Abstract

The invention is concerned with methods and gripper devices, in order to make it possible to pick up, transport and put down limp sheet-like workpieces (1) made of textile material, plastic or other materials graspable by means of needles (3). So that such workpieces (1) can be handled quickly and reliably, even under complicated conditions of space, needle grippers (2) are brought by means of a handling device (5) into a position parallel to the workpiece (1) and, after the workpiece (1) has been grasped, into another position which reduces the workpiece base area and in which the workpiece (1) assumes an approximately loop-like form, the workpiece (1) being transported and put down in this position. <IMAGE>

Description

The invention relates to methods and gripper devices for picking up, transporting and depositing flat workpieces made of textile material, plastic or other materials that can be grasped by means of needles, which have needle grippers that can be moved by a handling device, the needles of which are inclined in groups and in mutually diverging directions Workpiece can be inserted for the purpose of capturing and transporting it.

Needle grippers of this type are known from DE-GM 88 11 030. Two needle bars are arranged so that they can be moved diagonally to the vertical in a housing. Each needle bar carries needles arranged congruently to the travel axis on its outer surface, the travel axes of both needle bars being arranged in opposite directions with respect to the vertical.

The invention is based on the use of these known needle grippers and sets itself the task of being able to grasp, move and store flat workpieces made of textile material, plastic or other materials that can be grasped with such needles, so that even with complicated spatial conditions that are free Movement of the workpiece are a hindrance, a fast and roadworthy way of working is made possible.

This object is achieved with the invention by a method, according to which the individual needle grippers are brought into a position parallel to the workpiece for picking up or releasing the workpiece and after detecting the Workpiece are moved to another position reducing the workpiece base area, in which the workpiece is transported and deposited.

An alternative of this method is that the workpiece is first gripped and raised at its one edge with a first group of needle grippers, whereupon the gripper group is moved with the gripped edge to the opposite edge of the workpiece which grips with a second group of needle grippers and is raised, after which the workpiece is transported while maintaining its loop-shaped hanging position.

A device of the invention that carries out this method is characterized in that the individual needle gripper (2) is directly or indirectly pivotally or pivotably connected to the hand (4) of an industrial robot (5) and from a receptacle parallel to the workpiece (1) - or dispensing position is motor-adjustable in a swiveling position that reduces the workpiece base area, in which the workpiece (1) is transported and deposited.

It is assumed that the workpieces are offered either individually or in a stack for gripping. Therefore, the needle grippers are placed in a parallel position and brought into the gripping position. This makes it possible to lift the individual workpiece from its base or from the next workpiece. The transport of the workpiece to the delivery point should not take place while maintaining the flat position of the workpiece, but it is provided that at least partial areas of the workpiece are pivoted up or down from their flat position, so that they take up a smaller footprint in the transported state. The advantage of this measure is that the workpiece deformed in this way can be passed through openings whose cross sections are smaller than are the dimensions of the flat workpiece.

An example of such a handling measure is the automatic insertion of the floor coverings into the bodies of motor vehicles, for example in the trunk on the one hand and on the other hand in the passenger compartment. It would not be possible to use the floor covering blank in its flat extent in these rooms because the door cutouts for the trunk and the passenger compartment are narrower than the width of the floor coverings. On the other hand, the handling of the workpieces according to the invention achieves the advantage that the load of the workpieces can be absorbed more easily during transport because the base area of the workpieces is significantly reduced by the pivoting. This also improves the ability of the needle grippers to hold the workpiece because the workpiece is gripped by the needle grippers in a more or less vertical position, the needles projecting upward in this position having a particularly secure holding function.

It is known from DE-GM 7 640 840 to articulate needle grippers on pivoted levers. In this prior art, however, the needles have a position perpendicular to the surface of the workpiece to be gripped. The pivot adjustment of the levers in the manner of a parallelogram handlebar has the task of stretching the workpiece in which the needles are immersed along its plane in order to give the needles a firm resistance which is necessary for transporting the workpiece. The needles remain in their vertical position, which is why it cannot be avoided with certainty that the workpiece slides off the needles, and it should also be borne in mind that the workpiece is subjected to tension and can therefore be easily damaged.

Advantageous embodiments of the teaching according to the invention are shown in the subclaims, claims 4 to 8 assuming that a frame is firmly connected to the hand of the industrial robot, on which the handlebars carrying the needle grippers are pivotably mounted and can be rotated by motor.

Claims 9 to 12 show an independent variant of the invention, in which a rod-like carrier for groups of needle grippers is connected to the hand of the industrial robot and can be rotated or pivoted together with it. The individual needle gripper is therefore no longer arranged on a handlebar, but takes part in the rotating or swiveling movement of the hand of the industrial robot or the rod-like carrier. This makes it possible to first grasp a flat workpiece in one edge region, then to perform an arcuate movement of the gripped workpiece part in order to then grasp the other edge of the workpiece. The workpiece captured in this way envelops the rod-like carrier with the needle grippers to a certain extent, which opens up the possibility of transporting the workpiece held in this way along the carrier axis and thus even of passing the workpiece carrier through small-area openings.

The application of the invention is not limited to automotive engineering. There are numerous application examples for inserting flat workpieces in housing-like components, such as. B. lining machine housings with insulating material for the purpose of vibration and noise damping.

• Fig. 1: eine Draufsicht auf ein von einer Hand eines Industrie-Roboters gehaltenen Gestells mit daran schwenkbar gelagerten Nadelgreifern,
• Fig. 2: einen Vertikalschnitt durch die Anordnung gemäß Fig. 1 längs der Linie II-II,
• Fig. 3 und 4: schematische Seitenansichten einzelner Nadelgreifer in zwei verschiedenen Arbeitsstellungen,
• Fig. 5: eine Draufsicht auf ein rahmenartiges Gestell gemäß Fig. 1 in einer Variante,
• Fig. 6 und 7: Seitenansichten von schwenkbar gelagerten Nadelgreifern in verschiedenen Arbeitsstellungen,
• Fig. 8: eine Seitenansicht eines teleskopartigen Lenkers für die Nadelgreifer aus der Sicht der Linie VIII-VIII in Fig. 5 in vergrößerter Darstellung,
• Fig. 9: eine Seitenansicht eines Industrie-Roboters mit einem von diesem gehaltenen stangenartigen Träger,
• Fig. 10: eine Draufsicht auf die Anordnung gemäß Fig. 9 in verschiedenen Arbeitsstellungen des Industrie-Roboters und
• Fig. 11: eine Vorderansicht auf den stangenartigen Träger gemäß Pfeil X in Fig. 9.

These and further explanations of the invention result from the drawing. In it, the invention is shown schematically and for example. Show it:

• 1: a plan view of a frame held by a hand of an industrial robot with needle grippers pivotably mounted thereon,
• 2: a vertical section through the arrangement of FIG. 1 along the line II-II,
• 3 and 4: schematic side views of individual needle grippers in two different working positions,
• 5: a plan view of a frame-like frame according to FIG. 1 in a variant,
• 6 and 7: side views of pivoted needle grippers in different working positions,
• 8: a side view of a telescopic handlebar for the needle grippers from the perspective of line VIII-VIII in FIG. 5 in an enlarged view,
• 9: a side view of an industrial robot with a rod-like carrier held by it,
• 10: a top view of the arrangement according to FIG. 9 in different working positions of the industrial robot and
• 11: a front view of the rod-like carrier according to arrow X in FIG. 9.

1, a workpiece (1) is shown in plan. This is a cut that differs from the rectangular shape through various cuts. This forms partial areas (9) which can be swiveled up or down in different directions about imaginary swivel axes (10). Such a workpiece can be, for example, the floor covering for a trunk of a motor vehicle. However, it is also equally conceivable to use the workpiece (1) to line the inner surfaces of a cuboid housing.

The material of the workpiece mostly consists of textiles; but plastics or other materials that can be gripped by needles can also be used.

(4) very schematically denotes the hand of an industrial robot, to which a frame (6) is attached, which has a frame-like character. On this frame (6) there are pivot bearings (8) for the rotatable mounting of handlebars (7) which carry needle grippers (2) at their free end. The handlebars (7) can be rotated by a motor.

The frame (6) covers with its handlebars (7) and the needle grippers (2) over a large area the spread flat workpiece (1) and is brought up to the workpiece with its needle grippers (2) in such a way that the needle grippers (2) have a parallel position Take in the workpiece (1). Such a position is shown, for example, in FIG. 3 for a single needle gripper which, in the inclined position with respect to the vertical, relative to the workpiece surface (1), has adjustable needles (3) which have angular positions and adjustment axes which are offset from the vertical. The example of FIG. 4 shows the extended position of the individual needles (3), which thus penetrate the workpiece (1) at an angle. If you lift the needle gripper (2) in this position shown in Fig. 4, the workpiece (1) or the detected portion (9) of the workpiece is lifted by the needle gripper (2) without the workpiece (1) being able to slide off the needles (3).

These representations in Figures 3 and 4 are only symbolic in nature. Instead of individual needles (3), pairs of needles can be provided. However, it is also possible to design needle grippers (2) in accordance with the previously published DE-GM 88 11 030.8. It is therefore not necessary to explain the design and function of the needle grippers (2) according to the invention in more detail.

Fig. 6 shows the workpiece (1) in its transportable position, wherein it can be seen that the handlebars (7) are pivoted into an upright position around the pivot bearing (8) and thus have taken part (9) of the workpiece (1) . With (5) a part of an industrial robot is symbolically shown, which holds the hand (4) to which the frame-shaped frame (6) is attached.

A workpiece (1) deformed in this way can be inserted, for example, from above through an opening into a trunk of a motor vehicle, the opening of which is smaller than the base area of the spread workpiece (1). After the workpiece (1) rests on the floor of the trunk, the handlebars (7) are pivoted back into the position that is required for pressing or gluing the workpiece to counter surfaces.

The invention also includes the reversal of the movement measure described above. It is then conceivable to grasp the center of the workpiece (1) with the hand (4) of the industrial robot or with a central surface of the frame (6) by means of needle grippers. 7) connected Needle grippers (2) can also be detected. When lifting the hand (4) of the industrial robot, the workpiece (1) is first moved upwards in its flat position, after which the handlebars (7) can pivot downward, so that the workpiece (1), which is held in its central area how a bell-shaped hood can be transported. This measure is particularly suitable when the workpiece (1) is to be used to encase a body which rises in the form of a stamp.

The embodiment of FIG. 5 shows a variant of FIG. 1, from which it can be seen that the handlebars (7) can be pivotally mounted on the frame (6) about mutually oblique axes. The workpiece (1) accordingly has inclined swivel axes (10) for the partial areas (9). For this purpose, correspondingly inclined cantilever arms (11) are attached to the frame (6), which carry the pivot bearings (8) for the handlebars (7). In these swivel bearings (8) swivel motors (12) are fastened, on the motor pin of which the links (7) are arranged. The handlebar (7) can thus be pivoted in a simple manner via the correspondingly held motor (12). To limit the swivel angle, stops (13) are provided on the extension arm (11) or on the frame (6).

Because the axis of rotation of the handlebars (7) usually does not coincide with the approximate pivot axis (10) of the section (9) of the workpiece (1) to be moved, there can be between the workpiece (1) and the needle gripper (2) held by the handlebars (7) ) result in constraints during the swiveling movement. In order to avoid these adverse effects, it is advisable to design the handlebars (7) telescopically. An example of this is shown schematically in FIG. 8, according to which the handlebar (7) is designed in the manner of a telescope (15), one part of which with the needle gripper (2) and the other part with the axis (14) of the pivot bearing (8 ) connected is. Between the two parts acts a spring (16), which moves the handlebar parts (7) back to their starting position as soon as the external force on the telescope (15) decreases. An additional guide rod (24) can be used to prevent the needle gripper (2) from rotating.

Such a telescope arrangement can also compensate for dimensional differences that can often occur with different types of vehicles.

In the embodiment of Figures 6 and 7, a variant is shown in which the workpiece (1) with the help of paired links (7) from the flat position according to FIGS. 2 and 5 into a frame (6) and the links ( 7) enveloping position can be brought according to FIG. 7. Such an arrangement proves to be expedient if the workpiece (1) is to take up as little space as possible for transport and is to be moved, for example, through a relatively small opening. The hand (4) of the industrial robot (5) is then designed such that it can be moved practically perpendicular to the plane of the drawing with the workpiece (1) enveloping it.

The exemplary embodiment of FIGS. 9 and 10 has an independent inventive character and is therefore patent-independent of the previously described embodiments.

Fig. 9 shows a commercial industrial robot (5) with one hand (4) with which a rod-like support (17) is connected, for example screwed. This rod-like carrier (17) thus takes part in the movement of the hand (4) and it can thus be rotated about the axis of the hand (4), pivoted about the axis of the hand (4) and with the hand (4) according to the other Movements of the industrial robot can be moved.

On the rod-like carrier (17) there are two needle gripper groups (18, 19), which are rotationally offset in their direction of action about the axis of rotation of the rod-like carrier (17), as can be seen, for example, from FIG. 11. As can be seen from the example in FIG. 10, the needle gripper group (19) is about to grasp the edge region (22) of the workpiece (1). The needles of this needle gripper group (19) are directed downwards against the workpiece (1). The other needle gripper group (18) points with its needles upwards or to one side and is therefore not involved in gripping the edge region (22) of the workpiece (1). In position A, the needle gripper group (19) is parallel to the workpiece (1) or to its edge area (22) and is able to grasp the workpiece (1) at this point.

The hand (4) of the industrial robot (5) is then lifted with the rod-like support (17) and moved in the direction of position B for detecting the other edge area (23) of the workpiece (1). During this displacement movement, the rod-like carrier (17) is rotated by hand (4) about its longitudinal axis, to such an extent that the previously uninvolved needle gripper group (18) is in the parallel position to the edge region (23) of the workpiece (1) reached. During this movement, the previously detected edge area (22) of the workpiece (1) is taken along to form a curvature, so that the rod-like support (17) is enveloped by the workpiece (1) at a distance. If, for example, the two needle gripper groups (18, 19) are at an angle of 180 ° to one another, the rod-like carrier (17) is encased approximately in a U-shape after the second edge region (23) of the workpiece (1) has been detected.

From this position B, the hand (4) of the workpiece carrier is pivoted about its own hinge axis into position C and also moved into position D towards a vehicle (20) in such a way that the rod-like carrier (17) with the workpiece (1) held by the needle gripper groups (18, 19) through the side door opening (21) of a vehicle (20). This insertion of the workpiece (1) is controlled so that one edge region (22 or 23) of the workpiece (1) is brought into the end position determined for support. There, the assigned needle gripper group (18 or 19) is released so that the assigned edge area (22 or 23) comes to rest against the vehicle floor parts. Thereupon the hand (4) with the rod-like carrier (17) is laterally displaced and rotated at the same time until the other needle gripper group (18, 19) moves the associated edge region (22, 23) into the other end position of the workpiece (1) on the vehicle floor brought. The other needle gripper group (18 or 19) is then released there, after which an extension movement of the rod-like carrier (17) from the side door opening (21) of the vehicle (20) can take place.

PARTS LIST

• 1 workpiece
• 2 needle grippers
• 3 needle
• 4 hand of industrial robot
• 5 industrial robots
• 6 frame
• 7 handlebars
• 8 swivel bearings
• 9 part of the workpiece
• 10 approximate pivot axis
• 11 cantilever arm
• 12 swing motor
• 13 stop
• 14 axis
• 15 telescope
• 16 spring
• 17 rod-like carriers
• 18 needle gripper group
• 19 needle gripper group
• 20 vehicle
• 21 side door opening
• 22 edge area
• 23 edge area
• 24 guide rod
  

Claims (14)

1.) Method for picking up, transporting and depositing flat workpieces (1) made of textile material, plastic or other materials that can be grasped by needles, in the case of the needle gripper (2) held by a handling device, the needles (3) of which move in groups and away from one another Arranged and movable directions are brought into a position parallel to the workpiece (1) for picking up or releasing the workpiece (1) and in which the needle grippers (2), after the workpiece (1) has been gripped, are moved to another position which reduces the workpiece base area in which the workpiece (1) is transported and deposited. 2.) Method according to claim 1, characterized in that the workpiece (1) with a first group (19) of needle grippers (2) is first detected and raised at its one edge, whereupon the needle gripper group with the detected edge to the opposite edge of the Workpiece (2) is displaced, which is gripped and raised with a second group (18) of needle grippers (2), after which the workpiece is transported while maintaining its loop-shaped hanging position. 3.) Gripper device for carrying out the method according to claim 1 or 2 for picking up, transporting and depositing flat workpieces (1) made of textile material, plastic or other materials detectable by means of needles, which by means of a handling device (5) movable needle gripper (2) The needles (3) of which can be inserted into the workpiece (1) in groups and in directions that move away from one another at an angle for the purpose of detecting and transporting them characterized in that the individual needle gripper (2) with the hand (4) of an industrial robot (5) is directly or indirectly rotatably or pivotably connected and from a receiving or dispensing position parallel to the workpiece (1) into a reducing the workpiece base area The swivel position can be adjusted by a motor, in which the workpiece (1) is transported and deposited. 4.) Gripper device according to claim 3, characterized in that with the hand (4) of the industrial robot (5) a frame-like frame (6) is connected, on which the needle gripper (2) carrying handlebars (7) pivotally mounted and motorized are adjustable. 5.) Gripper device according to claim 3 or 4, characterized in that on the frame (6) laterally projecting cantilever arms (11) are arranged in which swivel motors (12) for the swivel drive of the handlebars (7) in a to the pivot axis (10) of individual workpiece section (9) are held approximately parallel position. 6.) Gripper device according to claim 4 or one of the following, characterized in that the cantilever arm (11) associated stops (13) are provided for limiting the pivoting movement of the handlebar (7). 7.) Gripper device according to claim 4 or one of the following, characterized in that the link (7) with needle grippers (2) arranged thereon in pairs about mutually parallel axes (14) are pivotally mounted and driven in opposite directions to one another, such that the detected workpiece ( 1) like a shell around the handlebars (7) and their storage (8, 12, 14) is movable. 8.) Gripper device according to claim 7, characterized in that the links (7) are telescopic (15) resilient. 9.) Gripper device for carrying out the method according to claim 1 or 2 for picking up, transporting and depositing flat workpieces (1) made of textile material, plastic or other materials detectable by means of needles, which by a handling device (5) movable needle gripper (2) The needles (3) of which can be inserted into the workpiece (1) in groups and in directions that move away from one another at an angle for the purpose of grasping and transporting them, characterized in that groups (18, 19) of needle grippers (2) are attached to a rod-like carrier (17 ), which is held by the hand (4) of the industrial robot (5) and can be rotated or pivoted with it, is arranged in different angular positions with the proviso that the one needle gripper group (18) holds the workpiece (1) on one edge area (22) and the other group (19) in a rotated and pivoted position of the carrier (17) on the other edge area (23). 10.) Gripper device according to claim 9, characterized in that the workpiece (1) held by the needle gripper groups (18, 19) is displaceable in a position at least partially enveloping the carrier (17) along the carrier axis. 11.) Gripper device according to claim 9 or 10, characterized in that the effective directions of the needle gripper groups (18, 19) are offset from one another. 12.) Gripper device according to claim 9 or the following, characterized by a control device for performing the following work steps: a) the carrier (17) is brought with a needle gripper group into a parallel position to the workpiece (1) in one edge region (22) where the needle gripper group (18) grips the workpiece, b) the carrier (17) is displaced from this position in the direction of the other workpiece edge region (23) and at the same time rotated so far about its axis that the other needle gripper group (19) in parallel position to the other workpiece edge region still lying flat ( 23) arrives and there detects the workpiece (1), c) the carrier (17) is brought with the detected workpiece (1) into a position along its longitudinal axis suitable for the delivery of the workpiece (1), d) the one needle gripper group (19) detaches from the workpiece (1), e) the carrier (17) is brought into the other storage position by displacement and rotation about its axis, where the other needle gripper group (18) detaches from the workpiece (1). 13.) Gripper device according to one of claims 3 to 6, characterized in that it is designed for the automatic insertion of the floor covering (1) in the trunk of motor vehicles (20). 14.) Gripper device according to one of claims 7 to 11, characterized in that it is designed for the automatic insertion of the floor covering (1) in the passenger compartment of motor vehicles (20).

Images