EP0421167A2 - Dispositif et procédé pour pincer, relever, transporter et mettre en place des pièces à travailler en rappe - Google Patents

Dispositif et procédé pour pincer, relever, transporter et mettre en place des pièces à travailler en rappe Download PDF

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Publication number
EP0421167A2
EP0421167A2 EP90117629A EP90117629A EP0421167A2 EP 0421167 A2 EP0421167 A2 EP 0421167A2 EP 90117629 A EP90117629 A EP 90117629A EP 90117629 A EP90117629 A EP 90117629A EP 0421167 A2 EP0421167 A2 EP 0421167A2
Authority
EP
European Patent Office
Prior art keywords
workpiece
needle
gripper
carrier
group
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
EP90117629A
Other languages
German (de)
English (en)
Other versions
EP0421167B1 (fr
EP0421167A3 (en
Inventor
Dieter Dipl.-Ing. Zimmer
Günther Dipl.-Ing. Weichhard
Jens Hensel
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.)
KUKA Systems GmbH
Original Assignee
KUKA Schweissanlagen und Roboter GmbH
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 KUKA Schweissanlagen und Roboter GmbH filed Critical KUKA Schweissanlagen und Roboter GmbH
Publication of EP0421167A2 publication Critical patent/EP0421167A2/fr
Publication of EP0421167A3 publication Critical patent/EP0421167A3/de
Application granted granted Critical
Publication of EP0421167B1 publication Critical patent/EP0421167B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/22—Separating articles from piles by needles or the like engaging the articles

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • a workpiece can be, for example, the floor covering for a trunk of a motor vehicle.
  • the material of the workpiece mostly consists of textiles; but plastics or other materials that can be gripped by needles can also be used.
  • 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).
  • 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.
  • 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).
  • 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) .
  • 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).
  • 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.
  • the workpiece (1) 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.
  • 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).
  • correspondingly inclined cantilever arms (11) are attached to the frame (6), which carry the pivot bearings (8) for the handlebars (7).
  • 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).
  • stops (13) are provided on the extension arm (11) or on the frame (6).
  • the handlebars (7) telescopically.
  • FIG. 8 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.
  • FIG. 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.
  • 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.
  • the needle gripper group (19) 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.
  • 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).
  • the needle gripper group (19) 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
EP90117629A 1989-10-06 1990-09-13 Dispositif et procédé pour pincer, relever, transporter et mettre en place des pièces à travailler en rappe Expired - Lifetime EP0421167B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE8911949U 1989-10-06
DE8911949U DE8911949U1 (fr) 1989-10-06 1989-10-06

Publications (3)

Publication Number Publication Date
EP0421167A2 true EP0421167A2 (fr) 1991-04-10
EP0421167A3 EP0421167A3 (en) 1992-02-12
EP0421167B1 EP0421167B1 (fr) 1994-11-30

Family

ID=6843523

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90117629A Expired - Lifetime EP0421167B1 (fr) 1989-10-06 1990-09-13 Dispositif et procédé pour pincer, relever, transporter et mettre en place des pièces à travailler en rappe

Country Status (3)

Country Link
US (1) US5161844A (fr)
EP (1) EP0421167B1 (fr)
DE (2) DE8911949U1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996026877A1 (fr) * 1995-03-01 1996-09-06 A.S.T. System Automation Di Stradi A. & C. S.N.C. Dispositif servant a soulever le bord de la feuille superieure d'une pile de feuilles
ITGE20080082A1 (it) * 2008-10-13 2010-04-14 Enrico Carca Metodo e dispositivi per l'afferraggio e la manipolazione robotizzata di parti in materiale flessibile con trasporto in configurazione appesa.
ITFR20120006A1 (it) * 2012-08-08 2014-02-09 Metaltecno S R L Metodo ed apparecchiatura per lo sfogliamento da pile, il trasporto e il posizionamento di fogli sottili di plastica costituenti l'intercalare di vetrature accoppiate per autovetture o per edilizia o elementi di arredamento.
DE102017203124A1 (de) 2017-02-27 2018-08-30 Kuka Deutschland Gmbh Robotergreifer zum Handhaben von biegeschlaffen, flächigen Materialbahnzuschnitten

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19848972C2 (de) * 1998-10-23 2002-08-29 Oce Printing Systems Gmbh Vorrichtung zum Ausrichten von Blättern
NL2011602C2 (en) * 2013-10-11 2015-04-14 Copal Dev B V A method for moving a stackable cargo unit from a first location to a second location, a device and an apparatus.
US9839301B2 (en) 2015-01-23 2017-12-12 Dreamwell, Ltd. Mattress manufacturing process and apparatus
CN107207238B (zh) 2015-01-23 2020-07-10 美梦有限公司 床垫制造方法和装置
US9862553B2 (en) 2015-01-23 2018-01-09 Dreamwell, Ltd. Mattress manufacturing process and apparatus
WO2016118893A1 (fr) 2015-01-23 2016-07-28 Dreamwell, Ltd. Processus de planification pour fabrication de matelas automatisée
CA2917406C (fr) 2015-01-23 2023-05-09 Francis G. Jan Chariot servant au transport de matelas
US10455950B2 (en) 2015-01-23 2019-10-29 Dreamwell, Ltd. Mattress manufacturing process and apparatus
WO2016118865A1 (fr) * 2015-01-23 2016-07-28 Dreamwell, Ltd. Procédé et appareil de fabrication de matelas automatique
WO2016118829A1 (fr) 2015-01-23 2016-07-28 Dreamwell, Ltd. Procede et appareil de fabrication d'un matelas
US10696540B2 (en) 2015-04-15 2020-06-30 Dreamwell, Ltd. Coil string staging area apparatus and method
CN107457943B (zh) * 2016-06-02 2023-05-30 宁波胶点密封工业有限公司 一种送料流水线及其平板硫化机
US20210370525A1 (en) * 2020-06-01 2021-12-02 D. Keith Appel Compliant perimeter end effectors
CN114735501B (zh) * 2022-03-15 2023-04-25 大连理工大学 一种低刚度片状材料的自动化搬运系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4283047A (en) * 1977-06-17 1981-08-11 Levi Strauss & Co. Facing ply separator
US4688837A (en) * 1985-12-11 1987-08-25 Fieldcrest Cannon, Inc. Robot end effector mechanism for gripping and holding a flat textile article in a predetermined orientation
EP0239948B1 (fr) * 1986-04-03 1989-10-11 BASF Aktiengesellschaft Dispositif pour ramasser des objets plans flexibles et/ou poreux et/ou adhésifs
WO1990004559A1 (fr) * 1988-10-19 1990-05-03 The Secretary Of State For Trade And Industry In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland Appareil a detacher des feuilles en matiere textile

Family Cites Families (7)

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Publication number Priority date Publication date Assignee Title
US3386763A (en) * 1966-10-21 1968-06-04 United Shoe Machinery Corp Flat piece pickup heads
IT1138809B (it) * 1981-06-23 1986-09-17 Rockwell Rimoldi Spa Gruppo di prelievo con almeno una testina di presa in prelevatori di pezzi impilati
US4645193A (en) * 1984-05-30 1987-02-24 Richard R. Walton Fabric pickup and the like
DE3327758A1 (de) * 1983-08-01 1985-02-21 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Greifer fuer industrieroboter
DE3331093A1 (de) * 1983-08-29 1985-03-14 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth Greifer fuer industrieroboter
GB8414636D0 (en) * 1984-06-08 1984-07-11 Univ Leeds Ind Service Ltd Fabric pickup device
DE3540032A1 (de) * 1985-11-12 1987-05-14 Kmb Kunststoffmetallbearbeitun Verfahren zum transportieren eines flachmaterialstreifens von einer siebdruckmaschine zu einer trocknungsstation und vorrichtung zum durchfuehren des verfahrens

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4283047A (en) * 1977-06-17 1981-08-11 Levi Strauss & Co. Facing ply separator
US4688837A (en) * 1985-12-11 1987-08-25 Fieldcrest Cannon, Inc. Robot end effector mechanism for gripping and holding a flat textile article in a predetermined orientation
EP0239948B1 (fr) * 1986-04-03 1989-10-11 BASF Aktiengesellschaft Dispositif pour ramasser des objets plans flexibles et/ou poreux et/ou adhésifs
WO1990004559A1 (fr) * 1988-10-19 1990-05-03 The Secretary Of State For Trade And Industry In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland Appareil a detacher des feuilles en matiere textile

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996026877A1 (fr) * 1995-03-01 1996-09-06 A.S.T. System Automation Di Stradi A. & C. S.N.C. Dispositif servant a soulever le bord de la feuille superieure d'une pile de feuilles
US5951001A (en) * 1995-03-01 1999-09-14 A.S.T System Automation Di Stradi A. & C. S.N.C. Device for raising an edge of a topmost sheet of a pile of sheets
ITGE20080082A1 (it) * 2008-10-13 2010-04-14 Enrico Carca Metodo e dispositivi per l'afferraggio e la manipolazione robotizzata di parti in materiale flessibile con trasporto in configurazione appesa.
ITFR20120006A1 (it) * 2012-08-08 2014-02-09 Metaltecno S R L Metodo ed apparecchiatura per lo sfogliamento da pile, il trasporto e il posizionamento di fogli sottili di plastica costituenti l'intercalare di vetrature accoppiate per autovetture o per edilizia o elementi di arredamento.
DE102017203124A1 (de) 2017-02-27 2018-08-30 Kuka Deutschland Gmbh Robotergreifer zum Handhaben von biegeschlaffen, flächigen Materialbahnzuschnitten
WO2018153829A1 (fr) 2017-02-27 2018-08-30 Kuka Deutschland Gmbh Pince de robot destinée à manipuler des découpes de bande de matériau planes et souples

Also Published As

Publication number Publication date
DE59007842D1 (de) 1995-01-12
DE8911949U1 (fr) 1991-02-07
EP0421167B1 (fr) 1994-11-30
US5161844A (en) 1992-11-10
EP0421167A3 (en) 1992-02-12

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