EP1032534B1 - Dispositif pour saisir et manipuler des objets souples en forme de feuilles, notamment des tissus couteux - Google Patents

Dispositif pour saisir et manipuler des objets souples en forme de feuilles, notamment des tissus couteux Download PDF

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Publication number
EP1032534B1
EP1032534B1 EP98932511A EP98932511A EP1032534B1 EP 1032534 B1 EP1032534 B1 EP 1032534B1 EP 98932511 A EP98932511 A EP 98932511A EP 98932511 A EP98932511 A EP 98932511A EP 1032534 B1 EP1032534 B1 EP 1032534B1
Authority
EP
European Patent Office
Prior art keywords
jaw
gripping member
gripping
gripper
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.)
Expired - Lifetime
Application number
EP98932511A
Other languages
German (de)
English (en)
Other versions
EP1032534A1 (fr
Inventor
Marco Malaspina
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.)
Flli Claudio & Carlalberto Corneliani SpA
Original Assignee
Flli Claudio & Carlalberto Corneliani SpA
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 Flli Claudio & Carlalberto Corneliani SpA filed Critical Flli Claudio & Carlalberto Corneliani SpA
Publication of EP1032534A1 publication Critical patent/EP1032534A1/fr
Application granted granted Critical
Publication of EP1032534B1 publication Critical patent/EP1032534B1/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
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • 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
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0816—Suction grippers separating from the top of pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B65H5/14—Details of grippers; Actuating-mechanisms therefor

Definitions

  • the subject of the present invention is a device for picking up and manipulating sheet-like, flexible objects, particularly expensive fabrics, according to the preamble to Claim 1.
  • the invention also relates to a method of picking up and manipulating sheet-like flexible objects utilizing the above-mentioned device.
  • a device including the above-mentioned characteristics is known from published Japanese patent applications Nos. 61101351 and 61101343 in the name of Tokyo luki Ind. Co. Ltd.
  • gripping devices each comprising a first pneumatic suction gripping member which can adhere by contact to a face of an edge portion of fabric to be manipulated and a second gripping member which can press the fabric against the first gripping member and keep it pressed in a firmly gripped condition by acting on the opposite face of the edge portion .
  • the gripping device requires at least two independent actuators, of which one is subjected to two distinct operations, and the gripping device enables gripping to take place exclusively in peripheral regions of the piece of fabric and is not suitable for gripping in central regions of the piece. For this reason, it also takes up working space which may invade the space outside the piece to be manipulated.
  • the devices do not have any means which render them suitable for handling particularly delicate and expensive materials such as cashmere, silk and any materials which are liable to retain impression marks.
  • a device for picking up and manipulating plastics sheets is described in published European patent application No. 0111739. Since the manipulation of materials impermeable to air is involved, this device makes use of separate first and second gripping members of which the first gripping member is a pneumatic suction device and the second gripping member is a pincer device. The operation of the separate gripping members described cannot be proposed for the manipulation of fabrics, particularly for picking up and manipulating pieces which are highly permeable to air, especially if they are disposed between off-cuts.
  • the problem upon which the present invention is based is that of providing a novel picking-up and manipulation device which is also capable of handling, with a firm but light grip, materials which may be quite difficult to pick up and manipulate, particularly expensive fabrics and cut portions thereof, at the same time preventing the problems complained of with reference to the acknowledged prior art.
  • an apparatus for manipulating flexible objects is generally indicated 1 and utilizes a picking-up device 2 disposed on a vertical slide 3 of a Cartesian robot 4 which, with regard to the aspects not expressly described, is of conventional type.
  • the picking-up device 2 comprises a cross member 3a ( Figure 3) mounted on the slide 3 by means of a mechanical wrist 6 which can bring about angular orientations of the cross member about three (or more) axes X, Y, Z.
  • the mechanical wrist is also of a type known to experts in the art.
  • a motor 8 controls the movement of two further slides 10a, 10b, by means of a geared transmission 11.
  • the further slides 10a, 10b are driven by means of screws with recirculating balls or other equivalent mechanisms, also of conventional type, and serve to translate two grippers, both indicated 12 and each mounted on a respective slide 10a, 10b, away from and towards a central position beside the geared transmission 11.
  • Each gripper 12 comprises a first gripping member 13 and a second gripping member 14 combined in the following manner.
  • the second gripping member is formed as a pincer with a first, fixed jaw 15 and a second jaw 16 which is movable in accordance with a law of motion defined by an articulated parallelogram mechanism in which the first jaw is fixed to a fixed bar 18 of the parallelogram whereas the second jaw is fixed to a connecting rod 19 thereof.
  • the fixed bar 18 and the connecting rod 19 are connected to one another by means of first and second rocker arms 20, 21, the rocker arm 20 being pivoted relative to the fixed bar 18 by a pneumatic jack 22.
  • the second jaw 16 is covered by a resilient pad 25 and, in the embodiment illustrated, has a substantially square shape in plan.
  • the first jaw 15 comprises a fork-shaped support 27 between prongs 27a, 27b and a base 28 of which an approximately square aperture 29 is formed and houses the first gripping member 13, preferably in a releasable, replaceable manner.
  • the first gripping member 13 is, interchangeably, a pneumatic suction device 30 or a mechanical gripping device 33, for example, with needles, with an adhesive surface, or covered with hooks such as those typically present in pull fastenings of the type known by the registered trade mark VELCRO (TM).
  • the pneumatic suction device 30 has appendages 30a, by means of which it is housed and guided between the prongs 27a, 27b, and a perforated suction surface 30b communicating with a manifold 30c connected to an air-suction hose.
  • the mechanical gripping device 33 is preferably movable away from and towards the aperture 29, by means of a jack actuator 32, between an operative position in which the active surface of the device 33 is at the level of the lower surfaces of the prongs 27a, 27b and a detachment position of the device 33 in which it is moved away from the prongs 27a, 27b which act as reaction members to favour the detachment of the fabric gripped from the above-mentioned active surface when the movable jaw 16 is closed onto the fixed jaw 15.
  • a photocell or other similar presence detector is mounted on the first jaw 15 to detect the gripping between the jaws 15, 16 of the piece to be manipulated.
  • a piece of a garment cut to the desired shape on a cutting table is indicated 50.
  • the piece 50 is to be removed from a fabric off-cut, indicated 51, if possible without moving the off-cut so that other cut pieces lying on the cutting table can be identified and found by the picking-up device of the invention solely with reference to their positions relative to an origin point stored by the cutting apparatus.
  • the picking-up device 2 is driven in a manner such that each gripper 12 is disposed above the piece to be gripped with the perforated surface of the pneumatic suction device 30 substantially parallel to the plane of the cutting table.
  • the cross member 3a is then lowered until the pneumatic suction devices 30 contact the piece to be picked up.
  • the piece adheres to the perforated active surface of the suction device 30 with the desired lightness of contact and is lifted, together with the cross member 3a.
  • the lifting of the cross member 3a is coordinated with a rotary movement of the mechanical wrist 6 in the direction shown by way of example in Figure 11, that is, about an axis substantially parallel to the plane of closure of the second gripping member (the mutually facing surfaces of the jaws 15, 16) so as to orient the closure plane in a manner consistent with the deformation of the piece gripped due to its own weight and to its mechanical characteristics during its lifting.
  • These second gripping members are operated at the moment at which the lifting permits the closure movement of the jaws 15, 16.
  • the geometry selected for the articulated parallelogram mechanism permits a notably small travel of the movable jaw 16 in the direction perpendicular to the plane of the first fixed jaw 15, enabling the jaws to be closed after a very limited lifting of the piece.
  • the jack 22 moves the rocker arm 20 so that the second jaw 16 is closed onto the first jaw 15.
  • the second jaw has a relatively extensive active surface so as not to damage the fabric being handled.
  • the surface of the first jaw is also extensive, particularly if it is supplemented by the surface of the first gripper, so that even the most delicate fabrics can be manipulated with complete safety and with relatively low closure pressures between the jaws.
  • the mechanical gripping device 33 continues the desired movement by means of the jack 32, possibly with the subjection of the mechanical wrist 6 to a rotary-translational movement resulting in a rotary-translational movement of the two grippers 12, favouring the spontaneous detachment of the piece 50 from the offcut 51 without causing undesired displacements thereof.
  • the cut piece is advantageously detached from the production off-cut vertically, cancelling out the effect of entrainment of the piece and of the off-cut, which may assume a certain importance according to the material and the geometry of the cut piece.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Nonwoven Fabrics (AREA)
  • Absorbent Articles And Supports Therefor (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)

Claims (13)

  1. Appareil de prélèvement et de manipulation d'objets souples en forme de feuille, notamment d'étoffes coûteuses, comprenant au moins un dispositif de saisie (12) comprenant un premier organe de saisie (13) qui peut adhérer par contact à une face de l'objet à saisir, et un second organe de saisie (14) qui peut exercer une pression sur l'objet saisi contre le premier organe de saisie (13) et le maintenir poussé à un état fermement serra par action sur la face opposée de l'objet à saisir, caractérisé en ce que le second organe de saisie (14) est fo=6 par un organe de pincement ayant une première mâchoire (15) portant le premier organe de saisie et une seconde mâchoire (16) mobile afin qu'elle s'éloigne et se rapproche de la première mâchoire (15).
  2. Appareil selon la revendication 1, dans lequel la seconde mâchoire (16) est associée à un organe de manoeuvre qui peut assurer un mouvement relatif prédéterminé entre les mâchoires (15, 16), ce mouvement comprenant un mouvement de translation et une fermeture progressive simultanée de la seconde mâchoire (16) sur la première (15), les mâchoires étant maintenues pratiquement parallèles l'une à l'autre.
  3. Appareil selon la revendication 1 ou 2, dans lequel l'organe de manoeuvre comporte un mécanisme en parallélogramme articulé, la première mâchoire (15) étant fixe par rapport à une barre fixe (18) du parallélogramme et la seconde mâchoire (16) étant montée sur une tige (19) de liaison du parallélogramme.
  4. Appareil selon l'une ou plusieurs des revendications précédentes, dans lequel un dispositif de saisie au moins (12) est guide sur une traverse (3a) afin qu'il puisse étre déplacé en translation et réglé le long de la traverse, et un dispostif (8, 11) d'entraínement en translation est destiné à déplacer le dispositif de saisie au moins (12) le long de la traverse (3a).
  5. Appareil selon la revendication 4, dans lequel au moins deux dispositifs de saisie (12) sont disposés sur la même traverse (3a).
  6. Appareil selon une ou plusieurs des revendications précédentes, dans lequel le dispositif de saisie au moins (12) est monta sur un poignet mécanique (6) articulé autour d'un premier axe pratiquement parallèle au plan de fermeture des mâchoires (15, 16), le poignet étant entraíné en rotation autour dudit axe afin qu'il oriente le plan de fermeture d'une manière correspondant à la déformation de l'objet saisi sous l'action du propre poids de l'objet, pendant son soulèvement.
  7. Appareil selon une ou plusieurs des revendications précédentes, dans lequel la première mâchoire (15) a un orifice (29) par lequel agit le premier organe de saisie (13).
  8. Appareil selon la revendication 7, dans lequel la première mâchoire (15) comprend un élément en fourche de fourche (27) entre les dents (27a, 27b) duquel est délimité l'orifice (29).
  9. Appareil selon la revendication 7 ou 8, dans lequel le premier organe de saisie (13) est sélectionné parmi un dispositif pneumatique d'aspiration (30) et un dispositif mécanique de saisie (33), par exemple ayant des aiguilles, une surface adhésive ou analogue.
  10. Appareil selon la revendication 9, dans lequel le premier organe de saisie (13) est associa de façon amovible à la première mâchoire (15) et constitue de manière interchangeable le dispositif mécanique de saisie (33) et l'organe pneumatique d'aspiration (30).
  11. Appareil selon une ou plusieurs des revendications 8 à 10, dans lequel des surfaces actives respectives de la première mâchoire, contre lesquelles la seconde mâchoire est poussée lors de la fermeture, sont délimitées sur au moins une dent (27a, 27b) et une base de l'élément en forme de fourche.
  12. Procédé de prélèvement et de manipulation d'objets souples en forme de feuille, notamment d'étoffes coûteuses, comprenant les étapes suivantes : l'adhérence d'un premier organe de saisie (13) d'un dispositif de saisie (12) par contact avec une face de l'objet à saisir, le soulèvement de l'objet à l'aide du premier organe de saisie, puis l'application d'une pression à l'objet saisi contre le premier organe de saisie (13) et le maintien de l'objet poussé à un état fermement serra par action sur la face opposée de l'objet à saisir, caractérisé en ce que le soulèvement par le premier organe de saisie (13) est purement limite à un bord de l'objet à saisir, le soulèvement et/ou la manipulation restant de l'objet étant réalisé par manoeuvre d'un second organe de saisie (14).
  13. Procédé selon la revendication 12, dans lequel le dispositif de saisie au moins (12) est monta sur un poignet mécanique (6) articulé autour d'un axe pratiquement parallèle au plan de fermeture des mâchoires (15, 16) du second organe de saisie (14), caractérisé en ce que, pendant le soulèvement du bord de l'objet à saisir au moins, le poignet (6) est tourné autour de l'axe afin qu'il oriente le plan de fermeture d'une manière correspondant à la déformation de l'objet saisi sous l'action de son propre poids et/ou aux caractéristiques mécaniques de l'objet, pendant le soulèvement de celui-ci.
EP98932511A 1997-10-31 1998-07-15 Dispositif pour saisir et manipuler des objets souples en forme de feuilles, notamment des tissus couteux Expired - Lifetime EP1032534B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ITGE970089 1997-10-31
IT97GE000089A IT1297700B1 (it) 1997-10-31 1997-10-31 Dispositivo di presa di oggetti flessibili.
PCT/IT1998/000197 WO1999023021A1 (fr) 1997-10-31 1998-07-15 Dispositif pour saisir et manipuler des objets souples en forme de feuilles, notamment des tissus couteux

Publications (2)

Publication Number Publication Date
EP1032534A1 EP1032534A1 (fr) 2000-09-06
EP1032534B1 true EP1032534B1 (fr) 2001-12-19

Family

ID=11355076

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98932511A Expired - Lifetime EP1032534B1 (fr) 1997-10-31 1998-07-15 Dispositif pour saisir et manipuler des objets souples en forme de feuilles, notamment des tissus couteux

Country Status (9)

Country Link
EP (1) EP1032534B1 (fr)
JP (1) JP2001521868A (fr)
CN (1) CN1092596C (fr)
AT (1) ATE211110T1 (fr)
AU (1) AU8241398A (fr)
DE (2) DE69803095T2 (fr)
ES (1) ES2152194T3 (fr)
IT (1) IT1297700B1 (fr)
WO (1) WO1999023021A1 (fr)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1308892B1 (it) * 1999-05-07 2002-01-11 Tai Tecnologia Automazione Inn Apparecchiatura e procedimento di sfogliamento di una pila di fogliper vetrature laminate.
US6439370B1 (en) * 1999-10-05 2002-08-27 M&R Printing Equipment, Inc. Method and apparatus for the automatic loading of an article onto a printing machine
ES2368983B1 (es) * 2010-02-15 2012-08-08 Trabajos Catastrales, S.A. Alimentador automático para escáner.
DE102015200503A1 (de) * 2015-01-15 2016-07-21 Bayerische Motoren Werke Aktiengesellschaft Greifvorrichtung und Verfahren zum Handhaben einer Fasermatte
CN105113146B (zh) * 2015-09-02 2016-09-28 宁波舒普机电股份有限公司 一种用于抓取缝料的机械手臂
CN105110043B (zh) * 2015-10-14 2017-11-03 广东溢达纺织有限公司 缝纫物分离机构
CN105196163B (zh) * 2015-10-20 2018-04-10 上海方格自动化系统有限公司 汽车雨刮接头一体式夹具
EP3378579B1 (fr) * 2017-03-24 2023-07-05 All4One S.R.L. Dispositif de préhension et appareil de chargement/déchargement de matériaux de dalle comprenant ledit dispositif
CN106865305B (zh) * 2017-04-27 2019-02-15 无锡百立德自动化有限公司 高频起停牵引系统
SE1751548A1 (en) * 2017-12-14 2019-06-15 Tomologic Ab A method and a system for handling beam-cut parts
CN108482774B (zh) * 2018-03-28 2021-05-18 泉州市创达机械制造有限公司 一种湿巾自动堆叠装置
DE102018112307A1 (de) 2018-05-23 2019-11-28 Olbrich Gmbh Greiferanordnung für das Anheben eines biegeschlaffen Halbzeugs von einer Unterlage und ein entsprechendes Verfahren
IT201900002695A1 (it) * 2019-02-26 2020-08-26 Ima Spa Assieme di manipolazione robotizzato.
CN110589596B (zh) * 2019-08-28 2024-04-30 广东溢达纺织有限公司 裁片折叠设备及其取料装置以及裁片折叠方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE443531B (sv) * 1978-11-27 1986-03-03 Asea Ab Industrirobotutrustning
JPS61101343A (ja) * 1984-10-24 1986-05-20 Tokyo Juki Ind Co Ltd 布地緊張搬送方法及び装置
US5284334A (en) * 1992-04-01 1994-02-08 Minolta Camera Kabushiki Kaisha Sheet feeding device
EP0659666B1 (fr) * 1993-12-21 1998-12-02 Central Glass Company, Limited Méthode et appareil pour la manipulation de film

Also Published As

Publication number Publication date
ES2152194T1 (es) 2001-02-01
DE69803095D1 (de) 2002-01-31
JP2001521868A (ja) 2001-11-13
CN1092596C (zh) 2002-10-16
EP1032534A1 (fr) 2000-09-06
IT1297700B1 (it) 1999-12-20
CN1278230A (zh) 2000-12-27
ITGE970089A1 (it) 1999-05-01
WO1999023021A1 (fr) 1999-05-14
ITGE970089A0 (it) 1997-10-31
AU8241398A (en) 1999-05-24
ATE211110T1 (de) 2002-01-15
DE69803095T2 (de) 2002-08-14
DE1032534T1 (de) 2001-05-23
ES2152194T3 (es) 2002-08-01

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