EP3037371B1 - Dispositif et procede de reception, de maintien et/ou de manipulation d'objets plats - Google Patents

Dispositif et procede de reception, de maintien et/ou de manipulation d'objets plats Download PDF

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Publication number
EP3037371B1
EP3037371B1 EP15195628.1A EP15195628A EP3037371B1 EP 3037371 B1 EP3037371 B1 EP 3037371B1 EP 15195628 A EP15195628 A EP 15195628A EP 3037371 B1 EP3037371 B1 EP 3037371B1
Authority
EP
European Patent Office
Prior art keywords
punch
cantilever arm
recited
holding
section
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.)
Active
Application number
EP15195628.1A
Other languages
German (de)
English (en)
Other versions
EP3037371A1 (fr
Inventor
Johann Haas
Walter Weinmayer
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.)
Krones AG
Original Assignee
Krones AG
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Filing date
Publication date
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Priority to SI201530124T priority Critical patent/SI3037371T1/sl
Publication of EP3037371A1 publication Critical patent/EP3037371A1/fr
Application granted granted Critical
Publication of EP3037371B1 publication Critical patent/EP3037371B1/fr
Active 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
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0883—Construction of suction grippers or their holding devices
    • 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
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B65H3/54—Pressing or holding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/50—Auxiliary process performed during handling process
    • B65H2301/51—Modifying a characteristic of handled material
    • B65H2301/512—Changing form of handled material
    • B65H2301/5121—Bending, buckling, curling, bringing a curvature
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/18—Form of handled article or web
    • B65H2701/182—Piled package
    • B65H2701/1826—Arrangement of sheets
    • B65H2701/18264—Pile of alternate articles of different properties, e.g. pile of working sheets with intermediate sheet between each working sheet

Definitions

  • the present invention relates to a receiving, holding and / or handling device for flat objects with at least two controllable suction pads, which has the features of independent claim 1.
  • the invention additionally relates to a method for receiving, holding and / or handling flat objects via at least two controllable suction grippers having the features of the independent method claim 12.
  • Such sheet-like objects or plates can be formed, for example, by cardboard liners, plastic liners, hollow board panels, sheets of corrugated cardboard or web cardboard, optionally of cardboard or plastic. If flat objects such as, for example, stacked plates are to be lifted individually from a stack, problems often arise because the articles or plates often tend to adhere to one another. Adhesive forces or else mechanical fiber entanglements or negative pressure adhesions may be responsible for these undesired adhesive effects, which must be reduced or rendered ineffective when lifting individual plates.
  • the underlying plates can, for example, be retained by means of suitable brush elements when lifting an uppermost plate.
  • the lifting and bending of the lateral edges of the top plate has been found in practice to be an effective measure to prevent the entrainment of other plates after removing or removing a topmost plate.
  • Another measure to avoid the problems mentioned may be the use of frame magazines with Vorsepartechnik the plates.
  • the EP 0 639 519 A1 shows a separator for plate material with a plurality of vertically oriented suction pads that contact a top plate of a plate stack for lifting.
  • An edge-mounted suction gripper is pivotally and / or slidably formed in its suspension in the horizontal direction, so that it can bend the lateral edge of the plate before lifting the entire device laterally upwards.
  • a device for separating flexible plate-like workpieces, such as, for example, sheet-metal plates by means of suction cups designated suction cups, is furthermore known from US Pat EP 1 215 148 A1 known.
  • the plurality of suction pads are arranged at the edge arranged so-called. Separating suction, which are pivotable about a hinge by a small amount relative to the operating in vertical orientation suckers so that they raise their edge portion of the underlying plate and bend up before lifting the plate can.
  • the EP 1 864 922 B1 discloses an apparatus and method for lifting the top plastic sheet from a stack of sheets by means of suction grippers. These are placed on the top plastic plate, after which a vacuum is applied and the top plate is lifted from the plate stack. In order to prevent the adhesion of the top plate to the underlying plate, the recorded plastic plate is first lifted parallel to the plate stack during the lifting movement and then subjected to mutual bends.
  • the disclosed device for lifting the uppermost plastic plate from the plate stack comprises a height-adjustable support with suction pads arranged thereon, which can be associated with a vacuum source, wherein paired outer and inner suction cups are arranged.
  • the inner suction cups may be temporarily connected to a vacuum source and the outer suction cups temporarily and alternately to a vacuum source and a compressed air connection via a switching valve.
  • the US 5 433 426 A discloses a device for receiving sheets.
  • the device comprises two cylinders arranged on opposite sides, which are formed via their piston rod for the rotary movement of a respective pivoting arm.
  • Arranged on the pivot arms is in each case a vacuum head.
  • the vacuum heads are placed on sheets, then the respective sheet is fixed to the vacuum heads via negative pressure.
  • the EP 2 476 637 A2 further discloses an apparatus and method for receiving, holding and / or handling flat objects.
  • the device has controllable suction pads on the free ends of movable or elastically deformable cantilever arms, each comprising a joist and a top pull.
  • a flat object such as .A cardboard sheet
  • at least the top pull is moved via a pulling device with a horizontal direction component approximately parallel to the longitudinal extension direction of the boom.
  • the sheet article can be raised by the achieved deflection of its central region at the edges and taken over by adhesion forces from a stack, without slipping underneath other flat objects or cardboard sheets or be pulled along.
  • JP361081339 A discloses a device according to the preamble of claim 1 and a method according to the preamble of claim 12.
  • the primary object of the invention is to provide a particularly light, very simple and reliable device and a corresponding method for receiving, holding and / or or to provide for the handling of flat objects by means of controllable suction gripper available, with the aid of which without further supporting means such as.
  • Interleaving magazines with brush elements and / or Vorsepartechniken or other restraint systems the sheet-like objects such as plates o. The like. Can be taken individually from stacks without the underlying objects or plates are pulled along and / or slip it.
  • high cycle numbers should be feasible without the handling precision suffers.
  • the device and the corresponding method should be cost-effective operable or feasible.
  • the invention proposes a receiving, holding and / or handling device for flat objects with at least two controllable suction pads, each at or near free ends of at least one movable and at least in some areas between two end positions and / or Operating conditions elastically deformable and / or articulated movable boom arranged and / or are mounted elastically or articulated and / or fixed.
  • This at least one boom is connected approximately centrally with a stamp or supports this approximately centrally.
  • the punch is longitudinally movably mounted and guided in a holding or support portion, so that it is supported with its lower end face on the boom or fixed there and can be moved with its upper portion in the holding or support portion.
  • the cantilever arm with its free ends or in the region of its free ends by means of traction means on the holding or carrier portion fixed so that the free ends are braced on the traction means on the holding or support portion, while the displaceable punch for mobility and deformation of the cantilever arms or the at least one cantilever arm can provide.
  • a first end position and / or a first operating state of the receiving, holding and / or handling device provides a convexly curved extension arm with a punch extended from a longitudinal guide of the holding or support section, while a second end position and / or a second operating state have a smaller one convex or slightly curved or approximately elongated cantilever arm and a prestressed into the longitudinal guide of the holding or support portion at least partially inserted stamp provides.
  • the stretched between the two ends of the boom and the holding or support section traction means provide for all deformations of the boom for a guy and remain in the different operating conditions each stretched.
  • the at least one cantilever arm is biased in a non-active or in a rest state in convex curvature, whereas he placed in an active or on a flat article or a stack of sheet objects patch condition can be acted upon with vacuum suction pads in a contour with reduced convex curvature or placed in a stretched orientation.
  • the punch supporting the at least one cantilever arm is biased against the support or support portion, for example by means of a compression spring, e.g. can be placed around the cylindrical outer surface of the stamp. In this way, the punch can be biased by a compression spring against a shoulder on the support section.
  • the middle region of the cantilever arm when placed on a flat object or a stack with flat objects under extension of the elastic cantilever arm the punch against a restoring force of the compression spring or other suitable spring means are moved in the holding section.
  • the stamp may be fixed to at least one cantilever arm.
  • a mere support of the stamp can also be provided.
  • the stamp is preferably oriented approximately vertically. In a lifting movement of the holding portion for receiving the sheet-like object and / or when lifting it from a stack, the restoring force pushes the punch in the holding section below convex deformation of the cantilevered with its free ends by the traction means boom.
  • the punch and / or its longitudinal guide in the holding or support section may be assigned a position and / or displacement sensor, which detects the immersion depth against the biasing force.
  • the punch is used simultaneously as a "probing" whose immersion depth in the longitudinal guide can provide information about the degree of deflection of the cantilever arms.
  • the stroke of the arm defines the passive "unfolding movement" of the arm portions deformable on both sides of the punch.
  • an additional optical sensor can provide error messages if the suction grippers could not detect a flat object.
  • the message may be, for example, "no intermediate layer detected", after which an error message is output or processed by a corresponding control circuit.
  • the at least one cantilever arm is preferably formed by a suitable elastic material such as a carbon fiber composite material, an elastically deformable metal or a metal-plastic composite material.
  • the cantilever arm or cantilever arms may be formed as leaf springs, e.g. may be formed towards their ends with decreasing width, thickness, decreasing cross section, etc., in order to be able to influence the deformation behavior in a desired manner in this way.
  • a fiber composite material also variable fiber layers for a variable and / or adjusted spring strength or deformability over the length provide.
  • a particularly preferred variant of the device according to the invention provides two crossed extension arms with a total of four suction pads at their respective free ends, wherein the extension arms cross over in a central region below the punch.
  • these crossed cantilever arms can be arranged with variable angles in order to accommodate different sized sheet articles or cardboard layers or liners. Possibly. can this "scissor-like" arranged cantilever arms are rotated against each other for gripping half liners so that each two adjacent suction pads strongly approximate and the boom arms are at an acute angle to each other.
  • the stamp may be associated with a rotary drive for angular adjustment of the at least one extension arm about the longitudinal axis of the punch.
  • This rotary drive can be provided for example with a belt drive.
  • the lifting rod or the stamp may be provided with a profiling or be formed, for example, as a square or hexagonal tube, in order to allow a combination of rotational and lifting movement.
  • a lower portion of the punch or the lifting rod may be equipped in an advantageous embodiment with rotary unions for air lines for the suction pads.
  • Such rotary unions through the stamp allow the free rotatability of the boom arms without disturbing air ducts limit or obstruct the rotational movements.
  • the punch or the lifting rod is thus also designed as a pressure line.
  • the cantilever arms are rotated, but preferably also the holding or support portion pivotable and / or raised and lowered formed.
  • the traction means which are stretched between the free ends of the at least one cantilever arm and the holding or support section, can be formed by ropes, in particular by wire cables, by plastic cables or the like.
  • the suction pads can be held or stored at the free ends of the cantilever arms or the at least one cantilever arm each angle-adjustable.
  • a loose bearing or suspension can ensure that the suction pads can always adapt in their angular position in each case to the surface of the male flat object, even if it cambers or deforms.
  • the invention further proposes a method for receiving or for holding and / or handling flat objects by means of at least two controllable suction pads, each at or near free ends of at least one movable and at least in partial areas between two end positions and / or operating conditions elastic arranged deformable and / or articulated movable boom and / or are mounted elastically or articulated and / or fixed.
  • the at least one extension arm is connected approximately centrally with a stamp or supports it.
  • the stamp is longitudinally movably mounted and guided in a holding or support section.
  • the cantilever arm is also fixed with its free ends on traction means on the holding or support section.
  • the cantilever arm is convexly curved in a first end position, which is remote from a male flat object, and / or in a first operating state, the punch being extended from a longitudinal guide of the holding or support section.
  • the punch for receiving a flat object is placed on this and at least partially inserted in the direction of a second end position and / or a second operating state against a restoring force in the longitudinal guide of the holding or support portion, wherein the convex curvature of the cantilever arm is reduced, the suction pads Place on the flat object and be subjected to a negative pressure.
  • the holding or support portion for receiving a flat object is lifted or moved upward with a vertical direction component, wherein the punch extends by supporting the restoring force from the longitudinal guide in an opposite direction, whereby the at least one boom in its convex curved shape is brought.
  • the flat object held by the vacuum-loaded suction grippers can sag during a transfer and / or Absetzmos of the holding or support portion below the punch and the cantilever arm with convex curvature.
  • a position of the punch in the longitudinal guide of the holding or support portion and thus its immersion depth against the biasing force can be sensed, so that the punch can act as a probe for detecting the deflection of the cantilever arms.
  • the stroke of the arm defines the passive "unfolding movement".
  • an additional optical sensor can provide an error message if no flat object could be recorded, for example, with a message "no intermediate position detected”.
  • a variant of the method can provide that the flat objects are detected and lifted by means of two crossed boom arms with a total of four suction pads at their respective free ends, wherein the cantilever arms cross in a central region below the punch.
  • the holding or support portion can be pivoted and raised or lowered for positioning of the recorded flat object.
  • FIGS. 1 to 3 show various views of a variant of an inventive recording, holding and / or handling device 10 for receiving, for holding, for handling and / or Laying flat objects (see the FIGS. 4 and 5 ).
  • the following is the in the Fig. 1 in a schematic side view, in the Fig. 2 in a plan view and in Fig. 3 in schematic perspective representation of receiving, holding and / or handling device obliquely shown above for the sake of simplicity only referred to as handling device 10, without this being to be understood as limiting its functionality or universal usability.
  • located handling device 10 In a first operating state or in a standby state located handling device 10 includes a pivotable and raised and lowered support portion 12 which is formed in the embodiment shown as a solid square tube 14 with approximately horizontal longitudinal extension direction. At the free end 16 of the carrier section 12 is the actual handling unit 18 of the handling device 10, with which the flat objects can be detected, picked up and moved.
  • This handling unit 18 has a total of four pairs of controllable suction pads 20, wherein each of these pairs of suction pads 22 are respectively disposed at the free ends 24 of two movable and between two end positions or operating conditions elastically deformable cantilever arms 26 and / or stored elastic or articulated and / or fixed.
  • the handling unit 18 has two crossed boom arms 26 of equal length and dimensioning, which are each equipped at their free ends 24 with pairs 22 of controllable suction pads 20, which are each supported on resilient support plates 28, so that they depending on the degree of deformation of their associated Boom arms 26 to the variable surface contours of the male and to be held flexible flat objects (see FIGS. 4 and 5 ), wherein on its downwardly facing suction plates 30, a negative pressure can be established, by means of which the flat objects can be held on the suction pads 20. By dismantling or switching off the vacuum applied to the suction plates 30, the flat objects can be separated from the handling unit 18 at an intended storage location and dispensed in approximately horizontal orientation.
  • the extension arms 26 are each centered and thus connected at its crossover area with a punch 32 and support it centrally.
  • the acting as a lifting rod 34 punch 32 is longitudinally movably mounted and guided in a holding or support portion 36 which is disposed at the free end 16 of the horizontal support portion 12 and the square tube 14.
  • the punch 32 and the lifting rod 34 is vertically movable and is supported by a lower end face on the crossed cantilever arms 26.
  • the embodiment shown provides a fixation of the lifting rod 34 and des Stamp 32 with its lower end face on the cantilever arms 26, while the upper portion in the support or support portion 36 can be moved in the vertical direction.
  • the free ends 24 of the cantilever arms 26 are each fixed via tension cables 38 on the support or support portion 36, so that the free ends 24 are braced on the non-stretchable traction cables 38 on the support or support portion 36, while the movable punch 32 for mobility and a deformation of the cantilever arms 26 can provide.
  • first end position or the first operating state of the handling device 10 provides evenly convex curved cantilever arms 26 with a longitudinal guide 40 (see. Fig. 3 ) of the holding or support section 36 extended punch 32 and extended stroke rod 34, while a second end position and / or a second operating state (see the FIGS. 4 to 6 ) Provides lower convex or slightly curved or approximately elongated cantilever arms 26 and under bias of a compression spring 42 in the longitudinal guide 40 of the support or support portion 36 at least partially inserted punch 32.
  • the stretched between the two ends 24 of each of the two cantilever arms 26 and the support or support portion 36 traction cables 38 provide at all deformations of the cantilever arms 26 for a guying and remain in the different operating conditions each stretched.
  • the two crossed cantilever arms 26 are biased in a non-active or in a dormant state in convex curvature, whereas they placed in an active or on a flat object or a stack of sheet object condition with acted upon by vacuum suction pad 20 in a contour are brought with reduced convex curvature or in a stretched orientation (see Fig. 4 ).
  • the punch 32 supporting the abutment arms 32 by means of the compression spring 42 which is placed around the cylindrical outer surface of the punch 32, biased against the holding or support portion 36.
  • the middle portion of the cantilever arms 26 when placed on a flat article or a stack of flat objects under extension of the elastic cantilever arms 26, the punch 32 against the restoring force of the compression spring 42 in the longitudinal guide 40 of the support portion 40 are moved.
  • the punch 32 and the lifting rod 34 in the vertical placement of the handling unit 18 on a stack 44 of individually recorded flat objects such as.
  • intermediate layers 46th made of cardboard, which are placed between individual layers of stacked piece goods or containers o.
  • boom arms 26 Stretch until they have their convex Lose shape and have a roughly planar orientation.
  • the four pairs 22 of suction pads 20 can now be subjected to negative pressure, so that the uppermost intermediate layer 46 sucked and lifted by the vertically moved and / or about a vertical axis pivoted support portion 12 and removed from the stack 44.
  • the bias of the compression spring 42 can provide for downward movement of the punch 32, so that the cantilever arms 26 resume their original curvature, at their free ends 24, each through the traction cables 38 upwards are biased slightly upward, so that the cantilever arms 26 get a slightly convex orientation.
  • the elastically yielding support plates 28, on which the two suction pads 20 of each pair of suction pads 22 are supported, ensure the respective matching alignment of the suction pads 20 to the surface of the flexible intermediate layer 46, so that the suction plates 30 each flush with the surface and the negative pressure applied there is reliably maintained.
  • the lifting rod 34 or the punch 32 preferably serves as a vacuum reservoir for each suction and gripping operation and also serves as a pressure line or air distributor 48, which is arranged at the lower region of the lifting rod 34 and equipped with line connections 50 for the vacuum supply of the suction pads 20.
  • the air distributor 48 provides for short line connections 52 between the line connections 50 and the suction pads 20, which are guided above the respective extension arms 26 and thereby can not catch on any obstacles. For better clarity, of these line connections 52 in Fig. 4 and in Fig. 5 in each case only a single drawn in broken line schematically.
  • the handling unit 18 is rotatably mounted at the free end 16 of the horizontal support portion 12, which is realized by a longitudinal guide 40 rotatably arranged lifting rod 34 which has a rotary drive 54 above the support 36 which rotatably in the illustrated embodiment with the upper portion of Lifting rod 34 has connected pulley 56 about which a drive belt 58 extends, which is driven by an electric drive motor 60.
  • an electric drive motor 60 To reduce the mass forces of the drive motor 60 is at one of the free End 16 remote area of the support portion 12 arranged, as in particular the top view of Fig. 2 lets recognize.
  • the punch 32 and / or its longitudinal guide 40 in the holding or support portion 36 may be assigned a position and / or displacement sensor, not shown here, which can detect the immersion depth against the biasing force of the compression spring 42.
  • the punch 32 at the same time acts as a "pilot", whose immersion depth in the longitudinal guide 40 can provide information about the degree of deflection of the extension arms 26.
  • the stroke or the deformation of the arm 26 defines the passive "Auffaltddling" of both sides of the punch 32 deformable arm portions.
  • an additional optical sensor can provide error messages when the suction pads 20 are e.g. could not capture a flat object or liner 46.
  • the message may be, for example, "no intermediate layer detected", after which an error message is output or processed by a corresponding control circuit.
  • the cantilever arms 26 may be made of suitable elastic materials such as carbon fiber composite material, elastically deformable metal or by a suitable metal-plastic composite material. In this way, the cantilever arms 26 are formed as leaf springs, which may be designed to influence their deformation behavior, if necessary, towards their ends 24 with decreasing width, thickness, decreasing cross section, etc.
  • suitable elastic materials such as carbon fiber composite material, elastically deformable metal or by a suitable metal-plastic composite material.
  • the cantilever arms 26 are formed as leaf springs, which may be designed to influence their deformation behavior, if necessary, towards their ends 24 with decreasing width, thickness, decreasing cross section, etc.
  • a fiber composite material also variable fiber layers for a variable and / or adapted spring strength or deformability over the length of the cantilever arms 26 provide.
  • crossed cantilever arms 26 with variable angles to each other to be able to accommodate different sized flat objects or cardboard layers or intermediate layers 46 can.
  • these "scissor-like" arranged cantilever arms 26 can also be rotated against one another for gripping half intermediate layers (not shown) so that two adjacent pairs of suction pairs 22 more closely approximate and the cantilever arms 26 can be at an acute angle to one another.
  • FIGS. 1 to 3 Based on the schematic side view of Fig. 6
  • the inventive method for recording, holding and / or handling of flat objects by means of the previously described handling device 10 is exemplary be clarified.
  • the crossed cantilever arms 26 in the first, remote from the stack 44 end position and / or in a first operating state convexly curved, the punch 32 and the lifting rod 34 is extended from its longitudinal guide 40 of the support or support portion 36.
  • the suction pads 20 are placed on the intermediate layer 46 and acted upon by a negative pressure.
  • the force acting on the punch 32 pressing force when placed on the stack 44 is illustrated by the arrow 62. This pressure force 62 counteracts the restoring force of the compression spring 42.
  • the holding or support portion 36 is lifted to receive the intermediate layer 46 or moved upwards with a vertical direction component, wherein the punch 32 extends by supporting the restoring force of the compression spring 42 from the longitudinal guide 40 in the opposite direction downwards, whereby the cantilever arms 26 again be brought into their convex curved original form.
  • the intermediate layer 46 held by the vacuum-loaded suction grippers 20 can, during a transfer and / or set-down movement of the holding or support section 36, which can typically take place by means of a pivoting and / or lifting movement of the horizontally oriented support section 12 or square tube 14, below the punch 32 and the cantilever arms 26 sag with convex curvature.
  • an additional optical sensor can provide an error message if no planar object or intermediate layer 46 could be received, for example, with a message "no interlayer detected".

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Claims (16)

  1. Dispositif de réception, de maintien et/ou de manipulation (10) pour des objets plats (46), comprenant au moins deux ventouses (20) commandables qui sont disposées chacune et/ou logées chacune élastiquement ou de manière articulée et/ou fixées sur ou à proximité d'extrémités libres (24) d'au moins un bras radial (26) mobil et élastiquement déformable et/ou déplaçable de manière articulée, au moins dans des zones partielles, entre deux positions extrêmes et/ou états de service, lequel au moins un bras radial (26) est relié à peu près de manière centrale à un étai (32) ou appuie celui-ci qui est logé et guidé à déplacement longitudinal dans une portion de maintien ou de support (36), dans lequel ledit au moins un bras radial (26) est fixé par ses extrémités libres (24) par le biais de moyens de traction (38) à ladite portion de maintien ou de support (36), caractérisé par le fait qu'une première position extrême et/ou un premier état de service prévoit un bras radial (26) courbé de manière convexe, avec l'étai (32) sorti d'un guide longitudinal (40) de la portion de maintien ou de support (36), et dans lequel une deuxième position extrême et/ou un deuxième état de service prévoit un bras radial (26) qui est courbé d'une manière moins convexe ou faiblement courbé ou qui est à peu près allongé et un étai (32) qui est introduit au moins en partie sous précontrainte dans le guide longitudinal (40) de la portion de maintien ou de support (36).
  2. Dispositif selon la revendication 1, dans lequel ledit au moins un bras radial (26), lorsqu'il se trouve dans un état non actif ou état de repos, est précontraint en courbure convexe, et dans lequel le bras radial (26), lorsqu'il se trouve dans un état actif ou il est posé sur un objet plat (46) ou sur une pile (44) d'objets plats (46), avec des ventouses (20) aptes à être mises en dépression, est amené à présenter une courbure convexe réduite ou une orientation allongée.
  3. Dispositif selon la revendication 1 ou 2, dans lequel l'étai (32) supportant ledit au moins un bras radial (26) est précontraint contre la portion de maintien ou de support (36).
  4. Dispositif selon la revendication 3, dans lequel ledit étai (32) est précontraint au moyen d'un ressort à pression (42) contre un épaulement sur la portion de support (36).
  5. Dispositif selon la revendication 3 ou 4, dans lequel un capteur de position et/ou de déplacement qui détecte la profondeur d'introduction à l'encontre de la force de précontrainte est associé à l'étai (32) et/ou à son guide longitudinal (40) dans la portion de maintien ou de support (36).
  6. Dispositif selon l'une quelconque des revendications 1 à 5, dans lequel ledit au moins un bras radial (26) est formé par du matériau élastique tel qu'un matériau composite à fibres de carbone, du métal ou un matériau composite de métal et de matière plastique.
  7. Dispositif selon l'une quelconque des revendications 1 à 6, qui présente deux bras radiaux (26) croisés ayant dans l'ensemble au moins quatre ventouses (20) à leurs extrémités libres (24) respectives, dans lequel les bras radiaux (26) se croisent dans une zone centrale au-dessous de l'étai (32).
  8. Dispositif selon l'une quelconque des revendications 1 à 7, dans lequel ledit étai (32) est logé à rotation dans la portion de maintien ou de support (36).
  9. Dispositif selon la revendication 8, dans lequel un entraînement rotatif (54) destiné à l'ajustage angulaire dudit au moins un bras radial (26) autour de l'axe longitudinal de l'étai (32) est associé à l'étai (32).
  10. Dispositif selon l'une quelconque des revendications 1 à 9, dans lequel les ventouses (20) sont maintenues ou bien logées chacune à ajustage angulaire aux extrémités libres (24) des bras radiaux (26) ou bien dudit au moins un bras radial (26).
  11. Dispositif selon l'une quelconque des revendications 1 à 10, dans lequel ladite portion de maintien ou de support (12) est réalisée de manière à pouvoir être pivotée et/ou relevée et abaissée.
  12. Procédé de réception, de maintien et/ou de manipulation d'objets plats (46) au moyen d'au moins deux ventouses (20) commandables qui sont disposées chacune et/ou logées chacune élastiquement ou de manière articulée et/ou fixées sur ou à proximité d'extrémités libres (24) d'au moins un bras radial (26) mobil et élastiquement déformable et/ou déplaçable de manière articulée, au moins dans des zones partielles, entre deux positions extrêmes et/ou états de service, lequel au moins un bras radial (26) est relié à peu près de manière centrale à un étai (32) ou appuie celui-ci qui est logé et guidé à déplacement longitudinal dans une portion de maintien ou de support (36), dans lequel ledit au moins un bras radial (26) est fixé par ses extrémités libres (24) respectivement par le biais de moyens de traction (38) à ladite portion de maintien ou de support (36), caractérisé par le fait que, dans une première position extrême éloignée d'un objet plat (46) à recevoir et/ou dans un premier état de service, ledit au moins un bras radial (26) est courbé de manière convexe et l'étai (32) est sorti d'un guide longitudinal (40) de la portion de maintien ou de support (36), et dans lequel l'étai (32), pour recevoir un objet plat (46), est posé sur celui-ci et est introduit au moins en partie dans le guide longitudinal (40) de la portion de maintien ou de support (36) en direction d'une deuxième position extrême et/ou d'un deuxième état de service à l'encontre d'une force de rappel, dans lequel la courbure convexe dudit au moins un bras radial (26) est réduite, les ventouses (20) vont se poser sur l'objet plat (46) et seront mises en dépression.
  13. Procédé selon la revendication 12, dans lequel, pour recevoir un objet plat (46), ladite portion de maintien ou de support (36) est soulevée ou est déplacée vers le haut avec une composante de direction verticale, dans lequel ledit étai (32), en soutenant la force de rappel, sort du guide longitudinal (40) dans une direction inverse ce par quoi ledit au moins un bras radial (26) est amené à présenter sa forme courbée de manière convexe.
  14. Procédé selon la revendication 13, dans lequel, durant un mouvement de déplacement et/ou de dépôt de la portion de maintien ou de support (36), l'objet plat (46) maintenu par les ventouses (20) mises en dépression s'affaisse à courbure convexe au-dessous de l'étai (32) et du bras radial (26).
  15. Procédé selon l'une quelconque des revendications 12 à 14, dans lequel une position de l'étai (32) dans le guide longitudinal (40) de la portion de maintien ou de support (36) et ainsi sa profondeur d'introduction à l'encontre de la force de précontrainte est détectée par capteur.
  16. Procédé selon l'une quelconque des revendications 12 à 15, dans lequel les objets plats (46) sont saisis et soulevés au moyen de deux bras radiaux (26) croisés ayant dans l'ensemble au moins quatre ventouses (20) à leurs extrémités libres (24), dans lequel les bras radiaux (26) se croisent dans une zone centrale au-dessous de l'étai (32).
EP15195628.1A 2014-12-16 2015-11-20 Dispositif et procede de reception, de maintien et/ou de manipulation d'objets plats Active EP3037371B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SI201530124T SI3037371T1 (sl) 2014-12-16 2015-11-20 Naprava in postopek za sprejem, držanje in/ali uporabo ploskih predmetov

Applications Claiming Priority (1)

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DE102014225981.9A DE102014225981A1 (de) 2014-12-16 2014-12-16 Vorrichtung und Verfahren zur Aufnahme, zum Halten und/oder zur Handhabung von flächigen Gegenständen

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EP3037371B1 true EP3037371B1 (fr) 2017-08-23

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CN (1) CN205634288U (fr)
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DE102015103147A1 (de) * 2015-03-04 2016-09-08 Krones Aktiengesellschaft Handhabungsvorrichtung und Verfahren zur Aufnahme flächiger Gegenstände
DE102017118255A1 (de) * 2017-08-10 2019-02-14 Krones Aktiengesellschaft Zur Entgegennahme von flächigen Zuschnitten ausgebildetes Arbeitswerkzeug mit mehreren elastischen Auslegerarmen
DE102018215451A1 (de) * 2018-09-11 2020-03-12 Bayerische Motoren Werke Aktiengesellschaft Kraftrad mit einer Spannvorrichtung zum Spannen eines Zugorgans und Spannvorrichtung für ein Kraftrad
CN109130245A (zh) * 2018-10-26 2019-01-04 常州市新创智能科技有限公司 一种风电叶片根部预成型件自动铺设生产线及控制方法
DE102019130375B4 (de) * 2019-11-11 2023-02-16 Fipa Holding Gmbh Sauggreiferanordnung zum handhaben von gegenständen

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EP0639519B1 (fr) 1993-08-19 1999-03-10 Amada Company Limited Dispositif pour séparer du matériel en forme de plaques
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JP2010195535A (ja) * 2009-02-25 2010-09-09 Sharp Corp 被吸着物の吸着装置および取出装置
SI2476637T1 (sl) 2011-01-18 2015-09-30 Krones Ag Naprava in postopek za sprejem, držanje in/ali manipuliranje ploščatih predmetov
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CN205634288U (zh) 2016-10-12
SI3037371T1 (sl) 2017-12-29
EP3037371A1 (fr) 2016-06-29
DE102014225981A1 (de) 2016-06-16

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