ES2796929A1 - OBJECT MANIPULATOR (Machine-translation by Google Translate, not legally binding) - Google Patents

OBJECT MANIPULATOR (Machine-translation by Google Translate, not legally binding) Download PDF

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Publication number
ES2796929A1
ES2796929A1 ES201930477A ES201930477A ES2796929A1 ES 2796929 A1 ES2796929 A1 ES 2796929A1 ES 201930477 A ES201930477 A ES 201930477A ES 201930477 A ES201930477 A ES 201930477A ES 2796929 A1 ES2796929 A1 ES 2796929A1
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support
supports
movable
fixed
connector
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ES2796929B2 (en
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Ruiz Antonio Ortega
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And & Or Research SL
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And & Or Research SL
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Manipulator of objects, being grouped or individual of different sizes, comprising a structure in which a first movable support is arranged with respect to said structure by means of first displacement means, at least one first horizontal profile is fixed to the first support, in each In the first horizontal profile, there is a second sliding support and a third sliding support, the second support can be moved with respect to the third support in the opposite direction by means of a second displacement means that connects both; At least one second horizontal profile is also fixed to the first support, which is arranged transversely to the first horizontal profile, in each second horizontal profile a fourth sliding support and a fifth sliding support are arranged, the fourth support can be moved with respect to the fifth support in the opposite direction by means of third means of movement that connects both. (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPCIÓNDESCRIPTION

MANIPULADOR DE OBJETOSOBJECT HANDLER

CAMPO TÉCNICO DE LA INVENCIÓNTECHNICAL FIELD OF THE INVENTION

La presente invención se engloba en el campo de los manipuladores de objetos.The present invention is within the field of object manipulators.

ANTECEDENTES DE LA INVENCIÓNBACKGROUND OF THE INVENTION

En las cadenas de producción se incluyen manipuladores, más o menos automatizados, para manejar diversos tipos de objetos. Coloquialmente, a algunos de estos manipuladores se les denomina brazos robotizados o simplemente robots.More or less automated manipulators are included in production lines to handle various types of objects. Colloquially, some of these manipulators are called robotic arms or simply robots.

Los objetos a manipular son de diversa configuración e incluso un mismo manipulador, idealmente, puede adaptarse al manejo de un conjunto de objetos, formando una capa por ejemplo, u objetos individuales, desde pequeños, pasando por medianos hasta grandes.The objects to be manipulated are of different configuration and even the same manipulator, ideally, can be adapted to the handling of a set of objects, forming a layer for example, or individual objects, from small, through medium to large.

La presente invención expone un manipulador de objetos con versatilidad para adaptarse tanto a capas de objetos como a objetos de diferente tamaño, como se expone en este documento, presentando una alternativa no conocida en el estado de la técnica.The present invention discloses an object manipulator with versatility to adapt both to layers of objects and to objects of different sizes, as explained in this document, presenting an alternative not known in the state of the art.

DESCRIPCIÓN DE LA INVENCIÓNDESCRIPTION OF THE INVENTION

La presente invención queda establecida y caracterizada en la reivindicación independiente, mientras que las reivindicaciones dependientes describen otras características de la misma.The present invention is established and characterized in the independent claim, while the dependent claims describe other characteristics thereof.

El objeto de la invención es un manipulador de objetos, estando estos agrupados o siendo individuales de diferentes tamaños. El problema técnico a resolver es configurar el manipulador y los elementos que lo componen para alcanzar el objeto citado. The object of the invention is a manipulator of objects, these being grouped or being individual of different sizes. The technical problem to solve is to configure the manipulator and the elements that compose it to reach the mentioned object.

A la vista de lo anteriormente enunciado, la presente invención se refiere a un manipulador de objetos, siendo los objetos de cualquier tipo y tamaño, dispuestos tanto en grupos como capas o individualmente.In view of the foregoing, the present invention refers to an object manipulator, the objects being of any type and size, arranged in groups, layers, or individually.

El manipulador comprende una estructura en la que se dispone un primer soporte desplazable respecto a dicha estructura mediante unos primeros medios de desplazamiento, como es conocido en el estado de la técnica, como puede ser una pinza que se traslada a lo largo de un perfil a modo de estructura.The manipulator comprises a structure in which a first movable support is arranged with respect to said structure by means of first displacement means, as is known in the state of the art, such as a gripper that moves along a profile to structure mode.

Caracteriza al manipulador el que al primer soporte queda fijado al menos un primer perfil horizontal, en cada primer perfil horizontal se dispone un segundo soporte desplazable de manera deslizante y un tercer soporte desplazable de manera deslizante, el segundo soporte se puede mover respecto al tercer soporte en sentido contrario mediante unos segundos medios desplazamiento que conecta a ambos; al primer soporte también queda fijado al menos un segundo perfil horizontal que queda dispuesto de manera transversa al primer perfil horizontal, en cada segundo perfil horizontal se dispone un cuarto soporte desplazable de manera deslizante y un quinto soporte desplazable de manera deslizante, el cuarto soporte se puede mover respecto al quinto soporte en sentido contrario mediante unos terceros medios desplazamiento que conecta a ambos.The manipulator is characterized by the fact that at least one first horizontal profile is fixed to the first support, in each first horizontal profile a second support movable in a sliding manner and a third support movable in a sliding manner are arranged, the second support can be moved with respect to the third support in the opposite direction by means of a second displacement means that connects both; At least one second horizontal profile is also fixed to the first support, which is arranged transversely to the first horizontal profile, in each second horizontal profile a fourth support movable in a sliding manner and a fifth support movable in a sliding manner are arranged, the fourth support is arranged it can move with respect to the fifth support in the opposite direction by means of a third displacement means connecting both.

De esta manera se llega a una configuración que puede abrazar y soltar cualquier objeto o conjunto de objetos al acercarse y alejarse entre sí el segundo y tercer soporte por un lado, y el cuarto y quinto soporte por otro, todos ellos, preferiblemente, de manera simultánea, aunque ello no sea limitante, y con la versatilidad en cuanto al tipo y tamaño de objetos que ello implica.In this way, a configuration is reached that can embrace and release any object or set of objects as the second and third support approach and move away from each other on the one hand, and the fourth and fifth support on the other, all of them, preferably, in a way simultaneous, although this is not limiting, and with the versatility in terms of the type and size of objects that this implies.

BREVE DESCRIPCIÓN DE LAS FIGURASBRIEF DESCRIPTION OF THE FIGURES

Se complementa la presente memoria descriptiva, con un juego de figuras, ilustrativas del ejemplo preferente, y nunca limitativas de la invención.The present specification is complemented with a set of figures, illustrative of the preferred example, and never limiting of the invention.

La figura 1 representa una vista en perspectiva del manipulador. Figure 1 represents a perspective view of the manipulator.

La figura 2 representa una vista en perspectiva de un detalle del manipulador referido los elementos dispuestos en un primer soporte.Figure 2 represents a perspective view of a detail of the manipulator referring to the elements arranged on a first support.

EXPOSICIÓN DETALLADA DE LA INVENCIÓNDETAILED EXHIBITION OF THE INVENTION

En la figura 1 se muestra un manipulador de objetos que comprende una estructura (1) en la que se dispone un primer soporte (2) desplazable respecto a dicha estructura (1) mediante unos primeros medios de desplazamiento (3). Al primer soporte (2) queda fijado al menos un primer perfil horizontal (4), en la representación se muestran dos del tipo metálico, en cada primer perfil horizontal (4) se dispone un segundo soporte (5) desplazable de manera deslizante y un tercer soporte (6) desplazable de manera deslizante, representados ambos soportes (5,6) con forma de U y con un listón o placa dispuesta en vertical y extendiéndose horizontalmente en su parte inferior a modo de realización concreta, aunque pudiera no incluirse dicho listón o tener otra configuración, el segundo soporte (5) se puede mover respecto al tercer soporte (6) en sentido contrario mediante unos segundos medios desplazamiento (7), en la representación un cilindro neumático, que conecta a ambos; de manera análoga, al primer soporte (2) también queda fijado al menos un segundo perfil horizontal (8) que queda dispuesto de manera transversa al primer perfil horizontal (4), en cada segundo perfil horizontal (8) se dispone un cuarto soporte (9) desplazable de manera deslizante y un quinto soporte (10) desplazable de manera deslizante, el cuarto soporte (9) se puede mover respecto al quinto soporte (10) en sentido contrario mediante unos terceros medios desplazamiento (11) que conecta a ambos.In figure 1 an object manipulator is shown comprising a structure (1) in which a first support (2) movable with respect to said structure (1) by means of first displacement means (3) is arranged. To the first support (2) is fixed at least one first horizontal profile (4), in the representation two of the metallic type are shown, in each first horizontal profile (4) a second support (5) movable in a sliding manner and a third support (6) movable in a sliding manner, represented both supports (5,6) with a U-shape and with a strip or plate arranged vertically and extending horizontally in its lower part as a specific embodiment, although said strip may not be included or have another configuration, the second support (5) can be moved relative to the third support (6) in the opposite direction by means of second displacement means (7), in the representation a pneumatic cylinder, which connects both; analogously, to the first support (2) is also fixed at least one second horizontal profile (8) which is arranged transversely to the first horizontal profile (4), in each second horizontal profile (8) a fourth support ( 9) movable in a slidable manner and a fifth support (10) movable in a slidable manner, the fourth support (9) can be moved relative to the fifth support (10) in the opposite direction by means of third displacement means (11) connecting both.

Un detalle de la realización representada es que se dispone al menos una primera uña (12), dos en la realización de las figuras 1 y 2, en el cuarto soporte (9) desplazable de manera rotatoria mediante unos cuartos medios de desplazamiento (13), en la representación un cilindro neumático, y una segunda uña (14), dos en la realización de las figuras 1 y 2, en el quinto soporte (10) desplazable de manera rotatoria mediante unos quintos medios de desplazamiento (15), en la representación un cilindro neumático. De esta manera, se disponen dos uñas (12,14) enfrentadas que permiten agarrar o coger otro tipo de objetos, normalmente laminares, incluso una lámina de cartón para separar capas de objetos, o incluso pallets que sirven de base a una pila de objetos. A detail of the represented embodiment is that at least one first claw (12), two in the embodiment of Figures 1 and 2, is arranged on the fourth support (9) rotatably movable by means of fourth displacement means (13) , in the representation a pneumatic cylinder, and a second claw (14), two in the embodiment of figures 1 and 2, on the fifth support (10) rotatably movable by fifth displacement means (15), in the representation of a pneumatic cylinder. In this way, two claws (12,14) are arranged facing each other that allow grasping or catching other types of objects, usually laminar ones, even a cardboard sheet to separate layers of objects, or even pallets that serve as the basis for a stack of objects .

Otro detalle de la realización representado en la figura 2 es que en concreto se disponen dos primeros perfiles horizontales (4) de manera paralela con sus correspondientes segundos soportes (5), terceros soportes (6) y segundos medios de desplazamiento (7), los dos segundos soportes (5) están conectados por un primer conector (16) y los dos terceros soportes (6) están conectados por un segundo conector (17), los segundos (5) y terceros soportes (6) son desplazables simultáneamente mediante unos medios de emparejamiento (20), los cuales comprenden un primer rotor (20.1) central al que se fija un extremo de una primera barra (20.2) y un extremo de una segunda barra (20.3), estando el otro extremo de la primera barra (20.2) fijado al primer conector (16) y el otro extremo de la segunda barra (20.3) fijado al segundo conector (17). De esta manera se consigue un movimiento simultáneo que hace que el agarre del objeto se haga de manera centrada respecto a un eje longitudinal vertical que pasa por el centro del conjunto formado por los primeros (4) y segundos perfiles horizontales (8), evitando cabeceos que podrían dar lugar a un vuelco de los objetos o una solicitación de esfuerzos asimétrica que pudiera dañar al manipulador.Another detail of the embodiment represented in figure 2 is that in particular two first horizontal profiles (4) are arranged in parallel with their corresponding second supports (5), third supports (6) and second displacement means (7), the two second supports (5) are connected by a first connector (16) and the two third supports (6) are connected by a second connector (17), the second (5) and third supports (6) are movable simultaneously by means of pairing (20), which comprise a first central rotor (20.1) to which one end of a first bar (20.2) and one end of a second bar (20.3) are fixed, the other end of the first bar (20.2 ) fixed to the first connector (16) and the other end of the second bar (20.3) fixed to the second connector (17). In this way, a simultaneous movement is achieved that causes the object to be grasped in a centered manner with respect to a vertical longitudinal axis that passes through the center of the set formed by the first (4) and second horizontal profiles (8), avoiding nodding that could lead to an overturning of the objects or an asymmetric stress request that could damage the manipulator.

De manera análoga a lo que se acaba de exponer, se pueden también disponer, figura 2, dos segundos perfiles horizontales (8) de manera paralela con sus correspondientes cuartos soportes (9), quintos soportes (10) y terceros medios de desplazamiento (11), los dos cuartos soportes (9) están conectados por un tercer conector (18) y los dos quintos soportes (10) están conectados por un cuarto conector (19), los cuartos (9) y quintos soportes (10) son desplazables simultáneamente mediante los medios de emparejamiento (20), los cuales comprenden un segundo rotor (20.4) central al que se fija un extremo de una tercera barra (20.5) y un extremo de una cuarta barra (20.6), estando el otro extremo de la tercera barra (20.5) fijado al tercer conector (18) y el otro extremo de la cuarta barra (20.6) fijado al cuarto conector (19).In a similar way to what has just been explained, figure 2, two second horizontal profiles (8) can also be arranged in parallel with their corresponding fourth supports (9), fifth supports (10) and third displacement means (11 ), the two fourth supports (9) are connected by a third connector (18) and the two fifth supports (10) are connected by a fourth connector (19), the fourth (9) and fifth supports (10) are movable simultaneously by means of the coupling means (20), which comprise a second central rotor (20.4) to which is fixed one end of a third bar (20.5) and one end of a fourth bar (20.6), the other end of the third bar (20.5) fixed to the third connector (18) and the other end of the fourth bar (20.6) fixed to the fourth connector (19).

Otro detalle de la realización es que se dispone en el primer soporte interiormente al segundo (5), tercer (6), cuarto (9) y quinto (10) soportes un marco con medios de agarre, el marco es desplazable verticalmente mediante unos quintos medios de desplazamiento (no representados en las figuras).Another detail of the embodiment is that a frame with gripping means is arranged on the first support inside the second (5), third (6), fourth (9) and fifth (10) supports, the frame is vertically movable by about fifths means of movement (not represented in the figures).

Otro detalle de la realización representado en la figura 1 es que la estructura (1) comprende una columna (1.1) dispuesta sobre una base (1.2), un contrapeso (1.3) fijado a la columna (1.1), el primer soporte (2) es desplazable verticalmente a lo largo de la columna (1.1) y de manera rotatoria respecto a la misma mediante los primeros medios de desplazamiento (3), que en la representación de la figura 1 presentan un motor con una polea y cable para transmitir el movimiento vertical, otro motor no representado dotaría el movimiento giratorio.Another detail of the embodiment represented in figure 1 is that the structure (1) comprises a column (1.1) arranged on a base (1.2), a counterweight (1.3) fixed to the column (1.1), the first support (2) is movable vertically along the column (1.1) and rotatably with respect to it by means of the first displacement means (3), which in the representation of the Figure 1 presents a motor with a pulley and cable to transmit the vertical movement, another motor not represented would provide the rotary movement.

Otro detalle de la realización representado en la figura 2 es que se pueden incluir al menos dos topes (21), representados mediante varillas verticales con una placa circular en su extremo más cercano a los objetos a modo de limitar su desplazamiento vertical y así evitar cualquier choque indeseado con elementos del manipulador. Another detail of the embodiment represented in figure 2 is that at least two stops (21) can be included, represented by vertical rods with a circular plate at their end closest to the objects in order to limit their vertical displacement and thus avoid any unwanted collision with elements of the manipulator.

Claims (6)

REIVINDICACIONES 1. -Manipulador de objetos que comprende una estructura (1) en la que se dispone un primer soporte (2) desplazable respecto a dicha estructura (1) mediante unos primeros medios de desplazamiento (3), caracterizado por que al primer soporte (2) queda fijado al menos un primer perfil horizontal (4), en cada primer perfil horizontal (4) se dispone un segundo soporte (5) desplazable de manera deslizante y un tercer soporte (6) desplazable de manera deslizante, el segundo soporte (5) se puede mover respecto al tercer soporte (6) en sentido contrario mediante unos segundos medios desplazamiento (7) que conecta a ambos; al primer soporte (2) también queda fijado al menos un segundo perfil horizontal (8) que queda dispuesto de manera transversa al primer perfil horizontal (4), en cada segundo perfil horizontal (8) se dispone un cuarto soporte (9) desplazable de manera deslizante y un quinto soporte (10) desplazable de manera deslizante, el cuarto soporte (9) se puede mover respecto al quinto soporte (10) en sentido contrario mediante unos terceros medios desplazamiento (11) que conecta a ambos.1. -Object manipulator comprising a structure (1) in which a first support (2) is displaceable with respect to said structure (1) by means of first displacement means (3), characterized in that the first support (2) ) at least one first horizontal profile (4) is fixed, in each first horizontal profile (4) a second support (5) movable in a sliding manner and a third support (6) movable in a sliding manner, the second support (5 ) it can be moved with respect to the third support (6) in the opposite direction by means of second displacement means (7) that connects both; To the first support (2) is also fixed at least one second horizontal profile (8) which is arranged transversely to the first horizontal profile (4), in each second horizontal profile (8) a fourth movable support (9) of slidably and a fifth support (10) slidably movable, the fourth support (9) can be moved relative to the fifth support (10) in the opposite direction by means of third displacement means (11) connecting both. 2. -Manipulador según la reivindicación 1 en el que se dispone al menos una primera uña (12) en el cuarto soporte (9) desplazable de manera rotatoria mediante unos cuartos medios de desplazamiento (13) y una segunda uña (14) en el quinto soporte (10) desplazable de manera rotatoria mediante unos quintos medios de desplazamiento (15).2. -Manipulator according to claim 1 in which at least one first claw (12) is arranged on the fourth support (9) rotatably movable by means of fourth displacement means (13) and a second claw (14) on the fifth support (10) rotatably movable by fifth displacement means (15). 3. -Manipulador según la reivindicación 1 en el que se disponen dos primeros perfiles horizontales (4) de manera paralela con sus correspondientes segundos soportes (5), terceros soportes (6) y segundos medios de desplazamiento (7), los dos segundos soportes (5) están conectados por un primer conector (16) y los dos terceros soportes (6) están conectados por un segundo conector (17), los segundos (5) y terceros soportes (6) son desplazables simultáneamente mediante unos medios de emparejamiento (20), los cuales comprenden un primer rotor (20.1) central al que se fija un extremo de una primera barra (20.2) y un extremo de una segunda barra (20.3), estando el otro extremo de la primera barra (20.2) fijado al primer conector (16) y el otro extremo de la segunda barra (20.3) fijado al segundo conector (17). 3. -Manipulator according to claim 1 in which two first horizontal profiles (4) are arranged in parallel with their corresponding second supports (5), third supports (6) and second displacement means (7), the two second supports (5) are connected by a first connector (16) and the two third supports (6) are connected by a second connector (17), the second (5) and third supports (6) are movable simultaneously by means of pairing means ( 20), which comprise a first central rotor (20.1) to which one end of a first bar (20.2) and one end of a second bar (20.3) are fixed, the other end of the first bar (20.2) being fixed to the first connector (16) and the other end of the second bar (20.3) fixed to the second connector (17). 4. -Manipulador según la reivindicación 3 en el que se disponen dos segundos perfiles horizontales (8) de manera paralela con sus correspondientes cuartos soportes (9), quintos soportes (10) y terceros medios de desplazamiento (11), los dos cuartos soportes (9) están conectados por un tercer conector (18) y los dos quintos soportes (10) están conectados por un cuarto conector (19), los cuartos (9) y quintos soportes (10) son desplazables simultáneamente mediante los medios de emparejamiento (20), los cuales comprenden un segundo rotor (20.4) central al que se fija un extremo de una tercera barra (20.5) y un extremo de una cuarta barra (20.6), estando el otro extremo de la tercera barra (20.5) fijado al tercer conector (18) y el otro extremo de la cuarta barra (20.6) fijado al cuarto conector (19).4. -Manipulator according to claim 3 in which two second horizontal profiles (8) are arranged in parallel with their corresponding fourth supports (9), fifth supports (10) and third displacement means (11), the two fourth supports (9) are connected by a third connector (18) and the two fifth supports (10) are connected by a fourth connector (19), the fourth (9) and fifth supports (10) are movable simultaneously by means of the pairing means ( 20), which comprise a second central rotor (20.4) to which one end of a third bar (20.5) and one end of a fourth bar (20.6) are fixed, the other end of the third bar (20.5) being fixed to the third connector (18) and the other end of the fourth bar (20.6) fixed to the fourth connector (19). 5. -Manipulador según la reivindicación 1 en el que se dispone en el primer soporte interiormente al segundo (5), tercer (6), cuarto (9) y quinto (10) soportes un marco con medios de agarre, el marco es desplazable verticalmente mediante unos quintos medios de desplazamiento.5. -Manipulator according to claim 1 in which a frame with gripping means is arranged on the first support inside the second (5), third (6), fourth (9) and fifth (10) supports, the frame is movable vertically by a fifth means of displacement. 6. -Manipulador según la reivindicación 1 en el que la estructura (1) comprende una columna (1.1) dispuesta sobre una base (1.2), un contrapeso (1.3) fijado a la columna (1.1), el primer soporte (2) es desplazable verticalmente a lo largo de la columna (1.1) y de manera rotatoria respecto a la misma mediante los primeros medios de desplazamiento (3). 6. -Manipulator according to claim 1 in which the structure (1) comprises a column (1.1) arranged on a base (1.2), a counterweight (1.3) fixed to the column (1.1), the first support (2) is vertically movable along the column (1.1) and rotatably with respect to it by means of the first displacement means (3).
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CN105151812A (en) * 2015-09-18 2015-12-16 群峰智能机械股份公司 Brick plate separation stacking line
EP3453655A1 (en) * 2017-09-11 2019-03-13 OCME S.r.l. Gripping member for gripping a layer of products

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US4927318A (en) * 1988-02-09 1990-05-22 Galpin Research, Limited Partnership Method for forming, grasping and handling cubes of stacked printed products
US20080124208A1 (en) * 2006-11-28 2008-05-29 Ouellette Machinery Systems, Inc. Conveyor System Apparatus for Stacking Arrayed Layers of Objects
EP2842895A1 (en) * 2013-08-27 2015-03-04 SMI S.p.A. Palletizer
CN105151812A (en) * 2015-09-18 2015-12-16 群峰智能机械股份公司 Brick plate separation stacking line
EP3453655A1 (en) * 2017-09-11 2019-03-13 OCME S.r.l. Gripping member for gripping a layer of products

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