ITGE20080082A1

ITGE20080082A1 - METHOD AND DEVICES FOR GRIPPING AND ROBOTIC HANDLING OF FLEXIBLE MATERIAL PARTS WITH TRANSPORT CONFIGURATION.

Info

Publication number: ITGE20080082A1
Application number: IT000082A
Authority: IT
Inventors: Enrico Carca; Rezia Molfino; Matteo Zoppi
Original assignee: Enrico Carca; Rezia Molfino; Matteo Zoppi
Priority date: 2008-10-13
Filing date: 2008-10-13
Publication date: 2010-04-14

Description

D E S C R I Z I O N E d e l b r e v e tto p e r in v e n z io n e in d u s tr ia le a v e n te D E S C R I Z I O N E d e l b r e v e tto p e r in v e n tio n e in d u s tr ia le a v e n te

tito lo : " M e t o d o e d i s p o s i t i v i p e r l ' a f f e r r a g g i o e l a m a n i p o l a z i o n e r o b o t i z z a t a d i p a r t i i n m a t e r i a l e f l e s s i b i l e c o n t r a s p o r t o i n c o n f i g u r a z i o n e a p p e s a " , a p p a r te n e n te a : tito lo: "M e t o d o e d i s p o s i t i v i p e r l 'a f e r r r a g g i o e l a m a n i p o l a z i o n e r o b o t i z z a t a d i p a r t i i n m a t e r i a l e f l e s s i b i n a t e r i a r e f l e s s i b i n a t i n a t e r a t a n a t a n a t a n a t a n a t a n a t e r

T E S T O D E L L A D E S C R I Z I O N E T E S T O D E L L A D E S C R I Z I O N E

Questa InvenZIOne ha p er oggetto un metodo perl'afferraggio e la manipolazione di corpi in materiale cedevole , in particolare tessuti, e la loro predisposizione al trasporto In configurazione appesa . Detto metodo comprende l'utilizzo d i un sistema di afferraggio e di dispositivi di sostegno . Detto dispositivo di afferraggio *si collega a detto corpo cedevole , che può trovarsi in configurazione variamente distesa o appoggiata, *porta detto corpo cedevole in configurazione opportuna e *applica a detto corpo cedevole un detto dispositivo di sostegno in modo che le aree dove detto corpo cedevole è trattenuto da detto dispositivo di sostegn.o This Invention has for its object a method for gripping and manipulating bodies made of yielding material, in particular fabrics, and their predisposition for transport in hanging configuration. Said method includes the use of a gripping system and support devices. Said gripping device * connects to said yielding body, which can be in variously extended or resting configuration, * brings said yielding body into a suitable configuration and * applies a said supporting device to said yielding body so that the areas where said body compliant is retained by said support device

variabili per realizzare un opportuno sostegno. Detti dispositivi di afferraggio e sostegno sono riconfigurabili per poter adattarsi a differenti configurazioni di afferraggio e sostegno. variables to achieve appropriate support. Said gripping and supporting devices can be reconfigured to be able to adapt to different gripping and supporting configurations.

afferraggio e sostegno poiché queste porzioni della parte non mutano in tutto il ciclo di manipolazione e trasferimento. grasping and holding as these portions of the part do not change throughout the handling and transfer cycle.

La parte deve essere mantenuta in posizione relativa fissa rispetto a detto dispositivo di sostegno anche in caso di sollecitazioni dovute al trasporto e a operazioni manifatturiere; The part must be kept in a fixed relative position with respect to said support device even in the event of stresses due to transport and manufacturing operations;

Nessun dispositivo di afferraggio nello stato dell'arte p e r la manipolazione di corpi cedevoli può essere utilizzato come dispositivo di afferraggio e applicazione dei dispositivi di sostegno in accordo al metodo ritrovato. No gripping device in the state of the art for the handling of yielding bodies can be used as a gripping and applying device of the support devices according to the method found.

riposizionati con due gradi di libertà CIascuno 1ll un plano comune parallelo a dette guance di detto talajo O. D e tto d is p o s itiv o d i tr a tte n im e n to P B tr a s la s e n z a r u o ta r e n e llo s te s s o d e tto p ia n o d i r ip o s iz io n a m e n to d i d e tti P A e P C . repositioned with two degrees of freedom Each 1ll a common plane parallel to said cheeks of said talajo. ip o s iz io n a m e n to d e cts P A and P C.

Si consideri il dettaglio di detti braccio PC e giunto composto FC in Figura 2. Consider the detail of said arm PC and compound joint FC in Figure 2.

P8. In P8 sono alloggiati il tampone di appoggio in materiale elastico P5 e un cilindro guida-molla P6. A P4 è collegata una molla a lamina P2 equipaggiata in estremità da un tampone P3 e da un ago PI con base di fissaggio che attraversa detto P3. La molla P7 in materiale a memoria di forma è alloggiata intorno a detto P6 fra P8 e P2. Detti P2, P4 e P8 sono in materiale conduttore elettrico e detta P7 è in contatto elettrico con detti FC 1 e FC2 attraverso dette aste H5 e H6. Detti FC1 e FC2 scivolano sulla superficie di rami di dette linee elettriche fissate a dette guance di detto telajo O. Detta molla P7 può dunque essere attivata con comandi elettrici da detto telajo O. Con detta molla P7 inattiva detta molla a lamina P2 comprime detto tampone P3 e spinge detto ago PI in detto tampone P5 attraverso detto P3 e detto corpo cedevole fissando la posizione di detto corpo cedevole con accuratezza. Quando detta molla P7 è attiva essa flette detta molla a lamina P2. Detto ago PI si allontana da detto tampone P5. Detto P3 riprende la forma cilindrica indeformata. Detto ago PI rientra all’interno di detto P3 e libera detta parte trattenuta. P8. P8 houses the support pad in elastic material P5 and a spring-guide cylinder P6. Connected to P4 is a leaf spring P2 equipped at the end with a plug P3 and a needle PI with a fixing base which passes through said P3. The spring P7 in shape memory material is housed around said P6 between P8 and P2. Said P2, P4 and P8 are made of electrical conductive material and said P7 is in electrical contact with said FC 1 and FC2 through said rods H5 and H6. Said FC1 and FC2 slide on the surface of branches of said electric lines fixed to said cheeks of said frame O. Said spring P7 can therefore be activated with electric commands from said frame O. With said inactive spring P7 said leaf spring P2 compresses said pad P3 and pushes said needle P1 into said pad P5 through said P3 and said yielding body, fixing the position of said yielding body with accuracy. When said spring P7 is active it flexes said leaf spring P2. Said needle P1 moves away from said pad P5. Said P3 resumes the undeformed cylindrical shape. Said needle PI re-enters inside said P3 and frees said retained part.

Per detto dispositivo di afferraggio si fa riferimento al disegno in Figura 3. Detto dispositivo di afferraggio comprende un telajo T cui sono collegati una interfaccia T2 in particolare per il fissaggio a un braccio robotico o altro dispositivo di trasferimento, un braccio centrale B e due bracci laterali A e C. Detti bracci A, B, C hanno in estremità rispettivamente i dispositivi DA, DB, DC capaci di aderire alla superficie di detto corpo cedevole da manipolare. Detto dispositivo DA trasla parallelamente ad un piano comune a detti tre bracci A, B, C per mezzo dei motori A5 e A6 e dei bracci Al e A2. Detto DA è mantenuto parallelo a detto T dai membri A3 e A4. Analogamente per detto dispositivo C ad opera dei motori, dei bracci e dei membri in detto braccio C. For said gripping device reference is made to the drawing in Figure 3. Said gripping device comprises a frame T to which an interface T2 is connected in particular for fixing to a robotic arm or other transfer device, a central arm B and two arms side A and C. Said arms A, B, C have at their ends respectively the devices DA, DB, DC capable of adhering to the surface of said yielding body to be manipulated. Said device DA translates parallel to a plane common to said three arms A, B, C by means of the motors A5 and A6 and of the arms Al and A2. Said DA is kept parallel to said T by members A3 and A4. Similarly for said device C by the motors, arms and members in said arm C.

Detto braccio B comprende una guida lineare attuata il cui telajo è parte di detto T. Detto DB trasla in direzione fissa rispetto a detto T e il movimento è attuato dal motore Tl . Said arm B comprises an actuated linear guide whose frame is part of said T. Said DB translates in a fixed direction with respect to said T and the movement is carried out by the motor T1.

Complessivamente architettura e attuazione dei bracci permettono il controllo del movimento di detti DA, DB, DC in accordo al movimento permesso a detti dispositivi di trattenimento in detto dispositivo di sostegno (Figura 1 ). Overall, the architecture and actuation of the arms allow the control of the movement of said DA, DB, DC according to the movement allowed to said retention devices in said support device (Figure 1).

Detto dispositivo di afferraggio comprende una interfaccia di collegamento U ad uno detto dispositivo di sostegno. Detta interfaccia U garantisce il posizionamento relativo accurato e blocca reciprocamente detti dispositivi di afferraggio e sostegno. Attuatori in detta U possono comandare lo sblocco di detti bracci in detto dispositivo di sostegno. Ci può essere un sensore che verifichi il corretto posizionamento e bloccaggio di detto dispositivo di sostegno. Said gripping device comprises an interface for connection U to a said support device. Said interface U guarantees accurate relative positioning and mutually blocks said gripping and supporting devices. Actuators in said U can command the release of said arms in said support device. There may be a sensor that verifies the correct positioning and locking of said support device.

Ciascuno di detti dispositivi DA, DB, DC ha la architettura mostrata in Figura 4 e comprende un dispositivo di presa G collegato a un tubo DI sostenuto da una staffa D5. Each of said devices DA, DB, DC has the architecture shown in Figure 4 and comprises a gripping device G connected to a tube D1 supported by a bracket D5.

Detta D5 è collegata a un corpo guida D2 e può traslare rispetto alla piastra di fissaggio D4 detta traslazione essendo attuata dall’attuatore D3. La estremità inferiore di detto tubo DI aderisce a un lembo di detto corpo cedevole da manipolare. La estremità inferiore di detto D2 può agganciare un detto dispositivo di trattenimento in modo che detto D4 e detto dispositivo di trattenimento si spostino insieme. Said D5 is connected to a guide body D2 and can translate with respect to the fixing plate D4 said translation being implemented by the actuator D3. The lower end of said tube D1 adheres to a flap of said yielding body to be manipulated. The lower end of said D2 can engage said retaining device so that said D4 and said retaining device move together.

Il metodo di manipolazione complessivo comprende una fase nella quale detto dispositivo di afferraggio si posiziona su un detto dispositivo di sostegno in modo che le due interfacce combacino e detto dispositivo di sostegno (caricato) possa essere bloccato a detto dispositivo di afferraggio e successivamente si muova con esso. Se detti bracci in detto dispositivo di sostegno caricato hanno configurazioni note, detti bracci in detto dispositivo di afferraggio possono essere comandati per posizionare detti DA, DB, DC in corrispondenza dei tre detti dispositivi di trattenimento di detto dispositivo di sostegno caricato. Se detti bracci in detto dispositivo di sostegno caricato non hanno configurazioni note allora si può seguire una procedura di azzeramento che in particolare può comprendere il posizionamento di detto dispositivo di afferraggio in modo che detto dispositivo di sostegno caricato sia in posizione verticale con detti bracci verso il basso. Detti giunti composti di detto dispositivo di sostegno caricato sono sbloccati da detto dispositivo di afferraggio e cadono a fine corsa per gravità assumendo una configurazione nota. Detti DA, DB, DC sono posti in corrispondenza dei tre detti dispositivi di trattenimento. The overall handling method comprises a step in which said gripping device is positioned on said support device so that the two interfaces mate and said (loaded) support device can be locked to said gripping device and subsequently moves with it. If said arms in said loaded support device have known configurations, said arms in said gripping device can be controlled to position said DA, DB, DC in correspondence with the three said retaining devices of said loaded support device. If said arms in said loaded support device have no known configurations, then a reset procedure can be followed which in particular can comprise positioning said gripping device so that said loaded support device is in a vertical position with said arms towards the low. Said joints made up of said loaded support device are released by said gripping device and fall at the end of their stroke by gravity assuming a known configuration. Said DA, DB, DC are placed in correspondence with the three said retention devices.

Quando detti DA, DB, DC hanno raggiunto detti dispositivi di trattenimento di detto dispositivo di sostegno caricato le estremità inferiori di detti D2 scendono e agganciano i corrispondenti detti dispositivi di trattenimento. Detti bracci di detto dispositivo di afferraggio possono essere comandati per raggiungere una particolare configurazione di afferraggio e trascinano con essi riconfigurandoli detti bracci di detto dispositivo di sostegno caricato. When said DA, DB, DC have reached said retaining devices of said loaded support device, the lower ends of said D2 descend and engage the corresponding said retaining devices. Said arms of said gripping device can be controlled to reach a particular gripping configuration and drag said arms of said loaded support device with them, reconfiguring them.

Detti giunti composti in detto dispositivo di sostegno caricato sono nuovamente bloccati fissando la configurazione di detto dispositivo di sostegno. Said joints composed in said loaded support device are again locked by fixing the configuration of said support device.

Le estremità inferiori di detti DI in detti DA, DB, DC sono posizionate lungo un lembo di detto corpo cedevole a distanza reciproca e dal bordo di detto corpo cedevole opportune. Detti dispositivi di presa G sono attivati e detto corpo cedevole aderisce alle estremità inferiori di detti DI . The lower ends of said DI in said DA, DB, DC are positioned along an edge of said yielding body at a reciprocal distance from and from the edge of said yielding body. Said gripping devices G are activated and said yielding body adheres to the lower ends of said DI.

Detto dispositivo di afferraggio comanda la apertura di detti dispositivi di trattenimento in detto dispositivo di sostegno caricato tramite opportuni segnali che possono essere, in particolare, elettrici nel caso d’uso di molle in materiale a memoria di forma. Said gripping device commands the opening of said retaining devices in said supporting device loaded through suitable signals which can be, in particular, electrical in the case of use of springs in shape memory material.

Detti DI sollevandosi sollevano detto lembo di detto corpo cedevole ad essi collegato e contemporaneamente dette estremità inferiori di detto D2 si sfilano dal corrispondente detto dispositivo di trattenimento. I bracci di detto dispositivo di afferraggio sono comandati per traslare detti D4 in modo da inserire il lembo di detto corpo cedevole in detti dispositivi di trattenimento. When said D1 is raised, said flap of said yielding body connected to them is lifted and at the same time said lower ends of said D2 are removed from the corresponding said retaining device. The arms of said gripping device are controlled to translate said D4 so as to insert the flap of said yielding body into said retaining devices.

Terminato l’inserimento del lembo di detto corpo cedevole detto dispositivo di afferraggio comanda la chiusura di detti dispositivi di trattenimento completando il collegamento di detto corpo cedevole a detto dispositivo di sostegno che può poi essere rilasciato da detto dispositivo di afferraggio. Once the insertion of the flap of said yielding body has been completed, said gripping device commands the closure of said retention devices by completing the connection of said yielding body to said support device which can then be released from said gripping device.

Il principio fisico utilizzato da detto dispositivo di presa può essere qualsiasi ed è scelto anche per garantire l’integrità di detto corpo cedevole. Numero e estensione delle aree dove detto dispositivo di afferraggio si collega a detto corpo cedevole sono scelti in accordo a requisiti di applicazione e alla struttura e composizione di detto corpo cedevole. The physical principle used by said gripping device can be any and is also chosen to ensure the integrity of said yielding body. The number and extent of the areas where said gripping device connects to said compliant body are selected in accordance with application requirements and the structure and composition of said compliant body.

La Figura 5 dà un esempio di uso del ritrovato per lo scarico di un tavolo di taglio P. Detto dispositivo di afferraggio, indicato dalla lettera K, è collegato al robot B e detto dispositivo di sostegno, indicato dalla lettera S, si muove su un sistema di trasporto aereo, raggiunge la postazione di scarico ed è preso dal robot, utilizzato e rilasciato con una parte appesa. Figure 5 gives an example of use of the device for unloading a cutting table P. Said gripping device, indicated by the letter K, is connected to the robot B and said support device, indicated by the letter S, moves on a air transport system, reaches the unloading station and is taken by the robot, used and released with a hanging part.

Claims

CLAIMS 1. Method of gripping, handling and preparing for the transport in a suspended configuration of yielding bodies comprising a gripping device and a support device, said gripping device performing the functions of picking up said compliant body, picking up said supporting device, applying of said support device to said compliant body, manipulation and release of the assembly comprising said compliant body and said support device, the position of said compliant body in said support device being accurately determined and referred to the position of said compliant body before grip.

2. Support device according to claim 1 comprising a frame and a variable number of movable support members, with devices for retaining said compliant body being connected to said movable support members, the position of each said movable support member being able to be varied with respect to said frame to vary the position of said retention devices.

3. Support device according to claim 2 with said movable support members connected to said frame by mechanisms with passive lockable joints, said joints being able to be unlocked to move said movable support members to desired positions and locked to keep said movable support members in the desired positions.

4. Support device according to claim 3, part of said mechanisms with passive lockable joints being serial and comprising a rotational joint connected to said frame and a prismatic joint, part being serial and comprising only one prismatic joint, the joints in all said mechanisms with passive lockable joints being arranged in such a way that all said prismatic joints have in all configurations directions parallel to a fixed plane with respect to said frame.

5. Support device according to claim 4, two said mechanisms with passive lockable joints having said serial architecture comprising a rotoidal joint connected to said frame and a prismatic joint, said mechanism with passive lockable joints having said serial architecture comprising only one prismatic joint.

6. Retention device with geometric accuracy of a yielding body, said yielding body having two prevailing dimensions with respect to the third, said holding device comprising a stop and a tongue, said tongue closing on said abutment and providing a mechanical closure, said tongue comprising any number of needles or projections which interacting with said yielding body accurately determine its position with respect to said stop, said tongue may in any case be composed of elastic and rigid elements to provide said mechanical closure, said retention device being normally closed, said retaining device comprising an actuator for opening, said actuator determining, when implemented, the separation of said tab from said stop.

7. Retention device according to claim 6, said actuator for opening using a shape memory element, said shape memory element may also be in particular a shape memory spring.

8. Retention device according to claim 7, said actuator for opening being activated by heating, said heating can also be obtained in particular with an electric current.

9. Retention device according to claim 6 or 7 or 8 provided with a yielding plug interposed between said stop and said tab, said yielding pad being traversed by said needles or ridges and being compressed when said tab closes said compliant body against said pad, said pad yielding, favoring the extraction of said needles or projections from said yielding body in the release step of said yielding body.

10. Support device according to claim 2 or 3 or 4 or 5, said devices for retaining said compliant body being according to claim 6 or 7 or 8 or 9.

11. Support device according to claim 4 or 5 comprising electric transmission lines from an interface placed on said frame to each of said movable support members, the part of said electric lines which crosses each of said mechanisms with lockable passive joints being made with pairs of rods, pads with recesses for the rods and insulating elements so that said rods perform the function of sliding element of said prismatic joint, one of said rods being in electrical contact with an upper disc and electrically insulated from a lower disc, the other of said rods being in electrical contact with said lower disc and electrically insulated from said upper disc, said lower and upper discs being able to rotate with respect to said frame thus forming said rotoidal joint or being blocked with respect to said frame, said lower discs and upper being in electrical contact with two of said electrical lines of broadcast on the canvas.

12. Support device according to claim 11, said electric lines being used to provide electric current for opening said retaining devices.

13. Gripping device according to claim 1 comprising a frame and a variable number of active mobile members, gripping devices which generate adhesion forces to said yielding body being connected to said active mobile members, said frame being able to connect to a support device according to claim 2 or 3 or 4 or 5 or 10 ο 1 1 or 12, said active mobile members being able to connect to said mobile support members of said support device and being able to vary their position, said active mobile members being equipped with devices that govern the gripping / releasing state of said retaining devices on said mobile support members, said active mobile members being equipped with devices which connect said compliant body to said retaining devices.

14. Clamping device according to claim 13, each said active movable member being connected to said frame by a serial actuated mechanism, two of said serial actuated mechanisms said of the RRR type comprising two rotational joints actuated with parallel axes, each of said two mechanisms of RRR type being connected to the corresponding said active mobile member by a passive rotoidal joint, for each of said two RRR type mechanisms the orientation of the corresponding said active mobile member being fixed with respect to said frame by two passive articulated quadrilaterals forming part of said two mechanisms of the RRR type, one of said serial actuated mechanisms called P type comprising an actuated slide which translates the corresponding said active movable member, the axes of the rotoidal joints of said two mechanisms of the RRR type being parallel and orthogonal to the direction of translation of the said P-type mechanism.