WO1999023021A1 - A device for picking up and manipulating sheet-like, flexible objects, particularly expensive fabrics - Google Patents
A device for picking up and manipulating sheet-like, flexible objects, particularly expensive fabrics Download PDFInfo
- Publication number
- WO1999023021A1 WO1999023021A1 PCT/IT1998/000197 IT9800197W WO9923021A1 WO 1999023021 A1 WO1999023021 A1 WO 1999023021A1 IT 9800197 W IT9800197 W IT 9800197W WO 9923021 A1 WO9923021 A1 WO 9923021A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- jaw
- gripping member
- gripping
- gripper
- lifting
- Prior art date
Links
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. Description of the invention
- 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.
- Figure 1 is a schematic, perspective view of apparatus for the manipulation of flexible objects including a picking- up device formed in accordance with the present invention
- Figure 2 is a perspective view showing a detail of the apparatus of Figure 1, on an enlarged scale,
- Figures 3 and 4 are a perspective view and a front elevational view, respectively, of the picking-up device with which the apparatus of Figure 1 is equipped,
- Figures 5 and 6 are a side elevational view and a perspective view, respectively, of a gripper with which the picking-up device of the preceding drawings is equipped,
- Figure 7 is a perspective view of a detail of the device of Figures 5 and 6,
- Figure 8 is a side elevational view of another detail of the device of Figures 5 and 6,
- Figure 9 is a side elevational view of a further detail constituting alternative equipment of the gripper of Figures 5 and 6, and
- Figures 10 to 12 are schematic views of the device of the invention in different operative stages. Preferred method of implementing the invention
- 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 ack 22.
- the secon ⁇ aw 16 is covered by a resilient pad 25 ana, in the embodiment illustrated, has a substantially square shape in plan.
- the first aw 15 comprises a forc-shape ⁇ support 27 between prongs 27a, 27b and a base 28 of which an approximately square aperture 29 is formed ana houses the first gripping member 13, preferably m a releasable, replaceable manner.
- the first gripping memoer 13 is, interchangeably, a pneumatic suction device 30 or a mechanical gripping device 33, for example, witn needles, with an adhesive surface, or covered with hooks sucn as those typically present m pull fastenings of the type known by the registered tra ⁇ e 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 towar ⁇ s the aperture 29, by means of a ack actuator 32, between an operative position m which tne active surface of the device 33 is at the level of the lower surfaces of the prongs 27a, 27b and a detacnment position of the device 33 m 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.
- 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 f it is supplemented by the surface of the first gripper, so that even the most delicate fabrics can be manipulated witn complete safety and with relatively low closure pressures cetween the aws.
- the mechanical gripping device 33 continues the desired movement by means of the ack 32, possibly with the subjection of tne mechanical wrist 6 to a rotary-translational movement resulting n a rotary-translational movement of the two grippers 12, favouring the spontaneous detachment of the piece 50 from the offcut 51 without causing un ⁇ esired 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 tne geometry of the cut piece.
- the pickmg-up device is adaptable to various materials and different geometries by virtue of the mtercnangeability of the first gripping members and of the wide adaptability of the second gripping members,
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)
- Absorbent Articles And Supports Therefor (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
- Nonwoven Fabrics (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000518905A JP2001521868A (en) | 1997-10-31 | 1998-07-15 | Device for picking up and manipulating sheet-like flexible objects, especially expensive textiles |
AT98932511T ATE211110T1 (en) | 1997-10-31 | 1998-07-15 | DEVICE FOR GRIPPING AND HANDLING FLAT ARCH-LIKE OBJECTS, IN PARTICULAR EXPENSIVE TEXTILE GOODS |
DE69803095T DE69803095T2 (en) | 1997-10-31 | 1998-07-15 | DEVICE FOR GRAPPING AND HANDLING AREA-LIKE OBJECTS, ESPECIALLY thousands of TEXTILE PRODUCTS |
DE1032534T DE1032534T1 (en) | 1997-10-31 | 1998-07-15 | DEVICE FOR GRAPPING AND HANDLING AREA-LIKE OBJECTS, ESPECIALLY TEXTILE PRODUCTS |
AU82413/98A AU8241398A (en) | 1997-10-31 | 1998-07-15 | A device for picking up and manipulating sheet-like, flexible objects, particularly expensive fabrics |
EP98932511A EP1032534B1 (en) | 1997-10-31 | 1998-07-15 | A device for picking up and manipulating sheet-like, flexible objects, particularly expensive fabrics |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IT97GE000089A IT1297700B1 (en) | 1997-10-31 | 1997-10-31 | FLEXIBLE OBJECT TAKING DEVICE. |
ITGE97A000089 | 1997-10-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999023021A1 true WO1999023021A1 (en) | 1999-05-14 |
Family
ID=11355076
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/IT1998/000197 WO1999023021A1 (en) | 1997-10-31 | 1998-07-15 | A device for picking up and manipulating sheet-like, flexible objects, particularly expensive fabrics |
Country Status (9)
Country | Link |
---|---|
EP (1) | EP1032534B1 (en) |
JP (1) | JP2001521868A (en) |
CN (1) | CN1092596C (en) |
AT (1) | ATE211110T1 (en) |
AU (1) | AU8241398A (en) |
DE (2) | DE69803095T2 (en) |
ES (1) | ES2152194T3 (en) |
IT (1) | IT1297700B1 (en) |
WO (1) | WO1999023021A1 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2001025011A1 (en) * | 1999-10-05 | 2001-04-12 | M & R Printing Equipment, Inc. | Method and apparatus for the automatic loading of a article onto a printing machine |
EP1052206A3 (en) * | 1999-05-07 | 2002-01-02 | TAI Tecnologia Automazione Innovazione S.p.a. | A process for the peeling of a sheet from a stack of sheets for laminated glazings, and apparatus therefor |
WO2019223891A1 (en) * | 2018-05-23 | 2019-11-28 | Olbrich Gmbh | Gripper assembly for lifting a flexible semi-finished product from a support, and a corresponding method |
US10618180B2 (en) | 2017-03-24 | 2020-04-14 | All4One S.R.L. | Gripping device, and apparatus for loading/unloading slab materials comprising said device |
CN111448030A (en) * | 2017-12-14 | 2020-07-24 | 托莫逻辑股份公司 | Method and system for processing beam cut portions by providing a holder |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2368983B1 (en) * | 2010-02-15 | 2012-08-08 | Trabajos Catastrales, S.A. | AUTOMATIC FEEDER FOR SCANNER. |
DE102015200503A1 (en) * | 2015-01-15 | 2016-07-21 | Bayerische Motoren Werke Aktiengesellschaft | Gripping device and method for handling a fiber mat |
CN105113146B (en) * | 2015-09-02 | 2016-09-28 | 宁波舒普机电股份有限公司 | A kind of mechanical arm for capturing sewing |
CN105110043B (en) * | 2015-10-14 | 2017-11-03 | 广东溢达纺织有限公司 | Sewing piece separating mechanism |
CN105196163B (en) * | 2015-10-20 | 2018-04-10 | 上海方格自动化系统有限公司 | Wiper joint fixture integrated |
CN106865305B (en) * | 2017-04-27 | 2019-02-15 | 无锡百立德自动化有限公司 | High frequency start-stop trailer system |
CN108482774B (en) * | 2018-03-28 | 2021-05-18 | 泉州市创达机械制造有限公司 | Automatic stacking device for wet tissues |
IT201900002695A1 (en) * | 2019-02-26 | 2020-08-26 | Ima Spa | ROBOTIZED HANDLING ASSEMBLY. |
CN110589596B (en) * | 2019-08-28 | 2024-04-30 | 广东溢达纺织有限公司 | Cut-part folding equipment, material taking device thereof and cut-part folding method |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4287459A (en) * | 1978-11-27 | 1981-09-01 | Asea Aktiebolag | Method for generating a pattern by means of an industrial robot and industrial robot for carrying out the method |
JPS61101343A (en) * | 1984-10-24 | 1986-05-20 | Tokyo Juki Ind Co Ltd | Method and apparatus for conveying stretched cloth |
US5284334A (en) * | 1992-04-01 | 1994-02-08 | Minolta Camera Kabushiki Kaisha | Sheet feeding device |
EP0659666A1 (en) * | 1993-12-21 | 1995-06-28 | Central Glass Company, Limited | Method and apparatus for manipulating film |
-
1997
- 1997-10-31 IT IT97GE000089A patent/IT1297700B1/en active IP Right Grant
-
1998
- 1998-07-15 WO PCT/IT1998/000197 patent/WO1999023021A1/en active IP Right Grant
- 1998-07-15 DE DE69803095T patent/DE69803095T2/en not_active Expired - Fee Related
- 1998-07-15 DE DE1032534T patent/DE1032534T1/en active Pending
- 1998-07-15 AU AU82413/98A patent/AU8241398A/en not_active Abandoned
- 1998-07-15 AT AT98932511T patent/ATE211110T1/en not_active IP Right Cessation
- 1998-07-15 JP JP2000518905A patent/JP2001521868A/en active Pending
- 1998-07-15 CN CN98810860A patent/CN1092596C/en not_active Expired - Fee Related
- 1998-07-15 EP EP98932511A patent/EP1032534B1/en not_active Expired - Lifetime
- 1998-07-15 ES ES98932511T patent/ES2152194T3/en not_active Expired - Lifetime
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4287459A (en) * | 1978-11-27 | 1981-09-01 | Asea Aktiebolag | Method for generating a pattern by means of an industrial robot and industrial robot for carrying out the method |
JPS61101343A (en) * | 1984-10-24 | 1986-05-20 | Tokyo Juki Ind Co Ltd | Method and apparatus for conveying stretched cloth |
US5284334A (en) * | 1992-04-01 | 1994-02-08 | Minolta Camera Kabushiki Kaisha | Sheet feeding device |
EP0659666A1 (en) * | 1993-12-21 | 1995-06-28 | Central Glass Company, Limited | Method and apparatus for manipulating film |
Non-Patent Citations (1)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 010, no. 281 (M - 520) 25 September 1986 (1986-09-25) * |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1052206A3 (en) * | 1999-05-07 | 2002-01-02 | TAI Tecnologia Automazione Innovazione S.p.a. | A process for the peeling of a sheet from a stack of sheets for laminated glazings, and apparatus therefor |
WO2001025011A1 (en) * | 1999-10-05 | 2001-04-12 | M & R Printing Equipment, Inc. | Method and apparatus for the automatic loading of a article onto a printing machine |
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 |
US10618180B2 (en) | 2017-03-24 | 2020-04-14 | All4One S.R.L. | Gripping device, and apparatus for loading/unloading slab materials comprising said device |
CN111448030A (en) * | 2017-12-14 | 2020-07-24 | 托莫逻辑股份公司 | Method and system for processing beam cut portions by providing a holder |
EP3723936B1 (en) * | 2017-12-14 | 2022-07-20 | Tomologic AB | Method of and system for handling beam-cut parts by the provision of a gripper |
US11752624B2 (en) | 2017-12-14 | 2023-09-12 | Tomologic Ab | Method and a system for handling beam-cut parts by the provision of a gripper |
WO2019223891A1 (en) * | 2018-05-23 | 2019-11-28 | Olbrich Gmbh | Gripper assembly for lifting a flexible semi-finished product from a support, and a corresponding method |
US11453563B2 (en) | 2018-05-23 | 2022-09-27 | Olbrich Gmbh | Gripper assembly for lifting a flexible semi-finished product from a support, and a corresponding method |
Also Published As
Publication number | Publication date |
---|---|
AU8241398A (en) | 1999-05-24 |
EP1032534A1 (en) | 2000-09-06 |
ES2152194T1 (en) | 2001-02-01 |
ATE211110T1 (en) | 2002-01-15 |
DE69803095D1 (en) | 2002-01-31 |
DE69803095T2 (en) | 2002-08-14 |
CN1278230A (en) | 2000-12-27 |
ES2152194T3 (en) | 2002-08-01 |
CN1092596C (en) | 2002-10-16 |
ITGE970089A0 (en) | 1997-10-31 |
ITGE970089A1 (en) | 1999-05-01 |
EP1032534B1 (en) | 2001-12-19 |
JP2001521868A (en) | 2001-11-13 |
DE1032534T1 (en) | 2001-05-23 |
IT1297700B1 (en) | 1999-12-20 |
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