WO2011158100A1 - Dispositif de préhension perfectionné pour systèmes robotisés, notamment pour palettiser des produits ou paquets - Google Patents

Dispositif de préhension perfectionné pour systèmes robotisés, notamment pour palettiser des produits ou paquets Download PDF

Info

Publication number
WO2011158100A1
WO2011158100A1 PCT/IB2011/001356 IB2011001356W WO2011158100A1 WO 2011158100 A1 WO2011158100 A1 WO 2011158100A1 IB 2011001356 W IB2011001356 W IB 2011001356W WO 2011158100 A1 WO2011158100 A1 WO 2011158100A1
Authority
WO
WIPO (PCT)
Prior art keywords
moving
grippers
fact
electric motor
supporting structure
Prior art date
Application number
PCT/IB2011/001356
Other languages
English (en)
Inventor
Luciano Passoni
Original Assignee
Sir S.P.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sir S.P.A. filed Critical Sir S.P.A.
Priority to EP11743610.5A priority Critical patent/EP2582603A1/fr
Publication of WO2011158100A1 publication Critical patent/WO2011158100A1/fr

Links

Classifications

    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads

Definitions

  • the present invention relates to an upgraded prehensile device for robotized systems, usable in particular for palletizing products or packs of products.
  • robotized systems such as anthropomorphic robots, having suitable prehensile devices, suitably made for picking up and handling one or more products or packs of different sizes.
  • anthropomorphic robots are used in a palletizing station located e.g. at the outfeed of a product boxing line.
  • the robot picks up an empty pallet from the relative station and arranges it inside the station dedicated to palletizing.
  • the robot picks up the single products or packs of products and arranges them along one or more rows on the pallet.
  • the pallets so arranged can be subsequently moved away in an automated way or picked up by an operator using a fork-lift truck or the like.
  • One type of prehensile device usable in particular for palletizing products or packs of products, commonly comprises:
  • Each of the grippers has a pair of jaws, moving between an opening configuration, wherein these are aligned with one another, and a closing configuration, wherein they are substantially close to one another.
  • the grippers furthermore, can be translated on the supporting structure moving closer to/away from one another, so as to allow picking up a large-size pack or the simultaneous picking up of several packs.
  • the prehensile devices of known type can have a pair of supplementary jaws which can be used to grip empty pallets, hinged to the supporting structure and which can be turned between a raised position and a lowered position.
  • the main aim of the present invention is to provide an upgraded prehensile device for robotized systems, in particular for palletizing products or packs of products, which allows more precise movements for a better grip control.
  • Another object of the present invention is to provide a prehensile device for robotized systems which is simpler and has a nicer appearance.
  • each of said grippers has at least a pair of jaws, moving between an opening configuration, wherein they are moved away from one another, and a closing configuration, wherein they are substantially close to one another;
  • At least one of said grippers is moving on said supporting structure along a direction of moving closer and/or moving away from the other of said grippers;
  • figure 1 is a plan view of an embodiment of a palletising station in which the prehensile device according to the invention is usable;
  • figure 2 is an axonometric view of the prehensile device according to the invention fitted on a robotized anthropomorphic arm;
  • figure 3 is a front view of the prehensile device according to the invention.
  • figure 5 is a rear view of the prehensile device according to the invention, with the two grippers moved away from each other and the supplementary jaws in the raised position;
  • figure 6 is a rear view of the prehensile device according to the invention, with the two grippers moved close to each other and the supplementary jaws in the lowered position;
  • figure 7 is a plan view from above of the prehensile device according to the invention.
  • figure 8 is a section view of the prehensile device according to the invention along the VIII- VIII section plane of figure 7;
  • the device 1 can be installed on a robotized system of the type of a robotized anthropomorphic arm and can be used to palletize packs P of products packed in boxes or the like.
  • the installation of the device 1 on different robotised systems and its being used for other purposes cannot however be ruled out.
  • the figure 1 shows a possible palletizing station for packs of products packed in boxes.
  • the robotized arm A by means of the device 1, picks up an empty pallet from the relative first station C and positions it inside the third or fourth palletising stations E or F.
  • the robotised arm A picks up an interleaf from the relative second station D and positions it on the pallet.
  • the robotized arm A picks up another interleaf and positions it on the packs P.
  • FIG. 2 schematically shows the robotised arm A, on which is fitted the device 1, during the picking up of a pair of packs P from the conveyor B.
  • the device 1 comprises a supporting structure 2 which, in the particular embodiment shown in the illustrations, consists of a metal frame with a substantially overturned T shape.
  • the device 1 also has fastening means 3 of the conventional type, made in correspondence to the upper portion of the supporting structure 2 and suitable for fastening and connecting, electrically and electronically, the device 1 to the free extremity of the robotized arm A.
  • the fastening means 3 are composed of quick coupling and release means.
  • the device 1 comprises two grippers 4 which are associated in correspondence to the lower portion of the supporting structure 2, aligned with one another and usable for picking up a large-size pack P or for the simultaneous pickup of two, three, four or more packs P of smaller dimensions. It is pointed out that, in this description, by “upper” or “lower” reference is made to the common arrangement of the device 1 when this is used to pick up packs P from above, with the grippers 4 suitable for tightening on the two opposite walls of the packs themselves.
  • Each of the grippers 4 has a pair of jaws 5, composed of vertical blades, which are moving along a first and a second axis Al and A2 respectively between:
  • both the grippers 4 are moving on the supporting structure 2 along a direction of moving closer and/or moving away, shown in the illustrations with the third axis A3.
  • the relative position between the two grippers 4 can be changed by translating the grippers themselves along the direction of moving closer and/or moving away A3, so as to allow picking up packs P of different dimensions or also the simultaneous pickup of two, three, four or more packs.
  • the maximum and minimum distance positions between the two grippers 4 are shown in the figures 5 and 6 respectively.
  • the device 1 comprises a pair of supplementary jaws 6, associated with the supporting structure 2, rotating between a raised position and a lowered position and usable to grip the empty pallets.
  • the supplementary jaws 6 are provided, in correspondence to the free extremities, with respective pairs of suction cups 8, connected to a suitable extraction circuit 9 and usable to pick up the interleaves to be positioned between one layer of packs P and the next.
  • the device 1 according to the invention comprises motor means of the electric type which are suitable for:
  • first driving shaft 15 housed axially rotating inside the carrying element 12 and having a first portion 15a and a second portion 15b substantially opposite one another, both threaded and with opposite threading direction the one with respect to the other;
  • first pulley 16 associated integral with the shaft of the first electric motor 10
  • second pulley 17 associated integral with an extremity of the first driving shaft 15 and a first belt 18 for connecting the first and the second pulley 16 and 17;
  • the first electric motor 10 thus controls the rotation of the first driving shaft 15, moving horizontally the first nut screws 19 relatively close to or away from one another (along the first axis Al or the second axis A2) and thereby regulating the position of the two jaws 5.
  • the first electric motor 10 is composed of an electric servomotor.
  • the use of the first electric motor 10, together with the first driving shaft 15 and with the pair of first nut screws 19, allows the fine adjustment of the position of the two jaws 5 and the gentler movements of the jaws themselves.
  • the motor means also comprise a second electric motor 20 which is suitable for moving the grippers 4 along the direction of moving closer and/or moving away A3.
  • the device 1 comprises second transformation means, indicated altogether by the reference 21, which are suitable for transforming the rotary movement produced by the second electric motor into the translational movement of both the grippers 4 along the direction A3.
  • the second transformation means 21 comprise driving means of the screw-nut screw type which use, e.g., a system with re-circulating ball screw. Different embodiments of the second transformation means 21 cannot however be ruled out.
  • the device 1 comprises a pair of trolleys 22 for supporting the grippers 4, supported sliding along the direction of moving closer and/or moving away A3 on second rectilinear guide means 23, of the type of a suitably profiled bar or the like, which extend longitudinally along the lower portion of the supporting structure 2.
  • the second electric motor 20 is fastened to a protruding lateral portion of the supporting structure 2 and the second transformation means 21 comprise:
  • a second driving shaft 24 associated axially rotating along the lower portion of the supporting structure 2 and having a first portion 24a and a second portion 24b substantially opposite one another, both threaded and with opposite threading direction the one with respect to the other;
  • the third electric motor 29 is made up of an electric servomotor.
  • the use of the third electric motor 29, together with the belt driving means allows the fine adjustment of the position of the two supplementary jaws 6 and gentler movements of the supplementary jaws themselves.
  • the device 1 also has a pair of pads 39, of the conventional type, which can be translated horizontally along the supporting structure 2 and moving vertically, usable to favour the detachment of the packs P from the device itself after the opening of the grippers 4.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un dispositif de préhension perfectionné (1) destiné à des systèmes robotisés, notamment pour palettiser des produits ou des paquets de produits. Ce dispositif comprend une structure porteuse (2), un moyen de fixation (3) associé d'une seule pièce à la structure porteuse (2) et pouvant être associé à un système robotisé (A), deux éléments de préhension (4) associés à la structure porteuse (2), chacun des éléments de préhension (4) comprenant une paire de mâchoires (5), se déplaçant entre une configuration d'ouverture, dans laquelle elles se déplacent en s'écartant l'une de l'autre, et une configuration de fermeture, dans laquelle elles sont sensiblement proches l'une de l'autre et dans laquelle au moins l'un des éléments de préhension (4) se déplace sur la structure porteuse (2) suivant une direction permettant de se rapprocher et/ou de s'éloigner (A3) de l'autre élément de préhension (4), et une paire de mâchoires supplémentaires (6) associées à la structure porteuse (2) et tournant entre une position élevée et une position abaissée. Le dispositif (1) comprend un moyen formant moteur (10, 20, 29) du type électrique pour déplacer les éléments de préhension (4) entre la configuration d'ouverture et la configuration de fermeture, et pour déplacer au moins l'un des éléments de préhension (4) suivant la direction permettant de se rapprocher et/ou de s'éloigner (A3) et pour déplacer les mâchoires supplémentaires (6) entre la position élevée et la position abaissée.
PCT/IB2011/001356 2010-06-17 2011-06-16 Dispositif de préhension perfectionné pour systèmes robotisés, notamment pour palettiser des produits ou paquets WO2011158100A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11743610.5A EP2582603A1 (fr) 2010-06-17 2011-06-16 Dispositif de préhension perfectionné pour systèmes robotisés, notamment pour palettiser des produits ou paquets

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT000181A ITMO20100181A1 (it) 2010-06-17 2010-06-17 Dispositivo prensile perfezionato per sistemi robotizzati, in particolare per la pallettizzazione di prodotti o pacchi di prodotti
ITMO2010A000181 2010-06-17

Publications (1)

Publication Number Publication Date
WO2011158100A1 true WO2011158100A1 (fr) 2011-12-22

Family

ID=43533219

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2011/001356 WO2011158100A1 (fr) 2010-06-17 2011-06-16 Dispositif de préhension perfectionné pour systèmes robotisés, notamment pour palettiser des produits ou paquets

Country Status (3)

Country Link
EP (1) EP2582603A1 (fr)
IT (1) ITMO20100181A1 (fr)
WO (1) WO2011158100A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103204366A (zh) * 2013-04-18 2013-07-17 岳强 基于新型码垛机器人的输送系统
WO2017181254A1 (fr) * 2016-04-20 2017-10-26 Rebelato Moacir Jose Système dynamique et intégré pour la congélation en deux étapes de produits périssables
EP3450359A1 (fr) * 2017-08-30 2019-03-06 Krones Aktiengesellschaft Dispositif et procédé de manipulation d'au moins une rangée de marchandises en mouvement les unes derrière les autres
NL2022972A (en) * 2018-04-18 2019-10-23 Barry Wehmiller Inc Palletizer apparatus having improved gripper mechanism
KR20200134646A (ko) * 2019-05-23 2020-12-02 다인시스템주식회사 원통 포장 장치
EP3744485A1 (fr) * 2019-05-27 2020-12-02 Pflüger Präzision GmbH Préhenseur de jantes
CN113351779A (zh) * 2020-03-03 2021-09-07 富鼎电子科技(嘉善)有限公司 冲压辅助系统及冲压生产线

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022104478A1 (de) * 2022-02-24 2023-08-24 Masterwork Group Co., Ltd. Depalettiersystem

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3232410A (en) * 1961-10-31 1966-02-01 Woodfield Bennett Ltd Mechanical handling apparatus
DE2733985A1 (de) * 1977-07-28 1979-02-08 Enzinger Union Werke Ag Be- und entpalettiervorrichtung fuer kreiszylindrische behaelter, insbesondere faesser, in stehendanordnung mit zwischenpaletten
GB2118129A (en) * 1982-04-08 1983-10-26 Aida Eng Ltd Conveying device for press work materials
JPS6317732A (ja) * 1986-07-07 1988-01-25 Okura Yusoki Co Ltd パレツト荷積み装置
US5199845A (en) * 1990-04-19 1993-04-06 Nitto Kohki Co., Ltd. Article handling machine
US6082080A (en) * 1998-10-15 2000-07-04 Abb Flexible Automation, Inc. Device for mechanically grasping and palletizing rectangular objects
EP1293307A2 (fr) * 2001-07-11 2003-03-19 Studio Tecnico Commerciale Morelli & C. S.a.s. Procédé et dispositif pour le fonctionnment d'un dispositif de serrage dans des manipulateurs automatiques
US20070248446A1 (en) * 2006-04-25 2007-10-25 Wildner Jay R Multifunction manipulator for palletizing bagged material

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3232410A (en) * 1961-10-31 1966-02-01 Woodfield Bennett Ltd Mechanical handling apparatus
DE2733985A1 (de) * 1977-07-28 1979-02-08 Enzinger Union Werke Ag Be- und entpalettiervorrichtung fuer kreiszylindrische behaelter, insbesondere faesser, in stehendanordnung mit zwischenpaletten
GB2118129A (en) * 1982-04-08 1983-10-26 Aida Eng Ltd Conveying device for press work materials
JPS6317732A (ja) * 1986-07-07 1988-01-25 Okura Yusoki Co Ltd パレツト荷積み装置
US5199845A (en) * 1990-04-19 1993-04-06 Nitto Kohki Co., Ltd. Article handling machine
US6082080A (en) * 1998-10-15 2000-07-04 Abb Flexible Automation, Inc. Device for mechanically grasping and palletizing rectangular objects
EP1293307A2 (fr) * 2001-07-11 2003-03-19 Studio Tecnico Commerciale Morelli & C. S.a.s. Procédé et dispositif pour le fonctionnment d'un dispositif de serrage dans des manipulateurs automatiques
US20070248446A1 (en) * 2006-04-25 2007-10-25 Wildner Jay R Multifunction manipulator for palletizing bagged material

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103204366A (zh) * 2013-04-18 2013-07-17 岳强 基于新型码垛机器人的输送系统
WO2017181254A1 (fr) * 2016-04-20 2017-10-26 Rebelato Moacir Jose Système dynamique et intégré pour la congélation en deux étapes de produits périssables
EP3450359A1 (fr) * 2017-08-30 2019-03-06 Krones Aktiengesellschaft Dispositif et procédé de manipulation d'au moins une rangée de marchandises en mouvement les unes derrière les autres
NL2022972A (en) * 2018-04-18 2019-10-23 Barry Wehmiller Inc Palletizer apparatus having improved gripper mechanism
NL2025126A (en) * 2018-04-18 2020-05-01 Barry Wehmiller Inc Palletizer apparatus having improved gripper mechanism
EP3781368A4 (fr) * 2018-04-18 2022-02-16 Hudson-Sharp Machine Company Appareil de palettisation ayant un mécanisme de préhension amélioré
US11332326B2 (en) 2018-04-18 2022-05-17 Barry-Wehmiller, Inc. Palletizer apparatus having improved gripper mechanism
KR20200134646A (ko) * 2019-05-23 2020-12-02 다인시스템주식회사 원통 포장 장치
KR102334289B1 (ko) * 2019-05-23 2021-12-03 다인시스템주식회사 원통 포장 장치
EP3744485A1 (fr) * 2019-05-27 2020-12-02 Pflüger Präzision GmbH Préhenseur de jantes
CN113351779A (zh) * 2020-03-03 2021-09-07 富鼎电子科技(嘉善)有限公司 冲压辅助系统及冲压生产线

Also Published As

Publication number Publication date
EP2582603A1 (fr) 2013-04-24
ITMO20100181A1 (it) 2011-12-18

Similar Documents

Publication Publication Date Title
EP2582603A1 (fr) Dispositif de préhension perfectionné pour systèmes robotisés, notamment pour palettiser des produits ou paquets
US9701490B2 (en) Method and tool for palletizing mixed load products
US6658816B1 (en) Bulk palletizer system
AU659958B2 (en) A palletizer
CN107826780B (zh) 一种拆垛设备
CN103129766B (zh) 一种瓷砖全自动包装生产线
JP7127830B2 (ja) パレタイザ用ハンド、パレタイザシステム、及び、デパレ・パレタイジング方法
US20150217359A1 (en) Stacking Line System And Method For Stacking Blanks Outputted From A Blanking Shear Or Press
US7134833B2 (en) Servo adjustable gripper device
CN210022892U (zh) 一种自适应抓取物流分拣系统
CN102815426B (zh) 瓶包分离机
CN115158735B (zh) 一种机器人装箱机及装箱方法
EP1707513B2 (fr) Procédé et dispositif pour transférer des objets d'un premier convoyeur à un deuxième
CN103523523A (zh) 自动排坯机
CN104044008A (zh) 工件转运装置
CN114803015A (zh) 一种撕除顶膜装置和拆除外包装生产线
CN210526962U (zh) 一种装盒装箱生产线
CN217321073U (zh) 一种撕除顶膜装置和拆除外包装生产线
ITFR20150008A1 (it) Macchina automatica inscatolatrice di oggetti disposti su piu' file.
CN212798698U (zh) 单立柱机器人码垛机
CN111099373B (zh) 一种宽适应性旋转编组机
KR101574569B1 (ko) 가공품이 포장된 낱개 포장용기를 이송하기 위한 이송로봇을 구비한 자동화 설비
CN107618162B (zh) 一种注塑模具成品自动脱模下料去料头收集设备
EP3612477B1 (fr) Pince pour couches d'articles
CN110894002B (zh) 一种全自动排版输送装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11743610

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2011743610

Country of ref document: EP