WO2015112018A1 - Unité de préhension permettant de saisir, de soulever, de transporter et de décharger des boîtes - Google Patents

Unité de préhension permettant de saisir, de soulever, de transporter et de décharger des boîtes Download PDF

Info

Publication number
WO2015112018A1
WO2015112018A1 PCT/NL2015/050049 NL2015050049W WO2015112018A1 WO 2015112018 A1 WO2015112018 A1 WO 2015112018A1 NL 2015050049 W NL2015050049 W NL 2015050049W WO 2015112018 A1 WO2015112018 A1 WO 2015112018A1
Authority
WO
WIPO (PCT)
Prior art keywords
box
support plate
gripper
boxes
support
Prior art date
Application number
PCT/NL2015/050049
Other languages
English (en)
Inventor
Eric WEVERS
Gerard Harmelink
Original Assignee
Moba Group B.V.
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 Moba Group B.V. filed Critical Moba Group B.V.
Publication of WO2015112018A1 publication Critical patent/WO2015112018A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • 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

Definitions

  • the present invention relates to a gripper unit for gripping, picking up, transporting, and discharging substantially rectangular folding boxes having bottom dimensions for length and width 1 and b, respectively, wherein the device comprises at least
  • the invention further relates to a method for processing with a gripper substantially rectangular folding boxes having bottom dimensions for length and width 1 and b, respectively, comprising successively
  • the invention further comprises a robot for picking up, transporting, and discharging substantially rectangular folding boxes with a gripper unit attached to a robot arm of the robot, for instance with at least four axes.
  • Grippers of the above type are generally known. In JP 2002128027, such handling of boxes is described, where vertical clamping plates are utilized. Additionally, the plates are faced at their clamping sides to improve clamping.
  • a gripper for picking up egg boxes is described.
  • such egg boxes have a shape that closely conforms to the shape of eggs, and, more particularly, such a box can be regarded as an assembly of egg nests.
  • These egg nests generally have the shape of a truncate pyramid, with the truncate surface as a bottom.
  • These egg boxes are formed as a whole from cardboard or plastic.
  • At pick-up first an egg box is centered by two centering plates and then several carrier pins are rotated about a vertical axis to a point just under a corresponding number of nests, more particularly, the truncate surfaces thereof.
  • a fork lift mechanism is described of which the forks can be slid sideways, i.e. perpendicular to the driving direction, underneath a load. More particularly, this is possible in both directions.
  • Applicant's gripper must be able to reliably process folding boxes, more particularly so-called open top boxes.
  • Such boxes are typically of cardboard, with a bottom comprising interlocking parts, without further lid parts.
  • Such boxes also include boxes that, for instance after setting up, comprise pasted, taped and/or glued bottom parts.
  • these boxes are used as overpack boxes, i.e., in such a box, patterns of smaller packaging units are collected, such as egg boxes of the 2x3, 2x4, etc., types.
  • the weight of such a loaded box is typically between 10 and 30 kilos.
  • manipulator or robot is limited. This means that especially picking up and discharging should not take much space.
  • a holder unit with one or more operable support plates is arranged, whereby at least a single support plate is placed under a box directly after picking up of the box, and thereby takes up a substantially horizontal position, and is moved from under the box just before the box is placed on a supporting surface, the support plate having a supporting length L, preferably -with L > 0.2 1.
  • folding boxes with food products more particularly folding boxes whose bottoms turn slack, for instance due to condensation, can be transported in a highly suitable manner.
  • the gripper unit according to the invention has one or more of the following
  • the support plate comprises telescopically connected parts which can be telescopically slid out and retracted to be moved under the box and from under the box, respectively;
  • the support plate is moved rotationally at least about a vertical axis; that the support plate is moved rotationally at least about a horizontal axis; that such axis at picking up and at placing is moved translationally at least substantially down and up, respectively;
  • a pulley drive is comprised; that during the translational movement an upwardly directed leverage is exerted on the support plate;
  • a guide rod is comprised over which the support plate can be slid and tilted to the horizontal support position mentioned.
  • the method according to the present invention is characterized in that the method further comprises in succession:
  • the method according to the invention preferably has one or more of the following characterizing features:
  • support plate is rotationally and/or translationally moved to, and away from, its support position
  • the support plate is moved telescopically to, and away from, its support position.
  • the invention also relates to a robot to which the gripper is coupled with an operation and make-up as elucidated hereinabove. Due to such a holder unit of compact size, such a robot will be suitably deploy able virtually anywhere.
  • a robot as mentioned is
  • FIGURE 1 shows a schematic side view of a gripper unit with load
  • FIGURE 2 shows a schematic view, chosen in the same direction, of a preferred exemplary embodiment of a part of such a gripper unit
  • FIGURE 3 shows a side view of the gripper unit of FIGURE 2 in the support position, viewed in the direction of arrow A in FIGURE 2,
  • FIGURE 4 shows an isometric side view of the gripper unit of FIGURE 2 with the support plates in a retracted position
  • FIGURE 5 schematically shows an exemplary embodiment of a robot.
  • the drawing shows a non-limitative example of a gripper unit for gripping, picking up, transporting, and discharging angular folding boxes (D).
  • the gripper unit comprises a frame with controllable coupling piece 2 which connects the gripper unit with an operating arm 504 (a part of which is visible in Fig. 1), for example an operating arm 504 of a robot 500 (see Fig. 5).
  • the unit further comprises two oppositely arranged and operable, substantially vertical gripper plates 3a, 3b for gripping and clamping between them (in a respective box engaging area) a box D as mentioned.
  • the gripper unit comprises a holder unit 10, with an operable support plate 11.
  • the support plate 11 is placeable, from a release position, under a box D (at least under an engaging area as mentioned), to take up a substantially horizontal support position under a box D situated in such an area. Further, the support plate 11 is movable from this horizontal support position from under a box D, in particular just before the box is to be placed on a supporting surface.
  • the support plate 11 has a supporting length L, with L > 0.2 1, where 1 represents a length of a box D, measured in the same direction.
  • FIGURE 1 there is shown entirely schematically a gripper unit 1 which clamps between two oppositely arranged gripper plates 3a, 3b a
  • FIGURE 5 An example of such a robot 500, provided with a gripper unit 1, is schematically represented in FIGURE 5.
  • FIGURE 1 shows, likewise entirely schematically, a holder unit 10 according to the present invention.
  • a holder unit 10 on only one side, connected with gripper plate 3a.
  • a support plate 11 can, turning about an axis 12, be moved under the load, here box D, for support during transport thereof.
  • FIGURE 2 there is shown a schematic view, chosen in the same direction, of a preferred exemplary embodiment of a part of such a gripper unit, more particularly the above-mentioned holder unit 10 with drive 100.
  • the drive 100 shown is pneumatic, with a piston housing (i.e. cyhnder) 101, a piston rod 102 (of a piston cooperating with the cylinder), and two pulleys 106, 107 (a drive pulley 106 and transmission pulley 107) with first and second drive belts or toothed belts 104, 105.
  • the piston rod 102 is connected with the first drive belt 104 by means of a belt coupling piece 103, while the second drive belt 105 is connected with the support plate by means of a support plate coupling piece 108.
  • the above-mentioned dimensions and distances L, 1 relating to the box D are also shown.
  • a view of an edge of the plate, plate edge 11a, and a plate rib l ib on the underside of the plate there are further shown a view of an edge of the plate, plate edge 11a, and a plate rib l ib on the underside of the plate. Further, a guide rod 4 secured in the holder unit is represented, over which the support plate 11 is guided and moved, from a hanging position
  • gripper plate 3a there are shown a gripper plate axis 3c and a narrow gripper plate support edge 3d.
  • FIGURE 3 With a side view of the gripper unit of FIGURE 2 in the support position seen in the direction of arrow A in FIGURE 2, it is shown in detail that in this example the drive of the support plate 11 by
  • transmission pulley 107 is divided over two second drive belts 105a, 105b. It can further be seen that the guide rod 4 has guide rod parts 4a, 4b
  • FIGURE 4 shows, from below, an isometric side view of a corner of the gripper unit of FIGURE 2, with the support plates 11 in retracted position. In this release position, the support plate 11 is not located under a box engaging area defined by the two substantially vertical side plates 3a, 3b.
  • the gripper unit 1 For picking up a box D as mentioned above, the gripper unit 1, which is connected via coupling piece 2 to, for example, the arm of a robot, will be moved to a pick-up position, and also into a proper orientation suitable for picking up. Then, the control of the gripper unit 1 is configured such that the gripper plates 3a, 3b are clampingly applied on either side of the box D for thus lifting the box D over at least a small distance. Only if the type of box so necessitates can the box D be supported on at least a single side with just one, or also more support plates 11. To that end, right after the lifting, the support plate 11 is moved under the box D, from a (retracted) release position to a generally horizontal support position.
  • the gripper plate 3a as shown here will be moved about its gripper plate axis 3c, whereby a narrow gripper plate support edge 3d supports the box D as a first support upon lifting, even before support with the support plate 11.
  • a narrow gripper plate support edge 3d supports the box D as a first support upon lifting, even before support with the support plate 11.
  • a few fingers or pins may be utilized.
  • a configuration without such support may be chosen, so that upon gripping and picking up, only plates clamping vertically have to be relied on.
  • the drive 100 is controlled in a manner such that the piston rod 102 in cylinder 101 is moved down whereby, via belt coupling piece 103, the first drive belt 104 is likewise moved down and thereby, via the drive pulley 106, causes the transmission pulley 107 to rotate along.
  • a suitable diameter is chosen for the circumference of the tread of the second drive belt 105 on this transmission pulley 107, this drive belt 105 being connected via support plate coupling piece 108 to plate end 11c of the support plate 11, with the connection running over a freely rotating plate axis l id.
  • a guide rod 4 which supports the support plate 11 in each position thereof, namely, in the support position substantially at the plate end 11c, as is clearly represented in FIGURE 2, and in the retracted position of the support plate, in the position as represented in FIGURE 4.
  • the support plate 11 Upon downward movement of the support plate 11 via the described drive with pulleys 106, 107 and drive belts 104, 105, the support plate 11 is slid over these guide rod parts 4a, 4b to the support position and thereby tilted upward, these parts 4a, 4b functioning as a lever (pivot guide).
  • a ratio of 2 can be chosen for the ratio of the diameters of the transmission pulley 107 and the drive pulley 106, respectively. It will be clear to the skilled person that this choice is closely connected with the distances to be bridged and the time adequate therefor. In this regard, speeds and time durations are determinative of transport times and hence of the maximum transport capacity of such a system.
  • the support plate must have a minimum supporting length L in order for slack bottoms of folding boxes to be supported reliably in operation.
  • a minimum length of 0.2 1 is very suitable, it being noted that in blanks, widths of blank parts on the short side typically extend over such a proportional length.
  • Such a control can be configured in many different ways, for instance with cameras which, through imaging, generate data which are factored into a work program, or, for instance, by incorporating a number of recipes into the software beforehand in order to execute a work program with them. In all cases, partly depending on the scope of the robot, such a work program will allow a limited number of work solutions.
  • the gripper unit according to the present invention is utilized in, or in combination with, a robot 500 because the dimensions of the holder unit have been limited as much as possible, and then, on the one hand, allow the manipulation of this highly suitable support plate and, on the other hand, make use of such a robot in a small space possible.
  • a robot 500 as mentioned is, in particular, a robot with at least four axes, for example a 4-axis robot, known per se, with a number of mutually movable robot parts 501, 502, 503, 504, in particular parts that are rotatable or pivotable relative to each other about axes XI, X2, X3, X4.
  • the robot 500 comprises a base 501 on which a carrier 501a of a first arm 502 is arranged rotatably about a vertical axis XI.
  • the first arm is pivotable, by a bottom end, about a horizontal pivotal axis X2 relative to the carrier 501a.
  • a second arm 503 is coupled by a first end to a top end of the first robot arm 502 so as to be pivotable about a horizontal pivotal axis X3.
  • a robot head or operating arm 504 (which, in this example, holds the gripper unit 1) is coupled to a second end of the robot arm 503 so as to be rotatable about a vertical axis X4.
  • the head/operating arm 504 in this case is in itself rotatable about a horizontal axis relative to the end of the second arm 503.
  • the robot may also be configured in a different manner.
  • the robot (together with a gripper coupled thereto) can be utilized for carrying out a method according to the invention.
  • a substantially horizontal support plate may comprise telescopically connected parts which can be telescopically slid out and retracted to be moved under the box and from under the box, respectively.

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

Abstract

L'invention concerne une unité de préhension (1) et un procédé qui peut être effectué, par exemple, par un système robotisé (500), en particulier pour saisir, soulever, transporter et décharger des boîtes pliantes sensiblement rectangulaires (D) ayant des dimensions de fond pour une longueur et une largeur I et b, respectivement, le dispositif comportant au moins - un cadre avec une pièce d'accouplement contrôlable (2) qui relie l'unité de préhension avec un bras de fonctionnement, par exemple un bras de fonctionnement (502, 503) d'un robot, et - deux plaques de préhension sensiblement verticales disposées et fonctionnant de manière opposée et sensiblement symétrique (3a, 3b) reliées à l'unité de préhension, pour saisir et serrer les boîtes sur deux côtés opposés de celles-ci, une unité de retenue (10) dotée de plaques de support fonctionnelles étant disposée au moins sur un de ces côtés, ce par quoi au moins une seule plaque de support est placée sous une telle boîte directement après la saisie de la boîte, et, de ce fait, prend une position de support sensiblement horizontale, et est déplacée depuis la partie inférieure de la boîte juste avant que la boîte soit placée sur une surface de support, la plaque de support ayant une longueur de support L, avec L > 0,2 I.
PCT/NL2015/050049 2014-01-27 2015-01-26 Unité de préhension permettant de saisir, de soulever, de transporter et de décharger des boîtes WO2015112018A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14000281.7 2014-01-27
EP14000281 2014-01-27

Publications (1)

Publication Number Publication Date
WO2015112018A1 true WO2015112018A1 (fr) 2015-07-30

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106736220A (zh) * 2017-02-16 2017-05-31 珠海格力智能装备有限公司 油汀夹取装置、油汀取放料机器人和油汀焊接设备
CN107934572A (zh) * 2017-12-18 2018-04-20 广东美的智能机器人有限公司 拆垛装置和拆垛机器人
IT202000011065A1 (it) * 2020-05-14 2021-11-14 Sistema e metodo di svuotamento di un cesto
US11707852B1 (en) * 2022-11-04 2023-07-25 Agility Robotics, Inc. Grippers for robotic manipulation of objects and related technology
WO2023163229A1 (fr) * 2022-02-28 2023-08-31 川崎重工業株式会社 Main

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5355860A (en) * 1976-10-27 1978-05-20 Hitachi Ltd Fork device for long material
JPS6471684A (en) * 1987-09-09 1989-03-16 Teijin Seiki Co Ltd Gripper
JPH10146786A (ja) * 1996-11-15 1998-06-02 Daifuku Co Ltd 物品把持装置
JP2002103267A (ja) * 2000-09-28 2002-04-09 Meidensha Corp ロボットハンド

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5355860A (en) * 1976-10-27 1978-05-20 Hitachi Ltd Fork device for long material
JPS6471684A (en) * 1987-09-09 1989-03-16 Teijin Seiki Co Ltd Gripper
JPH10146786A (ja) * 1996-11-15 1998-06-02 Daifuku Co Ltd 物品把持装置
JP2002103267A (ja) * 2000-09-28 2002-04-09 Meidensha Corp ロボットハンド

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106736220A (zh) * 2017-02-16 2017-05-31 珠海格力智能装备有限公司 油汀夹取装置、油汀取放料机器人和油汀焊接设备
CN106736220B (zh) * 2017-02-16 2024-03-08 珠海格力智能装备有限公司 油汀夹取装置、油汀取放料机器人和油汀焊接设备
CN107934572A (zh) * 2017-12-18 2018-04-20 广东美的智能机器人有限公司 拆垛装置和拆垛机器人
CN107934572B (zh) * 2017-12-18 2024-03-01 广东美的智能机器人有限公司 拆垛装置和拆垛机器人
IT202000011065A1 (it) * 2020-05-14 2021-11-14 Sistema e metodo di svuotamento di un cesto
WO2021229489A1 (fr) * 2020-05-14 2021-11-18 Cft Robotics S.R.L. Système et procédé pour vider une boîte
WO2023163229A1 (fr) * 2022-02-28 2023-08-31 川崎重工業株式会社 Main
US11707852B1 (en) * 2022-11-04 2023-07-25 Agility Robotics, Inc. Grippers for robotic manipulation of objects and related technology

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