WO2016148618A1 - Procédé de préhension d'une pile supérieure de substrats flexibles au moyen d'éléments de préhension d'un robot à deux bras - Google Patents

Procédé de préhension d'une pile supérieure de substrats flexibles au moyen d'éléments de préhension d'un robot à deux bras Download PDF

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Publication number
WO2016148618A1
WO2016148618A1 PCT/SE2015/050319 SE2015050319W WO2016148618A1 WO 2016148618 A1 WO2016148618 A1 WO 2016148618A1 SE 2015050319 W SE2015050319 W SE 2015050319W WO 2016148618 A1 WO2016148618 A1 WO 2016148618A1
Authority
WO
WIPO (PCT)
Prior art keywords
pile
grippers
substrate
topography
substrate pile
Prior art date
Application number
PCT/SE2015/050319
Other languages
English (en)
Inventor
Bo GENEFKE
Original Assignee
Yaskawa Nordic Ab
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 Yaskawa Nordic Ab filed Critical Yaskawa Nordic Ab
Priority to PCT/SE2015/050319 priority Critical patent/WO2016148618A1/fr
Publication of WO2016148618A1 publication Critical patent/WO2016148618A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • 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
    • B65H3/32—Separating articles from piles by elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile
    • B65H3/322—Separating articles from piles by elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile for separating a part of the pile, i.e. several articles at once

Definitions

  • a stack being incorrectly gripped by said pair of grippers can lead to quality problems downstream an aeration step as well, such as a cutting step.
  • a cutting step In such a step the correct number or proper alignment of substrates in a stack to be cut is vital for quality, which an incorrectly assembled or gripped stack is prone to impede.
  • an object of the invention is to create a method eliminating or at least mitigating the above quality related problems.
  • Fig. 1 is a perspective view showing a two-arm robot behind a first pile of flexible substrates
  • Fig. 4 is a perspective view showing the two-arm robot from behind when gripping a stack of flexible substrates.
  • Each gripper 6, 7 comprises an upper finger 8, 9 and a lower finger 10, 1 1 , respectively, the upper 8, 9 and lower 10, 1 1 fingers being movable towards or away from each other in order to grip or release items.
  • a plurality of flexible substrates 12 are laid out in a pile 13, their flexibility can cause a top 13' of the pile 13 to deviate considerably from an all flat shape, especially if each substrate 12 bears a print not covering the entire substrate 12, or if the support 14 does not support the pile 13 evenly.
  • the result of this is illustrated in figs. 1 -3 by means of a first, a second and a third pile 13, respectively, all three deviating from a strictly parallelepipedic shape.
  • the first pile 13 of fig. 1 has a convex top 13'
  • the second pile 13 of fig. 2 a concave top 13'
  • the third pile 13 of fig. 3 an undulated top 13'.
  • grippers 6, 7 are while measuring moved above the pile 13 in order scan a topography of the pile 13 by gathering outline data and top contour data of the pile 13. This is done most effectively by moving the grippers 6, 7 in parallel and by having their sensors 16, 17 scan the
  • the topography information is used to place the grippers 6, 7 in front of and close to a side 13" of the pile 13. Then a first lower finger, such as the lower finger 10 of the gripper 6, is inserted below a bottom substrate 12 of a future stack 15 at a pile height determined by means of said topography and the desired stack size or thickness, while the corresponding upper finger, such as the upper finger 8 of the gripper 6, is placed above a top substrate 12 of the pile 13.
  • the next step according to the method of the invention is again to use the topography information to move at least one of the inserted lower fingers 10, 1 1 along the side 13" of the pile 13, such that spaced apart positions according to fig. 4 are achieved for the grippers 6, 7. While moving a lower finger 10, 1 1 the gripper 6, 7 involved does not necessarily have to follow a straight horizontal line, but can deviate upwards or downwards in
  • the light emitted by the sensors of the grippers 6, 7 can be light visible by humans.
  • a clearly visible pattern such as simple dots 20, 21 , can be projected downwards in order to assist an operator to place a substrate pile 13 correctly in front of said two-arm robot 1 .

Landscapes

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

Abstract

L'invention concerne un procédé de préhension d'une pile supérieure (15) de substrats flexibles (12) agencés en une pile de substrats (13) au moyen de deux éléments de préhension (6, 7) disposés sur un robot à deux bras (1). Le procédé comprend les étapes consistant à : balayer une topographie de ladite pile de substrats (13) au moyen d'un capteur (16, 17) disposé sur un desdits éléments de préhension (6, 7) afin de rassembler des données du contour et des données du contour supérieur de ladite pile de substrats (13) ; insérer un premier doigt inférieur (10, 11) d'un premier élément de préhension (6, 7) au-dessous dudit substrat inférieur (12) au niveau d'un emplacement de pile déterminé au moyen de ladite topographie ; insérer un second doigt inférieur (10, 11) d'un second élément de préhension (6, 7) le long du premier doigt inséré (10, 11) ; déplacer au moins un des doigts inférieurs insérés (10, 11) le long de ladite pile de substrats (13), sur un trajet déterminé au moyen de ladite topographie, jusqu'en une position de préhension finale ; et éventuellement saisir la pile supérieure (15) ainsi déterminée avec les deux éléments de préhension (6, 7).
PCT/SE2015/050319 2015-03-19 2015-03-19 Procédé de préhension d'une pile supérieure de substrats flexibles au moyen d'éléments de préhension d'un robot à deux bras WO2016148618A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/SE2015/050319 WO2016148618A1 (fr) 2015-03-19 2015-03-19 Procédé de préhension d'une pile supérieure de substrats flexibles au moyen d'éléments de préhension d'un robot à deux bras

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SE2015/050319 WO2016148618A1 (fr) 2015-03-19 2015-03-19 Procédé de préhension d'une pile supérieure de substrats flexibles au moyen d'éléments de préhension d'un robot à deux bras

Publications (1)

Publication Number Publication Date
WO2016148618A1 true WO2016148618A1 (fr) 2016-09-22

Family

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Family Applications (1)

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PCT/SE2015/050319 WO2016148618A1 (fr) 2015-03-19 2015-03-19 Procédé de préhension d'une pile supérieure de substrats flexibles au moyen d'éléments de préhension d'un robot à deux bras

Country Status (1)

Country Link
WO (1) WO2016148618A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019116301A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102019116304A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102019116302A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102019116306A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
EP3865436A1 (fr) * 2020-02-11 2021-08-18 Heidelberger Druckmaschinen AG Procédé de déplacement d'un empilement de produits à l'aide d'un robot
DE102021109504A1 (de) 2021-04-15 2022-10-20 Baumann Maschinenbau Solms Gmbh & Co.Kg Vorrichtung und Verfahren zum Handhaben eines Stapels

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1365750A (en) * 1971-07-09 1974-09-04 Mohr R Apparatus for loading and unloading stacks of laminar materials
DE2649959A1 (de) * 1976-10-30 1978-05-03 Mohr Vorrichtung zur uebergabe eines teilstapels bedruckter boegen von einem gesamtstapel in eine ruettelstation
DE2723162A1 (de) * 1977-05-23 1978-11-30 Mohr Vorrichtung zur uebergabe eines teilstapels bedruckter boegen von einem gesamtstapel in eine ruettelstation
US4911608A (en) * 1987-06-03 1990-03-27 B. A. T. Cigarettenfabriken Device for lifting at least one material stack
US20040022619A1 (en) * 2000-06-16 2004-02-05 Mario Spatafora Method and device for picking up stacks of blanks
US20050230899A1 (en) * 2004-04-08 2005-10-20 Kpl Packaging S.P.A. Method and unit for selecting and separating reams from a stack of sheets of paper or similar materials
US20050230897A1 (en) * 2004-04-08 2005-10-20 Kpl Packaging S.P.A. Unit for selecting and separating reams from a stack of sheets of paper or similar materials
EP1593627A2 (fr) * 2004-05-05 2005-11-09 Baumann Maschinenbau Solms GmbH & Co. KG Dispositif pour automatiquement débiter des piles de matériau en feuilles, en particulier des piles de papier
WO2012069056A1 (fr) * 2010-11-22 2012-05-31 Industrial Robot Automation Manipulation et aération automatiques d'un empilement de feuilles de papier

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1365750A (en) * 1971-07-09 1974-09-04 Mohr R Apparatus for loading and unloading stacks of laminar materials
DE2649959A1 (de) * 1976-10-30 1978-05-03 Mohr Vorrichtung zur uebergabe eines teilstapels bedruckter boegen von einem gesamtstapel in eine ruettelstation
DE2723162A1 (de) * 1977-05-23 1978-11-30 Mohr Vorrichtung zur uebergabe eines teilstapels bedruckter boegen von einem gesamtstapel in eine ruettelstation
US4911608A (en) * 1987-06-03 1990-03-27 B. A. T. Cigarettenfabriken Device for lifting at least one material stack
US20040022619A1 (en) * 2000-06-16 2004-02-05 Mario Spatafora Method and device for picking up stacks of blanks
US20050230899A1 (en) * 2004-04-08 2005-10-20 Kpl Packaging S.P.A. Method and unit for selecting and separating reams from a stack of sheets of paper or similar materials
US20050230897A1 (en) * 2004-04-08 2005-10-20 Kpl Packaging S.P.A. Unit for selecting and separating reams from a stack of sheets of paper or similar materials
EP1593627A2 (fr) * 2004-05-05 2005-11-09 Baumann Maschinenbau Solms GmbH & Co. KG Dispositif pour automatiquement débiter des piles de matériau en feuilles, en particulier des piles de papier
WO2012069056A1 (fr) * 2010-11-22 2012-05-31 Industrial Robot Automation Manipulation et aération automatiques d'un empilement de feuilles de papier

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019116301A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102019116304A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
WO2020249350A1 (fr) 2019-06-14 2020-12-17 Koenig & Bauer Ag Système de manipulation de substrats avec cellule de robot et son procédé d'utilisation
DE102019116302A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102019116306A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
CN113840789A (zh) * 2019-06-14 2021-12-24 柯尼格及包尔公开股份有限公司 具有机器人单元的基材处理系统及其运行方法
US11485594B2 (en) 2019-06-14 2022-11-01 Koenig & Bauer Ag Substrate handling system comprising a robot cell and method for operating the same
EP3865436A1 (fr) * 2020-02-11 2021-08-18 Heidelberger Druckmaschinen AG Procédé de déplacement d'un empilement de produits à l'aide d'un robot
DE102021109504A1 (de) 2021-04-15 2022-10-20 Baumann Maschinenbau Solms Gmbh & Co.Kg Vorrichtung und Verfahren zum Handhaben eines Stapels
DE102021109504B4 (de) 2021-04-15 2023-11-16 Baumann Maschinenbau Solms Gmbh & Co.Kg Vorrichtung und Verfahren zum Handhaben eines Stapels

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