WO2018153829A1 - Pince de robot destinée à manipuler des découpes de bande de matériau planes et souples - Google Patents

Pince de robot destinée à manipuler des découpes de bande de matériau planes et souples Download PDF

Info

Publication number
WO2018153829A1
WO2018153829A1 PCT/EP2018/054076 EP2018054076W WO2018153829A1 WO 2018153829 A1 WO2018153829 A1 WO 2018153829A1 EP 2018054076 W EP2018054076 W EP 2018054076W WO 2018153829 A1 WO2018153829 A1 WO 2018153829A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
roll
axis
gripper
material web
Prior art date
Application number
PCT/EP2018/054076
Other languages
German (de)
English (en)
Inventor
Sven Brudniok
Original Assignee
Kuka Deutschland Gmbh
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 Kuka Deutschland Gmbh filed Critical Kuka Deutschland Gmbh
Publication of WO2018153829A1 publication Critical patent/WO2018153829A1/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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B25J15/0038—Cylindrical gripping surfaces
    • 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
    • B25J15/0071—Gripping heads and other end effectors with needles engaging into objects to be gripped
    • 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
    • B25J15/0085—Gripping heads and other end effectors with means for applying an electrostatic force on the object to be gripped
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
    • B25J15/0658—Pneumatic type, e.g. air blast or overpressure
    • 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
    • B65H3/10—Suction rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/40—Type of handling process
    • B65H2301/42—Piling, depiling, handling piles
    • B65H2301/423—Depiling; Separating articles from a pile
    • B65H2301/4233—Depiling; Separating articles from a pile by peeling, i.e. involving elongated elements traversing 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
    • B65H2403/00—Power transmission; Driving means
    • B65H2403/50—Driving mechanisms
    • B65H2403/54—Driving mechanisms other
    • B65H2403/543—Driving mechanisms other producing cycloids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B65H2406/345—Rotary 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
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/36—Means for producing, distributing or controlling suction
    • B65H2406/366—Means for producing, distributing or controlling suction producing vacuum
    • B65H2406/3661—Injectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00—Actuating means
    • B65H2555/30—Multi-axis
    • 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
    • B65H3/18—Separating articles from piles using electrostatic force
    • 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
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B65H3/54—Pressing or holding devices
    • 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
    • B65H5/12—Revolving grippers, e.g. mounted on arms, frames or cylinders

Definitions

  • Robot gripper for handling limp, flat material web blanks
  • the invention relates to a robot gripper for handling of limp, flat material web blanks, comprising a gripper base body, which has a connecting flange, which is designed for attachment of the robot gripper to a tool flange of a robot arm.
  • the invention also relates to a robot arm, comprising a Robotersteu ⁇ augmentation, one controlled by the robot controller, the robot, which comprises a tool flange and the tool flange rotationally driving a flange axis Flanschantriebsmotor, and having such a robot gripper.
  • an application tool for a flexible workpiece in particular a fiber composite ⁇ body is known, in which the application tool is designed as combi ⁇ tool for surface receiving the flexible workpiece and for spatially forming the recorded workpiece on an external forming tool wherein the Ap ⁇ echoestechnikmaschinezeug up a deformation performance and controllably settable and reconfigurable forming head has.
  • the forming member may be formed as a vacuum mattress with egg ⁇ ner vacuum device.
  • the object of the invention is to provide a robot gripper for handling limp, flat material web blanks, which can be used very flexibly, i. is suitable for handling a variety of different types of pliable, flat material web blanks, and is structurally simple and reliable.
  • Robotergrei- fer for handling non-rigid, flat material web blanks, comprising a gripper base body having a connecting flange which is latestbil ⁇ det for fixing of the robot gripper to a tool flange of a robot arm, and comprising:
  • a base member which is mounted rotatably on the gripper base body about a first rotation axis by means of a first rotary joint, which is automatically adjustable by a first drive motor of the robot gripper,
  • An end member which is rotatably supported by a third rotary joint, which is automatically adjustable by a third drive motor of the robot gripper, about a third axis of rotation, which is aligned parallel to both the first axis of rotation and to the second axis of rotation on the intermediate member, further comprising a material- receiving roll fastened to the end member, which has a jacket wall which is designed for adhering holding of a pliable, flat material web blank accommodated by the material take-up roll, and a holding tongue fastened to the grab body te, which extends with its longitudinal extent parallel to the material-receiving roller.
  • the limp, sheet-like material web blanks can be, for example, textile materials, which can be produced in particular from fibers or threads and, for example, can be braided, woven, knitted or felted.
  • the non-rigid, flat material web blanks may, for example, also non-woven fabrics or cloths to be that does not not ⁇ sarily made of natural fibers or synthetic fibers consist müs- sen, but also paper, mineral fillers and art ⁇ materials may have, or may have such layers.
  • a bending slackness of the flat material web blanks is at least understood to mean that they have such a non-elastic deformation that they at least can be wound insbeson ⁇ particular to an inventive material take-up reel 90 degrees or at least approximately 90 degrees or slightly more than 90 degrees.
  • a material web cutting sections or sections of so-called continuous webs can be understood inter alia, ie, parts that are made of a continuous web.
  • the term "blank” is not restricted to the fact that the parts would have to be produced by cutting from the continuous web., Rather, the web web sections, depending on the material, can also be produced for example by Stan ⁇ zen, sawing or other separating machining methods.
  • a receiving a non-rigid, flat material web blank takes place in that the pliable, planar material web blank remains hanging on a wall of the casing material on ⁇ acquisition roller or remains adhered.
  • the jacket wall of the material take-up roll can accordingly, depending on each material to be recorded and / or its structure and structure, be designed differently.
  • the jacket wall of the material take-up roll is always to be designed so that the pliable, flat material web section sticks or sticks to the jacket wall, ie receives a positive or positive connection, so can be absorbed by the material take-up roll, characterized in that the material take-up roll with its shell wall the surface of the limp, flat material web blank unrolls, in particular unrolling unrolled.
  • the adhesive force on the man ⁇ telwand of the material take-up roll can be switched on and / or switched off.
  • the adhesive force can be generated by negative pressure on a porous or provided with through openings material receiving roller, wherein the negative pressure can be switched off and / or switched.
  • the adhesive force can be generated for example by an electrostatic field, which can be switched from ⁇ switchable and / or.
  • the material take-up roll may have printed conductors, between which an electric field is generated.
  • insulated tracks can be arranged, which are connected to an electrical energy source such that an elec ⁇ rostatic field is generated, which causes the male to be flat, flat material web blank is moved up to the shell wall of the material take-up roll.
  • the Bernoulli effect can be used to draw a pliable, flat material web blank by means of negative pressure against the jacket wall of the material take-up roll, which negative pressure is generated by an accelerated (air) flow along the jacket wall of the material take-up roll.
  • the accelerated (air) Flow can be applied, for example, from a nozzle ⁇ who flows out of the air.
  • the robot gripper having an air nozzle, which is associated with the hollow cylindrical material receiving roller such that the air nozzle generates an air flow along the shell ⁇ wall of the material pickup roller, which is adapted to produce a negative pressure between the male limp, flat material web blank and the jacket wall of the material pickup roller which causes the increasing pliable, flat material web blank to be moved up against the jacket wall of the material take-up roll.
  • the air nozzle is accordingly formed using the
  • the nozzle may in particular opposite to ei ⁇ ner side of the retaining strip material on ⁇ acquisition roller be disposed.
  • ei ⁇ ner side of the retaining strip material on ⁇ acquisition roller be disposed.
  • the intermediate member is rotatable by means of the second rotary joint, which is automatically adjustable by a second drive motor of the robot gripper , about the second axis of rotation, which is aligned parallel to the first axis of rotation, is rotatably mounted on the base member, and by the end member with ⁇ means of the third pivot joint, the third of the drive motor gate of the robot gripper is automatically adjustable to the third axis of rotation, which is aligned parallel to both the first axis of rotation and the second axis of rotation, is rotatably mounted on the inter mediate ⁇ member, and the end member has the material receiving roller, in particular carries, the Mate ⁇ rialfactrolle are both automatically ge ⁇ rotate around its roll axis, as will be automatically adjusted in their position relative to the retaining strip.
  • the material of the pickup roller Rol ⁇ lenachse can be automatically adjusted in their relative positive on to the retaining strip.
  • This makes it possible to automate not only the material take-up roller with a desired pressing force on the surface of the take ⁇ be ⁇ presses the pliable, planar sheet of material cut but the material take-up roll can be moved sheet-like material web blank also at a desired speed relative to the surface of the male limp.
  • the rotational speed, acceleration or deceleration of the rotation of the material take-up roll about the roller axis can be automatically adjusted, controlled and / or regulated.
  • the holding bar can the web of material blank which is already rolled up on the material take-on the Materi ⁇ alfactrolle clamp to prevent slippage of material ⁇ ground-blank from the material take-up roll.
  • the facing material of the take-up reel side of the support bar can have a contour that the material web blank which is wound on the material on ⁇ exception roll conforms.
  • the retaining strip By the retaining strip is attached to the gripper body, and the robot gripper is designed for attachment, for example on a rotatable tool flange of a robot arm, the retaining strip can be repositioned by a rotation of the tool flange of the robot arm. It can also the Material take-up roll are repositioned by the robot arm. At the same time, then, in turn, the material take-up roll can be repositioned relative to the retaining strip and that by the first, second and third drive motor of the robot gripper.
  • the robot gripper may be mounted on a flange of a robot which these Liberty ⁇ can move over several degrees of freedom, for example, five, six or seven degrees, whereby the robot can move the holding bar of the Ro ⁇ botergreifers according to its possibilities of movement free in its movement space and align ,
  • the first drive motor, the second on ⁇ drive motor and the third drive motor provided on the robot gripper.
  • the gripper base body can have a substantially rotationally symmetrical basic shape.
  • the rotationally symmetrical basic shape can be in all variants, for example, the shape of a substantially straight circular cylinder.
  • the gripper base body may be designed, for example, substantially circular disk-shaped.
  • the rotationally symmetrical basic shape can also be, for example, frustoconical or barrel-shaped.
  • On a circular first end face of the gripper body of the connecting flange can be arranged ⁇ .
  • the material receiving roller with its roller axis can extend vertically out of the plane of the second end face out.
  • the longitudinal extent of the material take-up roll can extend in particular parallel to the axis of symmetry of the connecting flange , ie also parallel to a rotational axis of the tool flange of the robot arm, to which the robot gripper can be connected.
  • the robot gripper may comprise a roller carrier having the material-receiving roller, which is aligned about the third axis of rotation, which is parallel to both the first axis of rotation and the second axis of rotation, by means of the third rotary joint, which is automatically adjustable by the third drive motor.
  • the members of the robot gripper form which elements are formed by the gripper base body, the base member, the intermediate member and the roller carrier, a kinematic chain of links pivotally moved by the first pivot joint, the second pivot and the third rotary ⁇ joint can be.
  • the material take-up roll of the gripper body can be lubver Relief bezüg ⁇ Lich in three degrees of freedom. The three axes of rotation of the first rotary joint, the second rotary joint and the third rotary joint are aligned parallel to each other.
  • the mounted on the Rollenträ ⁇ ger material receiving part in the plane of the second end face of the gripper base body not only occupy any position and thereby have any orientation up, but reach any position on any movement paths.
  • the material take-up reel may have relative to the retaining strip a universal freedom of movement in the plane, that produce any sort of relative Konstellati ⁇ ones of material take-up roller and the retaining strip.
  • the base member may have a rotationally symmetricalcetmantel- wall on which the base member is completely rotatably mounted within the outer contour of the gripper body
  • the intermediate member of the robot gripper may have a rotationssym ⁇ metric outer jacket wall, on which the intermediate member is completely rotatably mounted within the outer contour of the base member
  • the roller carrier of the robot gripper may have a rotationally symmetrical outer shell wall.
  • the intermediate member may have a diameter which corresponds at least substantially to the radius of the gripper body.
  • the axis of rotation of the intermediate member that is, the second axis of rotation may be at least approximately or exactly half the length of the radius of the gripper body.
  • the roller carrier can have the smallest possible diameter, and accordingly the axis of rotation of the roller carrier, ie the third axis of rotation, can be arranged as far as possible in the vicinity of the outer circumference of the intermediate element.
  • the material on ⁇ acquisition roller may be attached to the roller carrier in such an arrangement that the central axis of the roller Mate rialfactrolle is aligned along the third axis of rotation.
  • the material take-up reel By adjusting the third pivot joint, the material take-up reel can be rotated about its geometric axis role accordingly, without the position of the material on ⁇ exception roll with respect to the gripper base body and the intermediate member changed rule.
  • the kinematic conditions result from the distances between the axes of rotation. Decisive are the absolute lengths between the first and second axes of rotation and between the second and third axes of rotation and the relationship to one another.
  • the material take-up roll may have an outer diameter on its casing wall which is at least large enough for the casing wall to project beyond the outer contour of the gripper base body in certain positions of the second joint or in all positions of the second joint on one side of the robot gripper.
  • the base member may comprise a forwardly in the direction of th axis of rotation ers ⁇ height which is at most as large as pointing in the direction of the first rotation axis height of the gripper base body.
  • the intermediate link of the robot tergreifers may have a white ⁇ send in direction of the second rotation axis height which is at most as large as pointing in the direction of the first rotation axis height of the base ⁇ member.
  • the roller carrier of the robot gripper may have a pointing in the direction of the third axis of rotation height that is at most as large as the pointing in the direction of the second axis ⁇ axis height of the intermediate member. This results in a low overall height of the robot gripper.
  • the first hinge comprises a base member surrounding the first bearing, in particular ⁇ sondere first rolling bearing with an inner ring, an inner ring raceway for rolling bodies, comprising an outer ring and an outer ring raceway, wherein the inner ring is fastened to the rotationally symmetrical outer jacket wall of the base member or the inner ring raceway is formed on the rotationally symmetrical outer jacket wall of the base member, and the second pivot joint has a second bearing surrounding the intermediate member, in particular second rolling bearing having an inner ring, an inner ring raceway for rolling elements, an outer ring and having an outer ring raceway, the inner ring to the rotationally symmetrical outer casing wall of the intermediate member is be ⁇ cements or the inner ring raceway is formed on the rotationally symmetrical outer casing wall of the intermediate member, and the dr Itte rotary joint has a roller bearing surrounding third bearing, in particular third roller bearing having an inner ring, an inner ring raceway for rolling
  • the lateral surface of the material take-up roll can exert on the ge ⁇ entire contact surface, or parts thereof, which may be varied depending on the application, the material web cutting an attractive force that can be switched on and off, which can be varied in its strength and the optionally also can be inverted as a repulsive force.
  • the material take-up roll may have a circular cylindrical casing wall, whose cylinder axis extends parallel to the third axis of rotation and which is provided with a Anhaft Formation formed, for adhering holding the bending ⁇ flaccid sheet-like material web blank on the lateral wall of the material-receiving roller. Accordingly, the surface of the roll can be coated with a material which interlocks with the material web blank and with which it is possible to apply a normal force.
  • any configuration can be understood in which a peeling force acts between the surface, ie, the jacket wall of the material-receiving roll and the material web.
  • the adhesive force can be achieved by negative pressure on a porous or perforated membrane. terialsuitrolle be generated, the negative pressure from ⁇ switchable and / or can be connected. Alternatively or additionally, the adhesive force can be generated for example by an electro ⁇ static field, which can be switched off and / or switched. These can behind the jacket wall of the
  • Material pick-up roller insulated tracks may be arranged, which are connected to an electrical source.
  • the Bernoulli effect can be used to make a pliable, planar Materialbahnzu- cut by means of vacuum to the circumferential wall of the material on ⁇ transfer roller to pull, which negative pressure is produced by an accelerated (air) flow along the shell wall of the material-receiving roller.
  • the accelerated (air) flow can be applied for example by a nozzle, flows out of the air.
  • the adhesion surface may have a surface texture adapted to the special properties of the slippery, flat material web blank.
  • the effect of the adhesion surface can be based, for example, on a mechanical adhesion or a specific adhesion.
  • the Anhaft Assembly example can have an adhesive layer on ⁇ having a felt layer, a Velcro layer aufwei ⁇ sen or have an electrostatic layer.
  • the Materialaufnah- can merolle additionally or alternatively to other retaining effects, be formed as a hollow cylinder and having a rigid annular casing wall, which distributed around the circumference is provided angeord ⁇ Neten holes forming suction nozzles of the hollow cylindrical inside because of a Materialaufnah- role upcoming air vacuum, for sucking a voltage applied to the annular ring wall portion of the bending ⁇ flabby, flat material web blank are formed.
  • the material receiving roller may be formed as a hollow cylinder and having a rigid annular wall, which is provided with distributed around the order ⁇ arranged holes, the suction nozzles form, due to a pending in the interior of the hollow cylindrical material intake air excess pressure, to repel formed on the circular ring wall Ab ⁇ section of the limp, flat material web blank are formed.
  • the flow in the individual bores, or in groups of the bores can be set separately, ie the flow at the individual bores or at groups of the bores can exert an attractive, a repelling or a neutral effect on the pliable material.
  • the material-receiving roller complementary or alternative to other holding ⁇ effects, have a circular cylindrical jacket wall, the cylinder axis extending parallel to the third axis of rotation and which is distributed around the circumference arranged arranged needles and / or hooks, which are formed in a state adjacent to the jacket wall of a section of the limp, flat material web blank to penetrate and / or penetrate the section of the non-rigid, flat material web blank, for positive retention of the portion of the non-rigid, flat material web blank on the jacket wall of the material take-up roll.
  • the material take-up roll may have a roll width which corresponds to a blank width of the limp, sheet-like material web blank, or which is larger or smaller than the blank width of the limp, flat material web blank.
  • an air flow may be directed perpendicular to the axis of the material take-up roll between the web sheet and the material take-up roll.
  • the air is supplied via a nozzle, which is attached to the main body of the gripper.
  • the air flow is accelerated, which leads to a reduction of the pressure below the ambient pressure.
  • the pressure difference results in a normal force between the material web blank and the material take-up roll, which leads to a lifting of the material web blank at this point.
  • the retaining strip may extend with its longitudinal extent over the entire width of the material-receiving roller parallel thereto.
  • the retaining strip may have a first outer surface, which is circular arc-shaped in cross-section and which extends in the longitudinal extent of the retaining strip groove-shaped, such that the first outer surface has a missen ⁇ mate ⁇ rialfactrolle adapted shape.
  • the first outer surface can accordingly in cross section
  • the retaining strip can be fastened to the gripper base body in such a way that the material receiving roller can also be moved flush against the retaining strip by means of the first, second and third drive motor of the robot gripper, such that the first outer surface of the retaining strip can lie flat against the lateral wall of the material receiving roller.
  • the retaining strip may comprise a first outer surface opposite ⁇ disposed second outer surface to form ei ⁇ nes acute angle between the first outer surface and the second outer surface at a common edge rockge ⁇ leads are.
  • the second outer surface may be flat. Since the first outer surface and the second outer surface form an acute angle, a hollow blade is formed on the retaining strip to that extent.
  • the retaining strip may have a on the first outer surface ⁇ arranged, extending along the common edge adhesive coating.
  • the adhesive coating may cause an increase in the friction at the top of the common edge or on the hollow blade in order to promote stripping of Materialbahnzu ⁇ sections or improve.
  • the second outer surface and / or the third outer surface can be planar and on the second outer surface ver ⁇ divides projections arranged or rotatably mounted rollers have.
  • the projections or rotatably mounted rollers can improve sliding of the second outer surface on a surface of a material web blank, in particular by reducing the friction.
  • the first drive motor may be designed for force-controlled and / or torque-controlled actuation, the second drive motor for force-controlled and / or torque-controlled actuation, and / or the third drive motor for torque and / or torque-controlled actuation Be designed to drive.
  • the first drive motor can be designed for force-controlled and / or torque-controlled activation.
  • the second drive motor may be designed for force-controlled and / or torque-controlled activation.
  • the third drive motor can be designed for force-controlled and / or torque-controlled actuation.
  • the rotary joints of the robot gripper can be parameterized with regard to their rigidity.
  • the power and / or moment-controlled driving of the drive motors of the robot gripper can take place by means of impedance regulation or admittance control.
  • a robot controller of a robot may be arranged to move the robot gripper in particular by means Impe ⁇ danzregelung or admittance.
  • a robot comprising a robot controller, a robot arm controlled by the robot controller, which comprises a tool flange and a flange driving the flange around a flange axis and having a robot gripper attached to the tool flange of the robot arm according to one or more embodiments, as described, wherein the robot controller is adapted to drive the motors of the robot arm to position the retaining strip attached to the gripper body, in particular suitable for the respective robotic application, relative to the pliable material to be picked up, and the robot control is arranged, the base member by means of first Antriebsmo ⁇ sector about the first axis of rotation, the intermediate member by means of the second drive motor about the second axis of rotation and the end member by means of the third drive motor to the third rotation ⁇ axis automatically dr to rotate the material take-up roll around its roll axis and adjust it relative to the holding strip.
  • Robot arms with associated robot controls are working machines which can be equipped with tools for the automatic handling and / or machining of objects and which are arranged in several axes of motion, for example with regard to orientation, position and position. beitsablauf programmable.
  • Industrial robots usually comprise a robot arm with several joints associated members and programmable robot controllers (CONT ⁇ ervorraumen) which automatically controlling to move a robot flange of the robot arm in the room and to move during operation, the movement sequences of the robot arm.
  • the members are to over drive motors, in particular electric drive motors, which are driven by the Robo ⁇ ters control, in particular with respect to the movement axes of the industrial robot, which represent the degrees of freedom of motion ⁇ joints moved.
  • the robot controller can also be set up
  • the non-rigid, flat material web cutting, the material on ⁇ acquisition reel, in particular a slip-free to be wound also by less than 90 ° on the outer wall.
  • the winding can be limited to the extent to which the retaining strip secures the bending ⁇ slack material web blanks .
  • the robot controller may also, alternatively or additionally, be configured to collapse the material take-up roll with the recorded pliable, flat material web blanks on a storage surface on which the bending ⁇ flaky, flat material web blank is to be stored to move, and at the same time the material take-up roll to rotate back about its roll axis, such that the bending ⁇ flabby, flat material web blanks of the Roof wall of the material take-up roll is unrolled and unwound onto the storage surface.
  • the robot controller can also, alternatively or additionally, be set up,
  • the robot controller may be arranged to the cost of materials transfer roller to be brought into a touching contact with a bending sleep ⁇ fen, sheet-like web material blank, and the Ma ⁇ terialabilityrolle gen parallel to the plane in which the bie ⁇ marlaffe, sheet-like material web blank is to bewe ⁇ and geleichzeitig the material take-up reel lenachse their ROL to rotate, such that the pliable, planar material web blank on the lateral wall of the Materialaufnah ⁇ merolle a piece is wound, and pushes the retaining strip to a portion of web material blank which on the outer wall is wound, and the retaining strip the Ma ⁇ terialbahnzuexcellent fixed there. Further winding can take place by rolling the material take-up roll tangentially on the material web blank, together with the retaining strip that is invariable in its position.
  • the robot controller may also be alternatively or additionally, arranged to press during a deposition of a captured on the material receiving reel-rigid, flat material web blank holding slat from above against the top surface of an already partially selectleg ⁇ th on the tray surface portion of the non-rigid, flat material web blank, to prevent a resumption of the deposited part of the limp, flat material web blank on the material take-up roll.
  • Figure 1 is a perspective view of a Industriero ⁇ boters in the form of a six-axis articulated robot;.
  • FIG. 2 is a schematic sectional view of a robot gripper according to the invention.
  • Figure 3 is a schematic bottom view of the robot ⁇ claw according to FIG 2 with its three axes of rotation.
  • Figure 4 is a schematic bottom view of the robot ⁇ claw according to FIG 2 with various exemplary forms of movement for the material-receiving roller relative to the retaining strip of the robot gripper..;
  • FIG. 5 shows a schematic representation of the robot gripper in its mounting arrangement on a tool flange of a robot arm
  • Fig. 6 is a schematic view of the robot gripper according to
  • Fig. 7 is a schematic view of the robot gripper according to
  • Fig. 8 is a schematic view of the robot gripper according to
  • FIG. 9 is a schematic view of the robot gripper according to
  • FIG. 5 in a fourth situation in which the retaining strip is pivoted to the opposite side of the material ⁇ receiving roller;
  • Fig. 10 is a schematic view of the robot gripper according to
  • FIG. 5 in which the different forces are shown on retaining strip and material take-up roll, which can be automatically controlled and / or regulated ⁇ sets are;
  • FIG. 11 is a schematic view of a first execution variant ⁇ a retaining strip of the robot gripper according to Figure 5, with fixed projections or rollers.
  • FIG. 12 is a schematic view of a second embodiment ⁇ variant of a retaining strip of the robot gripper of Figure 5, with rotatably mounted rollers and a tensioned around the rollers belt.
  • Figure 13 is a schematic view of a third execution variant ⁇ a retaining strip of the robot gripper according to Figure 5, with an adhesive coating..; 14 shows a schematic representation of a sequence for picking up an uppermost layer of a pliable, flat material web blank from a stack by the robot gripper according to the invention; Fig. 15 is a schematic representation of how the retaining strip and the material-receiving roller can be moved against each other;
  • 16 is a schematic representation of a sequence for depositing a recorded position of a pliable, flat material web blank onto a depositing surface by the robot gripper according to the invention
  • FIG. 17 shows a schematic representation of a sequence for receiving a topmost layer of a limp, flat material web blank from a stack by clamping it by means of a retaining strip;
  • 18 is a schematic representation of a sequence for receiving a topmost layer of a limp, flat material web cut from a stack supported by the Bernoulli effect.
  • FIG. 1 shows a robot 1 which has a robot arm 2 and a robot controller 10.
  • the robot arm 2 comprises, in the case of the present embodiment a plurality of, after ⁇ stacked and by means of joints Jl to J6 rotatably interconnected members LI to L7.
  • the robot controller 10 of the robot 1 is designed or adapted to perform a robot program, by which the joints Jl can be automated to J6 of the robot arm 2 according to the Roboterpro ⁇ program or automatic adjusted ⁇ table in a manual drive operation or rotationally moved.
  • the robot controller 10 is connected to controllable electric motors M1 to M6, which are designed to adjust the joints J1 to J6 of the robot 1.
  • the links LI to L7 are a frame 3 and a carousel 4 rotatably mounted relative to the frame 3 about a vertical axis AI.
  • Further links of the robot arm 2 are a rocker arm 5, an arm release ⁇ ger 6 and a preferably multi-axis robot hand 7 with egg ⁇ ner designed as a tool flange 8 fastening device for fastening a robot gripper of the present invention 11.
  • the rocker 5 is at the lower end, ie ⁇ on the joint J2 of the rocker 5 on the carousel 4 about a preferably hori horizontal pivot axis A2 pivotally mounted.
  • the rocker 5 At the upper end of the rocker 5, the rocker 5 in turn is pivotally mounted on the first joint J3 about a likewise preferably horizontal axis A3 of the arm extension 6. This end carries the robot hand 7 with its preferably three axes of rotation A4, A5, A6.
  • the joints Jl to J6 are replaced by because one of the electric motors Ml to M6 can be driven programmatically by the robot controller 10. In general, a transmission can be provided between each of the links LI to L7 and the respectively associated electric motors M1 to M6.
  • the robot gripper 11 has in the case of the present embodiment to a gripper base body 12 comprises a connection flange 13 which is formed ⁇ for fixing of the robot gripper 11 to the tool flange 8 of the robot arm. 2
  • the robot gripper 11 also has a base member 14, which by means of a first pivot joint 15.1, which is automatically adjustable by a first drive motor AI, about a first axis of rotation Dl is rotatably mounted on the gripper body 12.
  • the robot gripper 11 further has a material take-up roller 16.1, which is rotatably mounted with respect to the base member 14 by means of a second pivot 15.2, which is automatically adjustable by a second drive motor A2, about a second axis of rotation D2, which is aligned parallel to the first axis of rotation Dl ,
  • the robot gripper 11 also has at least one retaining strip 16. 2, which is fastened to the gripper base body 12.
  • roller carrier 17 on which the material take-up reel is attached 16.1.
  • the roller carrier 17 is rotatable by means of a third rotary joint 15.3 which is automatically adjustable by a third drive motor A3 about a third axis of rotation D3, which is aligned parallel to both the first axis of rotation Dl and the second axis of rotation D2, to an intermediate member 18 of the robot gripper 11 stored.
  • the intermediate member 18 is in turn by means of the second Wheelge ⁇ steering 15.2 about the second axis of rotation D2 rotatably mounted on the base ⁇ member 14.
  • the members of the robot gripper 11 form, which elements are formed by the gripper body 12, the base member 14, the intermediate member 18 and the rollers ⁇ carrier 17 countries a kinematic chain of Glie-, by the first pivot 15.1, the second Wheelge ⁇ steering 15.2 and the third pivot 15.3 can be rotatably adjusted, as indicated in particular in Fig. 3.
  • the material take-up roller 16.1 in total ⁇ three degrees of freedom with respect to the gripper body 12 are rosver Abbott.
  • the three axes of rotation Dl, D2 and D3 of the first pivot 15.1, the second pivot 15.2 and the third pivot 15.3 are aligned parallel to each other.
  • the material take-up roll 16. 1 can have a universal freedom of movement in the plane relative to the holding web 16. 2 , ie execute any type of movement.
  • the base member 14 has in the case of the present example approximately exporting ⁇ a rotationally symmetrical outer casing wall to which the base member is completely rotatably mounted within the 14 Au ⁇ Hzkontur of the gripper base body 12th
  • the intermediate member 18 of the robot gripper 11 has a rota tion ⁇ symmetrical outer casing wall to which the intermediate ⁇ member 18 completely within the outer contour of the base member 14 is rotatably mounted.
  • the roller carrier 17 of the Robo ⁇ tergreifers 11 has a rotationally symmetrical outer sheath ⁇ wall, on which the roller carrier is completely rotatably mounted within the outer contour 17 of the intermediate member 18th As can be seen in particular in Fig.
  • the base ⁇ member 14 a pointing in the direction of the first axis of rotation Dl height Hl, which is at most as large as the facing in Rich ⁇ processing of the first axis of rotation Dl height HO of the Grei ⁇ fer ground stresses 12.
  • the intermediate member 18 of the robot gripper 11 in this case also has a height H2 pointing in the direction of the second axis of rotation D2 which is at most as large as the height Hl of the base member 14 pointing in the direction of the second axis of rotation D2.
  • the roller carrier 17 of the robot gripper 11 has a height H3 pointing in the direction of the third axis of rotation D3 which is at most as large as the height H2 of the intermediate element 18 pointing in the direction of the third axis of rotation D3.
  • the inner ring raceway can be formed on the rotationally symmetrical outer jacket wall of the base member 14.
  • the second rotary joint 15.2 a surrounding the intermediate member 18 second rolling bearing 19.2 with an inner ring, an inner ring raceway for rolling elements, an outer ring and an outer ring raceway, wherein the inner ring on the rotationally symmetrical onsymmetrischen outer shell wall of the intermediate member 18 is fastened ⁇ taken.
  • the inner ring raceway may be formed on the rotationally symmetrical outer casing wall of the intermediate member 18 from ⁇ .
  • the third rotary joint 15.3 has a Rollenträ ⁇ ger 17 surrounding third roller bearing 19.3 with an inner ring, an inner ring raceway for rolling elements, an outer ring and an outer ring raceway, wherein the inner ring on the rotation tion symmetric outer shell wall of the roller support 17 is strengthened ⁇ .
  • the inner ring raceway may be formed on the rotationally symmetrical outer circumferential wall of the roller carrier 17.
  • FIG. 5 shows the robot gripper 11 guided by the robot arm 2, as exemplarily placing its material take-up roll 16.1 on a limp, flat material web blank 20 in order to receive it by a rotational movement of the material take-up roll 16.1.
  • the diameter of the material containment is roll 16.1 so large that the outer wall over the outer contour of the gripper base body can also be 12 to rest on the bie ⁇ marlaffen, sheet-like material web blank 20, without the gripper base body 12 the limp, flat material web blank 20 touched.
  • Fig. 6 to Fig. 10 various movements of the material take-up roll 16.1 and Hal ⁇ teology 16.2 are shown in frontal view.
  • the retaining strip 16. 2 can form an anvil and is fastened to the gripper base body 12 of the robot gripper 11.
  • the retaining strip 16.2 is thus arranged rigidly to the robot flange.
  • the retaining strip 16.2 is so far moved by the robot arm 2.
  • the material-receiving roller 16.1 can move freely on a plane of movement of the robot gripper 11.
  • the Mate ⁇ rialfactrolle 16.1 may, for example parallel to the réelleneh- Menden limp, moving sheet material web blank 20 and exert on these example, the required contact pressure.
  • the material take-up roll 16. 1 can thus be rolled over the bendable, flat material web blank 20, such that this material web blank 20 is wound up without slippage, while the retaining strip 16.2 holds the next layer, as indicated in particular in Fig. 6.
  • the retaining strip 16.2 pushes a due to a motion of the robot arm 2 between a top layer and an immediately underlying layer of a stack of several non-rigid, flat material web blanks 20 and isolated as the uppermost layer of a pliable, sur fa ⁇ speaking material web blank 20.
  • the material take-up reel 16.1 has a circular cylindrical
  • Mantle wall whose cylinder axis extends parallel to the third axis of rotation D3 and which is hen with an adhesive surface ⁇ hen, which is designed for adherent holding the bie ⁇ slacken, flat material web blank 20 on the mantle wall of the material receiving roller 16.1, as in particular Fig. 7 can be seen.
  • the material take-up roll 16.1 thus absorbs the uppermost layer of a limp, flat Mate ⁇ rialbahnzuites 20 and lifts them from the stack.
  • the retaining strip 16.2 is moved by the robot arm 2 and can follow the material take-up roll 16.1.
  • the material receiving ⁇ roll 16.1 moves relative to the gripper body 12 and thus relative to the retaining strip 16.2.
  • the robot arm 2 is stationary in the situation according to FIGS. 6 and 7 and the retaining strip 16. 2 is also stationarily positioned (in order to fix the stack)
  • the material take-up roll 16. 1 can be moved relative to the stack and in particular with the received uppermost layer of a limp, planar material web to ⁇ section 20 are lifted from the stack and lifted, although the retaining strip 16.2 is positioned stationary.
  • Fig. 8 it is shown how the recorded pliable, planar material web blank 20 can be further wound on the material on ⁇ exception roll 16.1 and led away.
  • the retaining strip 16.2 can be pivoted to the other side of the material take-up roller 16.1, for example, to support a deposition of Materialbahnzu ⁇ section 20 by holding, or to a winding of the uppermost material web blank starting from the opposite side of the material web To ensure ge ⁇ without having to reorient the gripper by 180 °.
  • a force measuring device between the tool flange 8 and robot gripper 11 may be arranged. Since the material take-up roll 16.1 slippage rolls and the distances between the two contacts points and the tool flange 8 is known to both forces over a measurement of the resulting torque and the resultant force can be shown as in Fig. 10, determined on the tool ⁇ flange 8 of the robot arm 2 become. To measure the contact pressure of the material take-up roller on the stack 16.1 and the force with which the holding strip 16.2 holds the stack firmly ⁇ , also internal forces can be measured in the robot gripper. 11
  • the retaining strip 16.2 may have a first outer surface 16a which is circular-arc-shaped in cross-section and which extends in the longitudinal extent of the retaining strip 16.2 groove-shaped, such that the first outer surface 16a has a shape adapted to the jacket wall 21 of the material receiving roller 16.1.
  • Fig. 11 shows a first embodiment variant of the retaining ⁇ bar 16.2 of the robot gripper 11, with the first suddenlyflä ⁇ surface 16a and the second outer surface 16b, wherein the second at the Outside surface 16b projections 22 or rollers are fixed. These projections 22 or rollers may also be attached to the outer wall 16 c to allow equal gripping on the opposite side, see Fig. 8 and 9.
  • Fig. 11 shows a first embodiment variant of the retaining ⁇ bar 16.2 of the robot gripper 11, with the first suddenlyflä ⁇ surface 16a and the second outer surface 16b, wherein the second at the Outside surface 16b projections 22 or rollers are fixed. These projections 22 or rollers may also be attached to the outer wall 16 c
  • the retaining strip 16. 2 has a second outer surface 16 b lying opposite the first outer surface 16 a, which are joined together to form an acute angle between the first outer surface 16 a and the second outer surface 16 b at a common edge 24.
  • the retaining strip 16. 2 can have an adhesive coating 25 arranged on the first outer surface 16 a and extending along the common edge 24.
  • FIG. 14 schematically shows a sequence for picking up an uppermost layer of a limp, flat material web blank 20 from a stack 26 by the robot gripper 11 according to the invention.
  • FIG. 17 illustrates how the material on ⁇ transfer roller is brought into a touching contact with the bending ⁇ flaccid sheet-like material web blank 20 16.1, and as the material take-up roll 16.1 parallel to the plane in which the pliable, planar material web blank 20 is located, is moved and as the material on geleichzeitig ⁇ acquisition roller is rotated about its roll axis 16.1, in such a way that the pliable, flat material web blank 20 is wound on the casing wall 21 of the material take-up roll 16.1 a piece, and the retaining strip 16.2 presses on a piece of pliable, flat material web blank 20, which is a piece wound on the casing wall 21, and there by means of the retaining strip 16.2 is fixed.
  • the robot gripper has an air nozzle 30, the hollow cylindrical material on ⁇ transfer roll 16.1 is assigned in such a way the that the air nozzle 30 generates an air flow along the lateral wall 21 of the material on ⁇ transfer roll 16.1, which is adapted between the On ⁇ increasing sluggish, flat material web blank 20 and the casing wall 21 of the material-receiving roller 16.1 to generate a negative pressure, which causes the ceremonineh- mender fl exible, flat material web blank 20 is moved up to the casing wall 21 of the material pickup roller 16.1.
  • the air nozzle 30 is accordingly designed, using the Bernoulli effect, to move the slippery, flat material web blank 20 to be received against the jacket wall 21 of the material take-up roll 16.1.
  • the air nozzle 30 is arranged in the case of the present embodiment on one of the retaining strip 16.2 opposite side of the material-receiving roller 16.1.
  • the air nozzle 30 is arranged on one of the retaining strip 16.2 opposite side of the material-receiving roller 16.1.
  • the robot controller 11 is accordingly set up
  • the material take-up roller 16.1 parallel to the plane in which the pliable, flat material web blank 20 is ⁇ to move, and at the same time to rotate the material recording ⁇ role 16.1 to its role axis, such that the pliable, flat material web blank 20 on the Man ⁇ telwand 21 of the material take-up roll 16.1 is wound at least 90 degrees, and
  • the robot controller 11 is set up in the case of the present embodiment,
  • retaining strip 16.2 may be designed to press against the part of the material web blank which is wound on the material take-up roll.
  • Fig. 15 shows how the retaining strip 16.2 and the Ma ⁇ terialfactrolle 16.1 can be moved against each other.
  • Fig. 16 is a sequence for storing a recorded position of a non-rigid, flat material web blank 20 on a support surface 27 through the erfindungsge ⁇ MAESSEN robot gripper 11 is shown schematically.
  • the robot controller 11 is, in the case of the present embodiment configured this case, flexurally limp material take-up roll 16.1 together with the captured moving sheet material web blank 20 on a support surface 27 on wel ⁇ cher of pliable, planar material web blank 20 is to be laid off, and geleichzeitig the Materi ⁇ alancerolle 16.1 to rotate back about their role axis, such that the pliable, flat Materialbahnzu ⁇ section 20 of the shell wall 21 of the material take-up roll 16.1 unrolled and unwound onto the support surface 27.
  • the robot controller 11 can thereby be arranged pliable during the deposition of the considerationnom on the material receiving reel 16.1 ⁇ menen, sheet-like material web blank 20, the retaining strip 16.2 to from above against the top side of a on the storage surface already partially stored portion of the non-rigid, flat material web blank 20 Press to prevent a resumption of the deposited portion 20a of the bending slippery ⁇ fen, flat material web blank 20 on the Materialauf ⁇ takeover role 16.1.

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

Abstract

L'invention concerne une pince (11) de robot destinée à manipuler des découpes (20) de matériau souples et planes. La pince comprend un corps de base (12) de pince, qui présente une bride de raccordement (13) conçue pour fixer la pince (11) de robot à une bride d'outil (8) d'un bras (2) de robot, et comprend un organe (14) de base, lequel est monté sur le corps de base (12) de pince de manière à pouvoir tourner autour d'un premier axe de rotation (D1) au moyen d'une première articulation rotoïde (15.1), qui peut être déplacée automatiquement par un premier moteur d'entraînement (A1) de la pince (11) de robot, un organe intermédiaire (18), lequel est monté sur l'organe de base (14) de manière à pouvoir tourner autour d'un deuxième axe de rotation (D2) qui est orienté parallèlement au premier axe de rotation (D1), au moyen d'une deuxième articulation rotoïde (15.2) qui peut être déplacée automatiquement par un deuxième moteur d'entraînement (A2) de la pince (11) de robot, et un organe terminal (17), qui est monté sur l'organe intermédiaire (18) de manière à pouvoir tourner autour d'un troisième axe de rotation (D3) qui est orienté parallèlement aussi bien au premier axe de rotation (D1) qu'au deuxième axe de rotation (D2), au moyen d'une troisième articulation rotoïde (15.3) qui peut être déplacée automatiquement par un troisième moteur d'entraînement (A3) de la pince (11) de robot. L'invention concerne en outre un rouleau de logement (16.1) de matériau fixé à l'organe final (17) et une barre de retenue (16.2) qui est fixée au corps de base (12) de pince et qui s'étend par sa direction longitudinale parallèlement au rouleau de logement (16.1) de matériau.
PCT/EP2018/054076 2017-02-27 2018-02-20 Pince de robot destinée à manipuler des découpes de bande de matériau planes et souples WO2018153829A1 (fr)

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DE102017203124.7A DE102017203124A1 (de) 2017-02-27 2017-02-27 Robotergreifer zum Handhaben von biegeschlaffen, flächigen Materialbahnzuschnitten

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CN109623857A (zh) * 2019-01-18 2019-04-16 哈尔滨工业大学 一种连续变形的网状柔性机器人
CN110428701A (zh) * 2019-07-31 2019-11-08 三江学院 一种教学型并联机器人系统及其控制方法
WO2022122936A1 (fr) * 2020-12-09 2022-06-16 Hefa Holding Gmbh Dispositif de retrait pour le retrait automatique de pièces de matériau souples, procédé pour retirer des pièces de matériau souples, et installation de production comprenant un dispositif de transport et un dispositif de retrait

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CN110432000B (zh) * 2019-08-23 2024-06-11 佛山科学技术学院 基于柔性抓持与夹剪一体的果蔬采摘执行器及其采摘方法
WO2024035432A1 (fr) * 2022-08-10 2024-02-15 Siemens Corporation Système de commande de capteur pour effecteurs d'extrémité basés sur l'effet coanda

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