WO2021084148A1 - Griffe de capture de disques - Google Patents

Griffe de capture de disques Download PDF

Info

Publication number
WO2021084148A1
WO2021084148A1 PCT/ES2020/070650 ES2020070650W WO2021084148A1 WO 2021084148 A1 WO2021084148 A1 WO 2021084148A1 ES 2020070650 W ES2020070650 W ES 2020070650W WO 2021084148 A1 WO2021084148 A1 WO 2021084148A1
Authority
WO
WIPO (PCT)
Prior art keywords
disc
support ring
claw
discs
captured
Prior art date
Application number
PCT/ES2020/070650
Other languages
English (en)
Spanish (es)
Inventor
Jesús BAHILLO DE LA PUEBLA
Original Assignee
Icut Solutions, S.L.
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 Icut Solutions, S.L. filed Critical Icut Solutions, S.L.
Publication of WO2021084148A1 publication Critical patent/WO2021084148A1/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
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/01—Means for holding or positioning work
    • B26D7/02—Means for holding or positioning work with clamping means

Definitions

  • the present invention refers to a disc capture claw with a configuration and design such that it allows it to catch any disc with the sole condition that they have an internal diametrical hole, that is, that they have the shape of a circular crown, regardless of thickness. of the same.
  • laminated sheet cutting processes include the use of different types of discs for cutting sheets. These discs are located along a pair of axes that are placed parallel to form a cutting train in a machine and, once used, must be replaced by new ones, either to carry out a new cutting configuration of the machine. laminated sheet or for maintenance of the discs, mainly sharpening and cleaning. For this, the discs that are housed in the two axes are simultaneously changed, as they are part of the same cutting process.
  • Another problem of the automated disc change process lies in the different outer diameters of the discs that are installed on a line, which means that the claws have to be able to adapt to the variability of diameters.
  • the present invention solves the aforementioned problems related to the adherence of discs and possible falls to the ground, offering a claw for capturing the discs by means of which it is possible to carry out an automatic and reliable process for the automated exchange of discs in lines. of laminated sheet metal, regardless of the thickness and size of the disc.
  • the present invention describes a claw for capturing discs configured by means of an external diameter, an internal diameter and a thickness determined by which an internal diametrical surface is defined for gripping. of the discs.
  • the gripper is governed by a control software with information about the positioning and dimensions of the discs, for which the most important value is the thickness.
  • the claw comprises the following main elements:
  • the process for capturing discs is different depending on whether it is a matter of unloading discs from the storage or review position to be loaded onto a cutting shaft or to the warehouse, respectively, or whether it is a matter of unloading disks destined for a review or storage station.
  • the first process is carried out in the following way.
  • the manipulator robot continues to advance by pressing with the support ring on the disk a distance determined by the control, depending on the thickness of the disk destined to be loaded, in such a way that it displaces the floating carriage, contracting the drag element and causing it to In turn, the clamping claws protrude through the support ring until they are positioned at the height of the inner diametral surface of the disc for a certain distance. Then, the manipulator robot stops, the drag element is blocked to fix the position of the nails inside the disc, and the expandable actuator extends, causing the extension of the nails, which contact the inner diametrical surface of the disc. , grabbing it. The manipulator robot then removes the claw along with the disk to bring it to its destination.
  • the manipulator robot In the second case, that is, for the unloading of discs destined for a review or storage position, the manipulator robot is in charge of bringing the gripper closer to the disc to be captured until it reaches a position in which the capture of the disc is programmed. on question.
  • the claw instead of being the robot that makes the claw continue advancing until the support ring is in contact with the disc, the claw remains immobile so that it is the mechanism where the disc is located that moves the disc. to the position programmed to be captured, pushing the disc to the support ring, dragging the floating carriage until the mooring claws appear and are located in the position determined to capture the disc.
  • the support ring preferably comprises a plurality of suction cups intended to be fixed on the disc to be captured.
  • the suction cups are especially applicable in the capture of discs of small thickness, where the nails can fail in the capture of the disc due to lack of precision or physical space to be located.
  • the claw can also comprise a disc sensor on the support ring to determine that the support ring is in proximity to the disc to be captured and that the claw slows down.
  • the claw can also comprise a ring position sensor, to control the movement of the floating carriage with respect to the fixing base and thus, control the distance that the clamping claws protrude with respect to the support ring.
  • the robot can incorporate more than one claw so that it can carry out two or more different operations simultaneously.
  • FIG. 1 represents an elevation view of the claw of the invention in the retracted position, the claws protruding from the support ring in a first embodiment.
  • FIG. 2 represents a front view of the claw of the invention shown in the Figure 1, showing the centering of the clamping claws with the support ring.
  • FIG. 3 represents a side view of the claw of the invention shown in figure 1.
  • FIG. 4 represents a perspective view of the claw of the invention shown in figure 1 in two positions, one extended, in a continuous line, and a retracted, in a broken line.
  • FIG. 5 represents a front perspective view of the claw of the invention in a second embodiment.
  • FIG. 6 represents a rear perspective view of the claw of the invention represented in figure 5.
  • the present invention refers to a claw for catching discs with a circular crown configuration, so that the capture of the discs by the claw will always be carried out by the internal diameter of the disc.
  • discs are located along the axes of a cutting train, for which will always have an internal diameter of the same dimension.
  • the discs can be of different types such as, for example, cutting discs, vulcanized discs and spacer discs, so the outer diameter and thickness will be different depending on whether they are cutting discs or of another type. In this way, by changing the position of the different types of discs, configurations are achieved that determine sheets of certain widths to be obtained after cutting.
  • Figure 1 represents an elevation view of the claw of the invention in a first embodiment, where it is reflected that at one end it is configured by means of a fixing base (9) through which the claw is intended to be fixed in A manipulator robot and that, at the other end, incorporates a support ring (1), solidly attached to a base element (10) of a floating carriage (6) by means of spacers (11).
  • the support ring (1) is intended to contact the disk to be picked up, for which it is configured as a circular crown, and the robot manipulator positions it centered with respect to the disk, with the help of a disk sensor ( 5) located on the support ring (1).
  • a drag element (8) that incorporates a sensor for the position of the ring (7) whose function is to determine the distance to be inserted by clamping claws (2 ) on the disk to be caught, a control carried out by detecting the location of the floating carriage (6) with respect to the fixing base (9).
  • the drive element (8) is attached at one end to the fixing base (9) and at the other end to the base element (10) of the floating claw carriage (6), and can be extended and retracted by varying the distance between the floating carriage (6) and the fixing base (9).
  • the guide element (13) is a centered plate that incorporates a pair of rails located in opposition in which the sliders (12) of the floating carriage are housed. (6).
  • one end of the guide element (13) is attached to the fixing base (9), while the other goes through the base element (10) to be fixed to a support element (14) of an expandable actuator (4) which, in this way, is at a fixed distance from the fixing base (9).
  • the clamping claws (2) are fixed at one of its ends, by means of which the claw presses on the disc to be caught with its free ends.
  • the clamping claws (2) are angularly arranged at the same distance and preferably there are three.
  • the movement of the expandable actuator (4) is radial, with which it is achieved that the clamping claws (2) extend radially as well. In this way, the claws (2) are extended to press, with the free ends, on the internal diametrical surface of the disc to which they are facing, to catch it, or they are retracted to stop contacting the disc to which they were attached, to release it.
  • the expandable actuator (4) is centered with respect to the support ring (1), as shown in figure 2, so that, on the one hand, the clamping claws (2) do not interfere with the support ring ( 1) when traversing it, partially or completely, to catch a disc and, on the other hand, so that when the clamping claws (2) extend, they contact the disc to be picked up at the same time.
  • the internal diameter of the support ring (1) is greater than the internal diameter of the discs to be picked up, so that the clamping claws (2) can catch the disc even though part of the claws ( 2) are facing the inner diametrical surface of the support ring (1).
  • a series of suction cups (3) and a disk sensor (5) are attached to the surface of the support ring (1).
  • the maneuver used by the gripper to catch a disc is different depending on whether it is a matter of unloading a disc from a storage or review position to be loaded on a cutting shaft or to the warehouse, respectively, or depending on whether it is a discharge. of discs destined for a storage or review station from the cutting shaft unloading area, as described below.
  • the manipulator robot moves to a position close to where the disk destined to be loaded is located, directed by the control and oriented to position itself with the support ring (1) facing the disk through the disk sensor (5).
  • the claw meets the driver (8) fully extended and therefore the support ring (1) It is in an extreme position, while the clamping claws (2) are in their most retracted position, being located between the support ring (1) and the base element (10) of the floating carriage (6).
  • the robot manipulator When the disc sensor (5) detects that the support ring (1) is facing a disc, the robot manipulator reduces speed and finishes positioning the claw on the disc to be picked up, leaving the support ring (1) positioned concentrically with the disc. As the manipulator robot continues to move towards the disc and the support ring (1) is already in contact with the disc, it causes the floating carriage (6) to move through the sliders (12), which are attached to the base element. (10) of the floating carriage (6), on the guide elements (13), contracting the drag element (8) and making the clamping claws (2) protrude from the support ring (1) a distance that will be less to the thickness of the disc to be picked up, this distance being determined by the control and controlled by the ring position sensor (7).
  • the drag element (8) is blocked to fix the position of the clamping claws (2) with respect to the disc, and the expandable actuator (4) is activated to extend the clamping claws (2) and contact the disk to catch. It should be noted that, if the thickness of the disc is less than the distance that the claws (2) have protruded with respect to the support ring (1), part of the claws (2) would be located in the inner diametrical zone of the ring of support (1), so this diameter must be greater than the internal diameter of the discs to be picked up, as has been commented.
  • the movements of the manipulator robot to get closer to the location of the disk to be picked up, of the contraction of the drive element (8) and of the expandable actuator (4) to move the clamping claws (2) are electronically controlled through a software of control through which information related to the discs is accessed, both about their thickness and their position both in the warehouse and on the axis where they are located to be loaded and unloaded.
  • suction cups (3) located on the surface of the support ring (1), to ensure the hold.
  • the operation of the suction cups can be pneumatic by means of the necessary means known in the state of the art.
  • the manipulator robot is in charge of bringing the claw closer to the disc to be captured until reaching a position in which the capture of the disc in question is programmed.
  • the claw instead of being the robot that makes the claw continue advancing until the support ring (1) is in contact with the disc, the claw remains immobile so that it is the mechanism where it is located. the disc who moves the disc to the position programmed to be captured, pushing the disc to the support ring (1), dragging the floating carriage (6) until the clamping claws (2) appear and are located in the position determined to capturing the disc.
  • the suction cups (3) are activated for a better grip, once located in their destination position the suction cups (3) are deactivated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Forests & Forestry (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une griffe de capture de disques conçus avec un diamètre intérieur, commandée par une commande et reliée à un robot manipulateur, qui comprend un chariot flottant (6) qui intègre un élément de base (10) et un anneau d'appui (1), un actionneur extensible (4) qui intègre une pluralité de griffes de préhension (2), centré relativement à l'anneau d'appui (1), un élément d'entraînement (8) fixé à la base de fixation (9) et à l'élément de base (10), au moins un élément coulissant (12), ajusté sur un élément de guidage (13), qui est relié à l'élément de base (10) de sorte que, une fois un disque détecté par la commande, le robot manipulateur place l'anneau d'appui (1) dans une position déterminée par le dispositif de commande et le chariot flottant (6) est retiré pour que les griffes de préhension (2) capturent le disque.
PCT/ES2020/070650 2019-10-31 2020-10-26 Griffe de capture de disques WO2021084148A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201931789U ES1239004Y (es) 2019-10-31 2019-10-31 Garra de captura de discos
ESU201931789 2019-10-31

Publications (1)

Publication Number Publication Date
WO2021084148A1 true WO2021084148A1 (fr) 2021-05-06

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2020/070650 WO2021084148A1 (fr) 2019-10-31 2020-10-26 Griffe de capture de disques

Country Status (2)

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ES (1) ES1239004Y (fr)
WO (1) WO2021084148A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002043910A1 (fr) * 2000-12-02 2002-06-06 Robert Bosch Gmbh Machine-outil portative comportant deux meules de decoupage tournant en sens contraire directement de maniere adjacente et des elements pour monter les meules de decoupage pour une telle machine-outil portative
DE202014106213U1 (de) * 2014-12-22 2016-03-23 Kuka Systems Gmbh Montageeinrichtung
CN107020494A (zh) * 2017-05-19 2017-08-08 郑州轻工业学院 圆柱面内壁工件的内撑式抓取与套模下压机械手
WO2018001947A1 (fr) * 2016-06-27 2018-01-04 Kuka Systems Gmbh Outil, dispositif et procédé de préhension
CN109079839A (zh) * 2018-09-21 2018-12-25 桂林梵玛科机械有限公司 与机器人配合的轮胎胎胚抓取装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002043910A1 (fr) * 2000-12-02 2002-06-06 Robert Bosch Gmbh Machine-outil portative comportant deux meules de decoupage tournant en sens contraire directement de maniere adjacente et des elements pour monter les meules de decoupage pour une telle machine-outil portative
DE202014106213U1 (de) * 2014-12-22 2016-03-23 Kuka Systems Gmbh Montageeinrichtung
WO2018001947A1 (fr) * 2016-06-27 2018-01-04 Kuka Systems Gmbh Outil, dispositif et procédé de préhension
CN107020494A (zh) * 2017-05-19 2017-08-08 郑州轻工业学院 圆柱面内壁工件的内撑式抓取与套模下压机械手
CN109079839A (zh) * 2018-09-21 2018-12-25 桂林梵玛科机械有限公司 与机器人配合的轮胎胎胚抓取装置

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Publication number Publication date
ES1239004U (es) 2019-12-26
ES1239004Y (es) 2020-03-18

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