WO2022172228A1 - Effecteur robotisé pour tenir, manipuler et transporter des vêtements textiles - Google Patents

Effecteur robotisé pour tenir, manipuler et transporter des vêtements textiles Download PDF

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Publication number
WO2022172228A1
WO2022172228A1 PCT/IB2022/051267 IB2022051267W WO2022172228A1 WO 2022172228 A1 WO2022172228 A1 WO 2022172228A1 IB 2022051267 W IB2022051267 W IB 2022051267W WO 2022172228 A1 WO2022172228 A1 WO 2022172228A1
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WO
WIPO (PCT)
Prior art keywords
garment
module
adhesive
coulisse
coupled
Prior art date
Application number
PCT/IB2022/051267
Other languages
English (en)
Inventor
Alejandro MARTINEZ-FIERROS
Original Assignee
Autonomy Techlab Sa De Cv
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 Autonomy Techlab Sa De Cv filed Critical Autonomy Techlab Sa De Cv
Publication of WO2022172228A1 publication Critical patent/WO2022172228A1/fr

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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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0225—Compliance devices with axial compliance, i.e. parallel to the longitudinal wrist axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F15/00—Screen printers
    • B41F15/08—Machines
    • B41F15/0863—Machines with a plurality of flat screens mounted on a turntable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F15/00—Screen printers
    • B41F15/14—Details
    • B41F15/16—Printing tables
    • B41F15/18—Supports for workpieces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F19/00—Apparatus or machines for carrying out printing operations combined with other operations
    • B41F19/002—Apparatus or machines for carrying out printing operations combined with other operations with means for applying specific material other than ink
    • B41F19/004—Apparatus or machines for carrying out printing operations combined with other operations with means for applying specific material other than ink with means for applying adhesive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F17/00—Printing apparatus or machines of special types or for particular purposes, not otherwise provided for
    • B41F17/003—Special types of machines for printing textiles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41P—INDEXING SCHEME RELATING TO PRINTING, LINING MACHINES, TYPEWRITERS, AND TO STAMPS
    • B41P2215/00—Screen printing machines
    • B41P2215/50—Screen printing machines for particular purposes

Definitions

  • the manipulation of garments is nowadays done manually.
  • the present invention aims, by means of numerical control mechanisms and several mechanisms, to carry out tasks within the textile production industry, and to automate processes that are normally carried out manually by operators, such as unloading an automatic textile screen printing press.
  • the machine can optionally be adjusted to a limited range of heights to pick up and peel off the garments form the printing pallets of the press.
  • Another drawback of the Passport® machine is its reduced degrees of freedom and small workspace and may damage already printed garments due to its limited ability to peel off the glued garments. Indeed, for the screen-printing process the garments must adhere to a smooth surface and the way in which the M&R Passport® machine peels off the shirts implies a serious risk of damaging the fabric and the screen print. Likewise, it is not capable of handling textile garment panels (that is, a textile canvas that has not been sewn to other parts to form a t-shirt or such), as it is often required in the textile industry.
  • a first object of the invention is to provide an effector that, with the help of a mechanical or robotic system, allows adequate and flexible handling of textile garments to be transported in a controlled manner from point A to point B.
  • Another object of the invention is to provide an apparatus that makes it possible to emulate the behavior, or arm strokes, performed by human operators to hold garments from a surface, peel them off, transport to another place, and finally, deposit the garment in said place in a controlled and orderly manner.
  • Another object of the invention is to provide an apparatus that can be mounted on a modular actuator that allows additional functions that require motions to be performed.
  • Still another object of the invention is to provide an apparatus that allows to firmly and securely hold garments, previously spread on a regular and smooth surface, along an entire transverse line of the fabric.
  • Another object of the invention consists of an object that allows to firmly and securely hold garments deposited on a regular and smooth surface at a determined number of points along a transverse line of such garment.
  • Another object of the invention consists of an object that allows controlling the adhesive applied to the surface from which the garments are collected. Adhering garments to hold them in place is a common practice in some fabric cutting and printing processes.
  • an apparatus for unloading and transporting garments printed by a screen printing process over an adhesive pallet characterized in that it comprises: (a) a coulisse effector module 200 coupled to a robot, the coulisse effector module 200 comprising (i) a motor 208, coupled to a gearbox 202 that transmits torque to an shaft, (ii) a drive link 207, coupled to said shaft of gearbox 202 (iii) a coulisse arm 205, coupled from pivotably to drive link 207 and pivot 210; and (b) a garment gripping module 300, attached to the coulisse effector module 200, comprising a first fixed 305 clamp part and a second movable 306 clamp part, actuated by pneumatic pistons 301 .
  • a coulisse effector module 200 coupled to a robot, the coulisse effector module 200 comprising (i) a motor 208, coupled to a gearbox 202 that transmits torque to an shaft, (ii) a drive link 207, coupled to said shaft
  • Figures 1 A, 1 B, 1C, 1 D and 1 E show the clamping and detachment of the garment or garment panel from the screen-printing pallet upon placement on a conveyor belt.
  • Figure 2 shows a screen-printing pallet with adhesive applied.
  • Figures 3A and 3B show an adhesive application control module 400 on the screen-printing pallet.
  • Figures 4A and 4B show robotic displacement module 100 of the machine of the present invention.
  • Figure 5 shows the coulisse effector module 200 of the present invention.
  • Figures 6A and 6B show the positions of the arm of the coulisse effector module 200 in positions of minimum and maximum point of the arc.
  • Figure 7 represents the positions assumed by the main link depending on the angular displacement of the driving link of the coulisse effector module 200.
  • Figures 8A, 8B and 8C respectively illustrate position, rotation and velocity versus time diagrams of the coulisse effector.
  • Figures 9A and 9B show the garment gripping module 300 of the machine of the present invention and a detail thereof, respectively.
  • Figure 10A shows the garment gripping module 300 in garment clamping operation.
  • Figure 10B shows a detail of the holding of a garment by the clips of the garment gripping module 300.
  • the proposed invention is a system that collects, peels off, unloads, handles, transports and deposits textile garments.
  • Textile materials can be simple cuts of fabric of varying shapes (garment panels), or they can be sewn garments (garments). In both cases, it will refer to textile garments (both garment panels and garments) as garments.
  • the effector of the present invention carries out three sub-processes: (a) garment collection and peel off, shown in Figures 10A, 10B, 1A and 1 B, (b) garment transport, shown in Figures 1C, 1 D and (c) released of the garment, shown in Figure 1 E.
  • the first sub-process consists of having a garment spread over a flat and smooth surface (commonly adhered after a screen printing process) so that the machine of the present invention can hold one end of said garment.
  • a pallet or adhesive plate 003 is provided which has at least a portion covered with adhesive 003A, but not the entire surface, as shown in Figure 2.
  • the present invention achieves a peeling off of the garment from the adhesive plate 003 from one edge thereof, so that the garment is lifted progressively from the adhesive plate 003.
  • the garment It is not pulled in the vertical direction relative to the position of the pallet, as in the previous art (shown by M&R’s Passport), but rather it is lifted with a suitable angle to avoid deformation of the garment or cracking of the print.
  • Such improved peeling off is the result of:
  • the coulisse effector module 200 emulates the human arm lifting motion, so that the garment adhered to the adhesive plate 003 can be removed in a similar way as human operators, as shown in Figures 1 A and 1 B.
  • the radial lifting movement of the coulisse effector module 200 it is possible to take advantage of the aerodynamics of the garment and move it without forming folds or wrinkles.
  • the third sub-process takes advantage of the auxiliary use of a mechanical or robotic displacement module 100 to move the garments from a place A (where the garment was collected) to a place B (where the garment will be deposited usually a conveyor dryer to cure the prints).
  • a mechanical or robotic displacement module 100 to move the garments from a place A (where the garment was collected) to a place B (where the garment will be deposited usually a conveyor dryer to cure the prints).
  • the fourth sub-process consists of a routine programmed to release the garment on a certain surface.
  • the coulisse effector module 200 is used to spread the garment and eliminate wrinkles that may be generated due to movement.
  • the garments are placed in an orderly and extended manner on said surface, which is commonly a conveyor belt.
  • the machine of the present invention comprises. [0033] (A) An adhesive application control module 400. It is the set of elements that sprays the adhesive and limits the area where it is applied over the adhesive plate 003.
  • the adhesive application control module 400 is shown in Figures 2, 3A and 3B. Said module comprises a frame 401 , which supports the equipment, a limiting plate 402 that limits the spraying of adhesive on the plate 003, a hopper 403 for the control of the adhesive and a spray valve 404 that spreads the adhesive.
  • This adhesive application control module 400 guarantees that an area is covered by adhesive 003A and another area 003B that is not covered by it.
  • Figures 4A and 4B It is the set of auxiliary elements that allows the coulisse effector to be positioned in the required position to collect the garments and transport them to the releasing position.
  • These elements can have different morphologies and configurations to be adapted to different processes. For example, a Cartesian robot, a delta robot, or any robot that provides displacement can alternatively be used.
  • a coulisse effector module 200 It is the set of elements that allows emulating the arm movement carried out by operators in order to be able to properly peel off, manipulate, and avoid wrinkles on the fabric while moving through the air.
  • the coulisse effector module is shown in Figures 5, 6A-6B, 7 and 8A to 8C.
  • a garment gripping module 300 It is the set of elements that allow holding the garments to be handled. It allows the gripping of the garments from over the adhesive plate 003, and not from its edges, or from hanging parts of fabric. It works in cooperation with module 400, which limits the adhesive area.
  • the garment gripping module 300 is shown in Figures 9A-9B and 10A-10B.
  • the garment gripping module 300 must be placed in a specific position relative to the garment to be handled.
  • an auxiliary mechanical or robotic system is used that allows robustness to the execution of the garment handling and transport cycle.
  • Said auxiliary can have a wide range of configurations and degrees of freedom.
  • the functionality is exemplified using a Cartesian robot with four degrees of freedom.
  • the movement carried out on the main axis is called the X axis in the horizontal plane, Y the axis perpendicular to X on the same horizontal plane, and Z for the vertical axis orthogonal to X and Y.
  • a rotary axis R which rotates about the Z axis, is considered.
  • moving from point A to point B can be achieved in many different ways.
  • the X-axis displacement mechanism 110 represents the movement mechanism in the X axis in Fig. 4A, this comprises a mobile 111 that represents the base of the system in general and of the other coordinate axes.
  • a synchronous pulley motor assembly 113 provides the movement required to move the mobile 111.
  • the synchronous pulley serves to convert the angular movement of the motor into linear movement. So, the motor provides synchronous pulley movement, from the pulley to the belt, and the belt allows the mobile 111 - attached to the belt - to move.
  • the belt runs between the synchronous pulley motor assembly 113 and an idler pulley 119. To indicate the reference of the movement, it has the limit switch 114.
  • the linear guides 115 are used.
  • Beam 117 is used as a general support so that the robot can perform its functions properly.
  • a safety buffer 118 is provided that allows absorbing the impact of a collision of the robot in the event of an accident when, due to inertia, the mobile 111 runs beyond the position established by the limit switch 114.
  • Y-axis displacement mechanism 120 is shown in FIG. 4A. It comprises a crossbeam 121 to connect with the mobile 111 of the X axes, on a joint base 122.
  • the crossbeam 121 also serves as a base for relative movement along the Y axis.
  • the joint base 122 is a support that connects the crossbeam 121 to the linear guides 125.
  • the linear guides 125 are connected to a crossbeam 121 , which serves as a support for the rest of the axes and the main element of the movement of the Y axis.
  • the sensor is used limit switch 124.
  • Motor 127 provides the required movement and is transmitted from ball screw 126 and a fixed nut so that the angular displacement of the ball screw by the motor is converted into a forward or forward displacement.
  • Z-axis displacement mechanism 130 is illustrated in FIG. 4B.
  • the mechanism 130 comprises a motor 137 that provides the movement for the vertical beam 131. Similar to the operation of the Y-axis, a ball screw drive 136 is used to move the vertical beam 131. The movement of the vertical beam 131 is limited and controlled by the linear guides 135. As can be seen in Figures 4A and 4B, the motor 137 is arranged on top of the vertical beam 131.
  • the Z-axis displacement mechanism 130 for displacement in the Z axis is firmly attached to the end of the crossbeam 121 of the Y-axis displacement mechanism on the opposite side to where the motor 127. It is placed there by means of the joining base 132 that also houses the fixed gear attached to the ball screw drive 136, so that when the ball screw drive 136 rotates to the right or left by the action of the motor 137, the vertical beam 131 experiences a upwardly or downwardly vertical displacement.
  • the displacement mechanism on the X axis110, on the Y axis 120, and on the Z-axis displacement mechanism 130 move independently to a specific X, Y, Z position and allow the coulisse effector to perform its function of transporting garments from point A to point B in space, as shown in Figures 1A to 1 E.
  • the machine of the present invention includes yet another rotatory mechanism 140 for the rotation axis R, which consists of a rotating wrist. It allows the coulisse effector module 200 to be rotated, arranged at the lower end of the Z- axis displacement mechanism 130, opposite motor 137. Structure 141 allows to couple the rotatory mechanism in the R axis 140 at the lower end of vertical beam 131 of axis Z. Motor 142 provides the movement required for rotation in axis R.
  • Mechanism 130 includes a gearbox 143 that couples the power supplied by the motor and the required power to a vertical shaft 145, which extends downward. To protect the components of gearbox 143, a frame containing bearings is used to reduce the effects of the effector inertia. Finally, a coupling is arranged on the shaft 145 to join the rotatory mechanism in the R axis 140 with the coulisse effector module 200
  • the purpose of the coulisse effector module 200 is to carry out the main movements of the present invention. It places the garment gripping module 300 in place for garment holding; it radially lifts (as shown in Figures 6A and 6B) and peels off the garment from the adhesive plate 003; it transports the garments aided by the robotic displacement module 100; it avoids wrinkles by aerodynamically moving up and down the garments while moving through the air; and later, it deposits the garment in an orderly manner on another surface, as shown in Figures 1A-1 E.
  • Coulisse effector module 200 is shown in Figures 5 and 6A-6B.
  • the coulisse effector module 200 is based on a pair of reverse slide mechanisms or, fast reverse mechanism.
  • This mechanism has the characteristic of supplying a high torque at the tip end of the longest link, better known as the coulisse link.
  • These mechanisms are placed in a synchronized way to guarantee a regular movement and a wider support on the end of the coulisse, as is the case of the tasks where it is required to detach garments adhered to a surface. In such a case, a uniform force along the transverse axis of the garments is necessary, and at the same time, a controlled and constant movement to avoid damaging the garment fabrics is needed.
  • Figures 6A 6B and 7 show the movement described the coulisse mechanism and the trajectory it performs.
  • the coulisse effector module 200 comprises a frame 201 to keep joined the main elements of the coulisse and connects them to the rotatory mechanism 140 in the R axis, in turn joined to the robotic displacement module 100.
  • the coulisse effector module 200 comprises a gearbox 202 to couple the motion supplied by a motor 208. It also ensures that the movement is transmitted only from the motor to the coulisse and not vice versa, which would happen if the inertia of the coulisse exceeds the force of the motor 208.
  • the gearbox 202 transforms the movement of the motor 208 into radial motion with its shaft exiting form both ends of the gearbox 202.
  • the coulisse effector module 200 has a set of elements or links that allow its operation and restrict its movement to obtain the desired trajectory at the end of the coulisse effector module 200.
  • the pivot 210 serves as the pivot point of the coulisse arm 205. Attached to the coulisse arm 205, a linear guide 206 is placed. It works as a prismatic joint to be able to perform the rapid backward movement (described in Figure 7). The movement is transmitted from the gearbox 202 to the coulisse arm 205 by means of the drive link 207.
  • the said prismatic joint and the drive link 207 perform the necessary movement restriction so that when the link 207 rotates, due to the motion of double ended shaft of the gearbox 202, the coulisse arm 205 performs a specific reciprocation in which its power and speed increases when passing through stages 1 , 2, 3 and 4 as illustrated in figure 7.
  • the double ended shaft of the gearbox 202 is used to move two symmetric coulisse arms 205. Both, joint together by the connecting bridge 203 provide increased stability to the structure.
  • Figures 8A, 8B and 8C show respective diagrams of position, rotation and speed. The diagrams illustrate the effect of the coulisse effector module 200, that is, peaks of speed and displacement, which are used to peel off the garment from the adhesive plate 003 with adhesive, to displace the garment from point A to point B while avoiding wrinkles moving through the air, and to spread evenly the garment at a location B.
  • the main advantage of using a coulisse system is the versatility to handle textiles in a way similar to how an operator's arms would.
  • Figures 1A to 1 E show how a garment collection process is performed.
  • the coulisse effector module 200 also includes a docking termination that allows a modularity function to adapt various objects, an extension 204 is shown in the images.
  • a mobile module that adds an additional degree of freedom to emulate better the behavior of an operator.
  • the purpose of using this variant is to be able to handle fabric with a smaller turning radius and avoid turbulence generated when turning with a wide arm.
  • such elbow may adapt the operation of the coulisse to reduced work spaces.
  • the motion performed by the coulisse effector module 200 also allows to peel off garments that were adhered to a surface, as is the case of screen printing. Its radial lifting is smooth and controlled. This preserves the integrity of the fabrics and the print.
  • the way in which the garments are peeled off (as shown in Figure 1A and 1 B), together with the movement provided by the robotic displacement module 100, emulate the movements naturally made by human operators.
  • Another variant of this process is given by changing the link 204 of the coulisse effector module 200 by a link with an additional degree of freedom as an elbow, which can be bent to reduce the arc described by the garment gripping module 300 to avoid bends and increase the speed at which the process is carried out.
  • aerodynamics is used to deposit the garments on the target surface B, where the movement made naturally by humans to spread fabric on a surface is emulated (for example, spread a sheet or a towel).
  • the movement after peeling off the garment from the adhesive plate 003 must describe a wide arc that allows an air flow that keeps the garment stretched vertically, then a movement is made thanks to the robotic displacement module 100 to move in a direction parallel to the orientation where it is sought to deposit, looking for the end of the garment to touch the surface of release.
  • the garment is then rapidly controlled close to the release surface by means of a circular downward movement of the coulisse effector module 200.
  • the present invention comprises a garment gripping module 300, which is intended to collect the garments from the top of flat surfaces, such as the pallets of a screen-printing press. It holds the garments while the coulisse effector module 200, and the robotic displacement module 100 displace the garment to a different surface- . Afterwards, the gripping module 300 releases the garments in the new position.
  • the garment gripping module is illustrated in Figures 9A-9B, 10A-10B.
  • the garment gripping module 300 is mainly composed of a supporting frame 303 which holds the rest of the elements. By means of the angle 308 it is connected to the end of the coulisse effector module 200, the geometry of this element allows to adjust the orientation of the gripping module 300 so that the gripper formed by the parts 305 and 306 are perpendicular to the surface where the garment is collected.
  • the clamp parts 306 and 305 are in turn actuated by respective pneumatic pistons 301 which cause the clamp parts 305 and 306 to approach and close the space between them while dragging the garment under them. As this happens, an edge of the garment is confined and gripped. This process is illustrated by Figures 10A and 10B.
  • one of the parts of the clamp 305 is fixed, and only part 306 moves on the linear guides 309, transversely disposed, by the action of the pneumatic pistons 301 .
  • the clamp parts 306 and 305 are made by long and smooth bars that hold completely one end of the garment as shown in Figures 10A and 10B. This is in order to have a better control of the garment when peeling off from the adhesive plate 003, distributing the pulling movement evenly along the garment to avoid cracked prints, in the case of screen printing. To improve the grip, the lower end of the parts is covered with a soft, non-slip and compressible material. Likewise, it is possible to adapt a finger-shaped extension to hold specific knitted garments and adapt to situations of small-size garments, or to few spaces available for clamping.
  • the clamp portions 306 are positioned on a linear guide 309 due to the force with which the coulisse effector module 200 compresses press the gripping module 300 against the collecting surface.
  • the gripping module 300 also has a mobile base 304 that connects the supporting frame 303 with the elements of the clamp parts 305 and 306 by means of screws and springs.
  • the springs guarantee the uniform and constant contact of the clamp parts 305 and 306 with the surface of collection without generating a collision that could damage a component or the surface.
  • the present invention includes an adhesive application control module 400 to be used in certain processes such as screen printing, which needs the garments adhered to an adhesive plate 003.
  • an adhesive application control module 400 to be used in certain processes such as screen printing, which needs the garments adhered to an adhesive plate 003.
  • a system such as this (shown in figures 3A and 3B) is required. It consists of the following elements: [0069] A general frame 401 is used which allows the hopper 403, the limiting plate
  • the application of the adhesive is carried out taking advantage of the circular movement provided by the screen printing presses.
  • Such machines have several pallets, which rotate around its center.
  • the valves 404 releases a controlled amount of adhesive which is impregnated onto the surface segment 003A, shown in Figure 2.
  • plate 402 is used which acts as a barrier preventing the adhesive from bathing the 003B portion of plate 003, under said limiting plate 402.
  • textile garments can be placed to be screen printed. At the end of the printing cycle, the garment is collected by the robotic system presented in this document.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Discharge By Other Means (AREA)
  • Treatment Of Fiber Materials (AREA)

Abstract

L'invention concerne un appareil pour décharger, décoller et transporter un vêtement, empêchant des turbulences d'air, imprimé par une presse de sérigraphie sur une plaque adhésive (003) avec un système de commande d'adhésif, caractérisé en ce qu'il comprend : (a) un module effecteur à coulisse (200) accouplé à un module de déplacement robotisé (100), le module effecteur à coulisse (200) comprenant (i) un moteur (208), accouplé à une boîte de vitesses (202) transmettant un couple à un arbre, (ii) une liaison d'entraînement (207), accouplée audit arbre de la boîte de vitesses (202), (iii) un bras à coulisse (205), accouplé pivotant à la liaison d'entraînement (207) et à un pivot (210) ; (b) un module de préhension de vêtement (300), fixé au module effecteur à coulisse (200), comprenant des parties de serrage à revêtement en caoutchouc fixes et mobiles (305) et (306) actionnées par des pistons pneumatiques (301) ; (c) un module de commande d'application d'adhésif (400) qui garantit le fonctionnement optimal du module de préhension (300) au moyen de la plaque limite (402).
PCT/IB2022/051267 2021-02-15 2022-02-13 Effecteur robotisé pour tenir, manipuler et transporter des vêtements textiles WO2022172228A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
MX2021001849A MX2021001849A (es) 2021-02-15 2021-02-15 Efector robotico para sujetar, manipular y transportar lienzos o prendas textiles.
MXMX/A/2021/001849 2021-02-15

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WO2022172228A1 true WO2022172228A1 (fr) 2022-08-18

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0568149A1 (fr) * 1992-04-22 1993-11-03 Stork Brabant B.V. Dispositif pour appliquer une couche adhésive sur une bande sans fin et dispositif à imprimer comportant un tel dispositif
US5800614A (en) * 1996-09-24 1998-09-01 Foust; Paul William Adhesive applier for screen printing machine
US6439370B1 (en) * 1999-10-05 2002-08-27 M&R Printing Equipment, Inc. Method and apparatus for the automatic loading of an article onto a printing machine
JP2010000560A (ja) * 2008-06-19 2010-01-07 Ist Corp 残留変形性薄物把持装置
WO2019137585A1 (fr) * 2018-01-15 2019-07-18 Inwatec Aps Procédé de préhension, de déplacement et de libération d'un morceau de tissu avec un organe de préhension, et organe de préhension

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0568149A1 (fr) * 1992-04-22 1993-11-03 Stork Brabant B.V. Dispositif pour appliquer une couche adhésive sur une bande sans fin et dispositif à imprimer comportant un tel dispositif
US5800614A (en) * 1996-09-24 1998-09-01 Foust; Paul William Adhesive applier for screen printing machine
US6439370B1 (en) * 1999-10-05 2002-08-27 M&R Printing Equipment, Inc. Method and apparatus for the automatic loading of an article onto a printing machine
JP2010000560A (ja) * 2008-06-19 2010-01-07 Ist Corp 残留変形性薄物把持装置
WO2019137585A1 (fr) * 2018-01-15 2019-07-18 Inwatec Aps Procédé de préhension, de déplacement et de libération d'un morceau de tissu avec un organe de préhension, et organe de préhension

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