WO2024099574A1 - Dispositif de manipulation et son procédé de fonctionnement - Google Patents

Dispositif de manipulation et son procédé de fonctionnement Download PDF

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Publication number
WO2024099574A1
WO2024099574A1 PCT/EP2022/081607 EP2022081607W WO2024099574A1 WO 2024099574 A1 WO2024099574 A1 WO 2024099574A1 EP 2022081607 W EP2022081607 W EP 2022081607W WO 2024099574 A1 WO2024099574 A1 WO 2024099574A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
clamping
transport
unit
flat object
Prior art date
Application number
PCT/EP2022/081607
Other languages
German (de)
English (en)
Inventor
Leif Pudewills
Markus Singer
Albrecht Kreissig
Original Assignee
Festo Se & Co. Kg
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 Festo Se & Co. Kg filed Critical Festo Se & Co. Kg
Priority to PCT/EP2022/081607 priority Critical patent/WO2024099574A1/fr
Publication of WO2024099574A1 publication Critical patent/WO2024099574A1/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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • 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
    • B65H3/02—Separating articles from piles using friction forces between articles and separator
    • B65H3/06—Rollers or like rotary separators
    • 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
    • B65H5/14—Details of grippers; Actuating-mechanisms therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/50—Gripping means
    • B65H2405/58—Means for achieving gripping/releasing operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/174—Textile; fibres

Definitions

  • the invention relates to a handling device for repositioning shape-stable flat objects, with at least one gripping device that can be moved in space, has a vertical axis and has at least one gripping unit that allows flat objects to be releasably gripped and held.
  • the invention also relates to a method for operating such a handling device.
  • a handling device of this type known from DE 10 2018 216 393 A1 contains at least one gripping device which can be moved spatially by means of a positioning unit formed, for example, by a robot and has one or more gripping units which enable flat objects to be releasably gripped and held.
  • Each gripping unit is equipped with an adhesive band which can be attached to a flat object by appropriately positioning the gripping device so that the object adheres to the gripping unit. In this gripped state, the flat object can be repositioned using the gripping device and placed back in another place.
  • the known handling device can reliably handle unstable flat objects even if they are permeable to air, this is not the case when used in dusty environments or for handling textiles. However, when using tile objects that tend to shed lint, the adhesive tape can quickly become dirty, which can lead to a reduction in the holding forces.
  • US 2002/0113448 A1 describes a handling device that has a gripper device that has two rollers arranged parallel to one another, each of which is equipped with gripping surfaces.
  • the rollers can be moved towards one another in order to set a holding force sufficient to hold an unstable object in a clamping gap formed between the rollers.
  • the clamping force that the two rollers, which are mounted so that they can move relative to one another, apply can be set using a spring device.
  • the object of the invention is therefore to provide a handling device of the type mentioned at the outset, with which unstable flat objects can be reliably separated from a stack of a plurality of flat objects lying one above the other.
  • the handling device is characterized in that the gripping device has a support structure which is provided on an underside of the gripping device with a contact surface pointing downwards in the axial direction of the vertical axis, with which the gripping unit can be pressed against an uppermost flat object of the object stack with a pressing force in order to assume a gripping position, and that the at least one gripping unit has a clamping gap extending between a clamping surface of the support structure and a clamping arm arranged on the support structure, which is open with an object insertion opening towards the underside of the gripping device and in which a flat object section of the flat object to be lifted can be releasably clamped, wherein the clamping arm has a transport structure which, in the gripping position of the gripping device, can be pressed against the flat object to be gripped with a clamping force and can be driven by a rotary drive device to a rotating transport movement, by means of which a flat object section acted upon by it can be transported through the object
  • the form-stable flat objects can be, for example, textile strips, strips made of plastic film or strips made of natural materials such as leather, etc.
  • the properties of the form-stable flat objects are very different. This can be clearly explained using the example of textile strips. Strips or layers of silk fabric that are layered on top of one another require a much lower pressing force until a wave on the topmost flat object, for example heavier materials such as cotton or linen. It is important that the default value of the pressing force can be set so that a wave only occurs on the topmost flat object, so that the topmost flat object can be separated from the stack underneath.
  • the handling device according to the invention differs from the previously mentioned US 2002/0113448 Al in particular through the pressing force default device with which the separation is possible and can be initiated in a targeted manner.
  • the clamping force can be varied, but not the pressing force.
  • the gripping device has a support unit which is movable for positioning the gripping device and on which the gripping unit is movably mounted, wherein a spring device which pre-tensions the gripping unit into a basic position is formed between the support unit and the gripping unit.
  • the spring device is designed as a compression spring device, wherein the gripping unit and the support unit are pressed apart in the basic position, from which the gripping unit can be moved into a working position corresponding to the specified value by increasing the spring force of the compression spring device.
  • the gripping device has a pressing force adjustment device for the variable setting of the preset value of the pressing force.
  • the pressing force adjustment device has the spring device and a detection device designed to detect at least one relative position between the carrier unit and the gripping unit that corresponds to the specified value. If the relative position between the carrier unit and the gripping unit that corresponds to the specified value is reached, this can be detected so that the pressing process is stopped.
  • the detection device has a limit switch which is triggered when the relative position corresponding to the preset value is reached.
  • limit switches can be used as limit switches, i.e. mechanical limit switches, for example in the form of a mechanical limit switch with a roller lever, a proximity switch or other electrical limit switches, for example optical limit switches, in particular light barriers.
  • the transport structure consists of a material with rubber-elastic properties and expediently consists of an elastomer material.
  • the material of the transport structure has a high coefficient of friction. In this way, the material of the flat object can easily be released and adhere to the transport structure and can be reliably transported into the clamping gap.
  • the contact surface of the support structure intended for contact with a flat object to be picked up and separated expediently extends in a contact plane that is at right angles to the vertical axis of the gripping device.
  • the contact surface is preferably flat overall.
  • the contact surface has a contact edge which delimits the object insertion opening on the side of the support structure and which has a jagged contour with at least one jag. This supports the rolling up of the topmost, shape-stable flat object into a wave.
  • the clamping gap of the gripping unit extends in a plane referred to as the gap plane, which is expediently inclined with respect to the vertical axis of the gripping device in such a way that its distance and consequently also the distance of the clamping gap from the vertical axis increases in the direction of the underside of the gripping device.
  • the contact plane and the gap plane preferably form an acute angle.
  • the clamping of the flat object section in the clamping gap can be based, for example, on the flexibility of the flat object material and/or the transport structure, without an active clamping movement taking place.
  • a clamping mechanism that has a clamping stamp that is movable with respect to the clamping arm or the support structure is also possible.
  • the transport device of the clamping arm of the at least one gripping unit is expediently arranged on the support structure so that it can pivot via pivot bearing means.
  • the at least one gripping unit has a clamping force setting device for setting a preset value of the clamping force at which the flat object section created from the shaft transported into the clamping gap by means of the transport movement is held in the clamping gap.
  • the transport structure has a section which is particularly associated with the free end of the clamping arm and which, in the gripping position of the gripping device, can be pressed or is pressed onto the flat object section to be gripped using the set pressing force.
  • This section of the transport structure is referred to as the transport initialization section, as it is responsible for the initial entrainment of the flat object section during the circulating transport movement.
  • the gripping unit has a clamping force adjustment device for the variable setting of the preset value of the clamping force.
  • a clamping force adjustment device for the variable setting of the preset value of the clamping force.
  • the clamping force adjustment device has a spring unit with which the relative The transport device can be pivoted relative to the supporting structure and is pre-tensioned by means of spring force into a working position corresponding to the specified value of the clamping force.
  • the spring unit is expediently designed as a tension spring unit which is mounted on the one hand on the supporting structure and on the other hand on the transport device.
  • the clamping force adjustment device has a spring carrier on which the tension spring unit is mounted, wherein the spring carrier is adjustable, in particular linearly displaceable, on the support structure, and wherein an actuating element is provided which also belongs to the clamping force adjustment device and is coupled to the spring carrier in such a way that by actuating the actuating element an adjusting movement can be initiated on the spring carrier, which causes a displacement of the transport device into the working position corresponding to the specified value.
  • the actuating element is expediently positioned in such a way that it can be operated easily.
  • the actuating element can be an actuating knob, for example. It is possible, for example, for the actuating element to be screwed to the spring carrier via a threaded connection, so that screwing the actuating element in or out causes the spring carrier to be moved in one direction or the other.
  • remote control is also possible, for example by means of a fluid or electrical actuator that can be controlled by the control device.
  • the transport device has a transport roller arrangement having at least one rotatable transport roller, around which the Transport structure extends in a ring-shaped, self-contained manner, wherein at least one transport roller can be driven in rotation to generate the circulating transport movement of the transport structure.
  • a transport roller arrangement having at least one rotatable transport roller, around which the Transport structure extends in a ring-shaped, self-contained manner, wherein at least one transport roller can be driven in rotation to generate the circulating transport movement of the transport structure.
  • the clamping gap has a longitudinal gap axis extending between the object insertion opening and the opposite gap end, which lies in a common plane together with the vertical axis.
  • the transport roller arrangement expediently contains several transport rollers spaced apart from one another in the axial direction of the longitudinal gap axis and arranged in a rotatable manner on an arm base body or roller cage, around which the transport structure is wound and one of which can be driven in rotation by means of the rotary drive device in order to generate the circulating transport movement of the transport structure.
  • the rotary drive device provided for generating the transport movement of the transport structure is arranged on the transport device, wherein a rotationally drivable output shaft of the rotary drive device is coupled to one of the transport rollers for its rotational drive.
  • the transport roller is particularly preferably located on the output shaft.
  • the output shaft expediently also forms the pivot axis and thus, as a multifunctional component, also belongs to the pivot bearing means via which the transport device is arranged pivotably on the support structure.
  • the rotary drive device may be a fluid rotary drive device, for example a fluid rotary actuator.
  • electrical rotary drive devices are also conceivable.
  • the depth of the flat object section drawn into the clamping gap can be determined by adjusting the angle of rotation of the rotary drive device. This has an influence on any undesirable wrinkling in the material.
  • the gripping unit has a detection unit assigned to the clamping gap for detecting the presence of a flat object section in the clamping gap.
  • the detection unit can be designed as a sensor, for example as an inductive, optical or tactile sensor.
  • a fastening interface for fastening the gripping device to a positioning unit which expediently also belongs to the handling device, is formed on the support unit of the gripping device and by means of which the gripping device can be moved and positioned while carrying out a handling movement.
  • the positioning unit can be, for example, a robot or another manipulator that allows the gripping device to be moved mechanically in space.
  • a traversing feeder is, for example, conceivable as another manipulator.
  • the handling device can be equipped with only one single gripping device or with several gripping devices. Several gripping devices are preferably arranged at a distance from each other, transversely to their vertical axis.
  • the handling device can have at least one guide rail, on which at least one Gripping device with its fastening interface is linearly guided and movably arranged along a longitudinal axis of the guide rail. It is possible, for example, to arrange two or more gripping devices on the guide rail, whereby two adjacent guide rails can interact in such a way that two flat object sections are picked up together, whereby it is possible to move the two gripping devices away from each other, which makes it possible to stretch the lifted flat object.
  • the handling device can have a base frame to which the several gripping devices are attached at a mutually adjustable distance so that adaptation to the base area of the flat object to be handled is possible.
  • the base frame can have a fastening interface for attachment to the positioning unit.
  • the handling device is expediently equipped with an electronic control device with which the operation of the at least one gripping device on its components can be controlled and in particular also automated. In particular, this enables feedback of the set default values of pressing force and clamping force.
  • the invention further comprises a method for operating the handling device according to one of claims 1 to 21.
  • the method comprises the following steps: a) positioning the gripping device in a gripping position in which the support structure with its contact surface is pressed vertically from above onto the topmost form-unstable flat object of an object stack of several flat objects lying on top of each other with a pressing force, so that a wave is generated in the topmost flat object, b) carrying out the circulating transport movement of the transport structure and thereby transporting a flat object section created from the wave, which is acted upon by the transport structure, into the clamping gap due to friction, c) holding the flat object section moved into the clamping gap by clamping it between the transport device on the clamping arm and the clamping surface of the support structure, d) lifting the topmost flat object from the object stack and e) moving the gripping device including the held flat object to the target position .
  • At least two gripping devices are provided which simultaneously lift the uppermost flat object, wherein the two gripping devices are moved away from each other after lifting, so that the flat object region lying between the two gripping devices is stretched to detach at least one further flat object which may be adhering to the underside of the lifted flat object.
  • a preferred embodiment of the invention is shown in the drawing and is explained in more detail below.
  • Figure 1 shows a preferred embodiment of the handling device according to the invention in a perspective view
  • Figure 2 is a partial view of the handling device of Figure 1 in an enlarged view with two gripping devices in the extended state
  • FIG. 3 shows the view of Figure 2, with the gripping devices being moved towards each other
  • Figure 4 is a perspective view of a gripping device of the handling device according to the invention.
  • Figure 5 is a perspective view of the gripping device of Figure 4, but viewed from the rear,
  • Figure 6 is a longitudinal section through the gripping device of Figure 4,
  • Figure 7 is a bottom view of the gripping device of Figure 4,
  • Figure 8 shows a cross section through the gripping device of Figure 6
  • Figure 9 is a sectional perspective view according to the section in Figure 8,
  • Figure 10 is a longitudinal section through the gripping unit of the gripping device of Figure 4 during the pressing process and the formation of a wave
  • FIG. 11 the gripping unit of Figure 10, after activation of the transport device,
  • Figure 12 shows the gripping device of Figure 10, showing a retracted flat object section of the uppermost flat object and
  • Figure 13 shows the gripping unit of Figure 10, with the top flat object lifted from the object stack.
  • Figures 1 to 13 show a preferred embodiment of the handling device 11 according to the invention, which can be used to separate flat objects 12 from an object stack 13 made up of a large number of flat objects 12 arranged one above the other.
  • the flat objects 12 have shape-stable, or in other words, pliable properties, which can be found, for example, in layers of textiles or natural materials such as leather or plastic films or thin rubber mats or permeable materials such as mesh structures.
  • the flat objects 12 are objects with a flat extension and a relatively small thickness transverse to their plane of extension.
  • the object stack 13 which consists of several layers of shape-stable flat objects 12 stacked one above the other, can, for example, be part of a production machine, so that a flat object 12 lifted from the object stack 13 and thus separated from a further processing, for example assembly, by means of the handling device 11.
  • the handling device 11 contains at least one gripping device 14, wherein the illustrated
  • Handling device 11 is equipped with two such gripping devices 14. More complex designs of the handling device 11 contain more than two gripping devices in a distribution according to requirements, it being advantageous if all gripping devices 14 are placed distributed in one working plane.
  • the handling device 11 is equipped with a guide rail 15 on which, for example, two gripping devices 14 are mounted so as to be linearly movable along a longitudinal axis 16 of the guide rail 15.
  • the gripping devices 14 are assigned adjustment means which make it possible to change the relative position between the two gripping devices 14, in the example case therefore to move the two gripping devices towards or away from each other.
  • an adjustment drive for example in the form of an electric adjustment drive, is assigned to the two gripping devices 14 together, whereby a synchronous position shift of the two gripping devices 14 is possible.
  • a base frame can be provided on which several gripping devices 14 are arranged in a two-dimensional manner, so that by controlling the associated actuators an individual The distribution and pattern of the gripping devices 14 can be adjusted to suit the flat object 12 being picked up or lifted out of the object stack 13.
  • the exemplary gripping device 14 When used as intended, the exemplary gripping device 14 is attached to a positioning unit 17, which expediently also forms a component of the handling device 11, but can also be available as an external component.
  • the gripping device 14 has a fastening interface 18 which, in the example shown, is suitable for fastening to the guide rail in such a way that a linear adjustability of the gripping device 14 along the longitudinal axis
  • the guide rail 15 has a rail fastening interface 19 via which the rail can be fastened to the positioning unit 17.
  • the rail fastening interface 19 can be designed, for example, as a fastening flange suitable for quick fastening to the positioning unit 17, in particular without screws.
  • the positioning unit 17 is a robot or a movable robot arm.
  • the positioning unit 17 is driven, for example, electrically and/or by means of fluid power. By controlling the positioning unit accordingly
  • the gripping device 14, in the example case the two gripping devices 14 arranged on the guide rail 15, can be moved in space as required by carrying out a handling movement.
  • the handling movement is preferably a three-dimensional movement, although any other degree of freedom of movement can also be provided.
  • the gripping device 14 has a vertical axis 20, the axial direction of which is also referred to below as the height direction.
  • the vertical axis 20 extends between a top side 21 and a bottom side 22 of the gripping device 14. In a non-exclusive but usual mode of operation, the vertical axis 20 is aligned vertically.
  • the gripping device 14 also has a longitudinal axis 23 which is perpendicular to the vertical axis 20 and extends between a front side 24 and a rear side 25 of the gripping device 14, with Figure 4 offering a view of the front side 24 and Figure 5 offering a view of the rear side 25 of the gripping device 14.
  • a transverse axis 26 of the gripping device 14 runs orthogonal to both the longitudinal axis 23 and the vertical axis 20 and extends between two opposing lateral device regions 27a, 27b.
  • the gripping device 14 has a support structure 28, on the top of which the fastening interface 18 is formed.
  • the support structure 28 On the underside 22, the support structure 28 has a contact surface 29 pointing downwards in the vertical direction, which is described in more detail below.
  • the top flat object 12 of the object stack 13, which is acted upon by the contact surface 29, is in turn supported on the underlying layers of flat objects 12 in the vertical direction, so that it between the contact surface 29 and the underlying layers of flat objects 12, i.e. the remaining stack, is held and in particular clamped by friction.
  • the gripping device 14 has a gripping unit 30.
  • the gripping unit 30 defines a clamping gap 31, which has a gap opening facing the underside 22, which is also referred to below as the object insertion opening 32.
  • the object insertion opening 32 preferably extends at least substantially in the contact plane 29.
  • the object insertion opening 32 has a longitudinal extension parallel to the longitudinal axis 23, which is less than a width of the object insertion opening 32 measured in the transverse direction along the transverse axis 26.
  • the clamping gap 31 extends continuously from the front side 24 to the back side 25, being continuously open at both the front side 24 and the back side 25.
  • the clamping gap 31 has a longitudinal gap axis which runs in a common plane with the vertical axis 20 and expediently also the transverse axis 26 and which extends from the object insertion opening 32 to an inner gap end 34 which is closer to the top 21 than the object insertion opening 32.
  • the clamping gap 31 extends in a gap plane which coincides with the longitudinal gap axis, which is aligned parallel to the longitudinal axis 23 and which is inclined with respect to the vertical axis 20 in such a way that it approaches the central vertical axis 20 of the gripping device 14 on its way from the object insertion opening 32 to the inner gap end 34.
  • the gap plane connects with the system plane 29.
  • the inner side facing the vertical axis 20 forms an acute angle.
  • the clamping gap 31 is on the one hand surrounded by a clamping surface 36 arranged or formed on the support structure 28.
  • the contact edge 35 has a jagged contour with at least one jag 95.
  • a single jag 95 is provided which projects forwards in the direction of the clamping gap 31 from the plane of the clamping surface 36 in the contact plane 29.
  • the contact edge can, for example, be trapezoidal in shape.
  • the clamping gap 31 is delimited in an area opposite the clamping surface 36 by a clamping arm 37 arranged on the support structure 28 which, like the clamping surface 36 spaced apart from it, is a component of the associated gripping unit 30. 5
  • the clamping arm 37 has a clamping arm housing 38 which is expediently connected in one piece to the particularly triangular base section 39 of the gripping unit 30.
  • the clamping arm 370 has a transport structure 40 which, in the gripping position of the gripping device 14 shown in particular in Figure 10, is connected to a can be pressed onto the flat object section 41 of the uppermost flat object 12 protruding over the contact surface 29 and, in this pressed state, can be driven by a rotary drive device 42 of the gripping device 14 to perform a circular transport movement 43, indicated by arrows in Figures 11 to 13, by means of which the loaded flat object section 41 is carried along due to friction and transported through the object introduction opening 32 into the clamping gap 31. Since the transport movement 43 is a circular movement, it can also be said that the flat object section 41 to be held firmly is rolled into the clamping gap 31 as a result.
  • the transport structure 40 is part of a transport device 44, which also belongs to the clamping arm 37.
  • the transport device 44 is arranged on the support structure 28 so that it can pivot via pivot bearing means.
  • the transport device 44 is located between two opposing side walls 45a, 45b of the clamping arm housing 38. It therefore extends from the front side 24 of the gripping unit along the longitudinal axis 23 in the direction of the rear side 25 of the gripping unit 30.
  • the clamping arm housing 38 is a component that is rigidly connected to the base section 39 of the gripping unit 30, the transport device 44 is accommodated so that it can pivot within the clamping arm housing 38.
  • the transport device 44 has a transport roller arrangement 46 with several and, by way of example, two transport rollers 47, which are each mounted on a roller cage 49 so as to be rotatable about their longitudinal axis 48, wherein their longitudinal axes extend parallel to the longitudinal axis 23 of the gripping device 14.
  • the roller cage 49 is received in the clamping arm housing 38 and extends in Width direction between the two side walls 45a, 45b.
  • the roller cage 49 has two bearing seats 50a, 50b in each of which one of the transport rollers 47 is rotatably mounted, whereby the bearing seats 50a, 50b are each laterally
  • the transport rollers 47 are arranged one after the other at a distance from one another in the axial direction of the longitudinal axis of the gap.
  • the distance between the two transport rollers 47 is determined by a web section 52 of the roller cage 49, which extends along the longitudinal axis 48 of the two transport rollers 47.
  • the transport structure 40 is only wrapped around the outside of the transport roller arrangement 46, with the two transport rollers 47 each also functioning as a deflection roller.
  • the rotary drive device 42 is provided to generate the transport movement 43 of the transport structure 40.
  • the rotary drive device 42 is located directly on the clamping arm 37, specifically on one of the side cheeks 45a, 45b of the clamping arm housing 38.
  • the rotary drive device 42 has a rotationally drivable output shaft 53, which is directly connected to one of the transport rollers 47 via a housing opening in the side cheek 45a of the clamping arm housing 38 and a through-opening in the bearing leg 51 of the roller cage 49.
  • the inner transport roller 47 in the example case is arranged on the output shaft 53, for example plugged onto it.
  • a rotational movement of the output roller 47 is therefore converted directly into a rotational movement of the transport roller 47 via a rotational drive, for example a corresponding contouring of the output shaft 53.
  • the output shaft 53 simultaneously forms the pivot axis for the roller cage 49 .
  • the transmission of a drive force between the drive roller 47 and the transport structure 44 preferably takes place due to friction due to a certain pre-tension with which the transport structure 40 sits on the transport roller arrangement 46.
  • the transport structure 40 which applies to the exemplary embodiment, consists of a material with rubber-elastic properties and in particular consists of an elastomer material.
  • the transport structure 40 could also be designed like a toothed belt, for example, and engage with an externally toothed drive roller.
  • the handling device 11 is expediently equipped with an electronic control device (not shown) to which the rotary drive device 42 is connected in order to initiate the transport movement 43 or, if required, to stop the transport movement 43.
  • the transport movement 43 can preferably be initiated bidirectionally.
  • the non-driven transport roller in the example case the outer transport roller, is mounted on a bearing shaft 54, which in turn protrudes laterally to the left and right beyond the transport roller 47, with the laterally protruding areas of the bearing shaft being mounted in bearing holes 55 in the side walls 45a, 45b on the left and right.
  • the bearing holes 55 are designed like elongated holes in order to ensure the pivoting mobility of the roller cage 49.
  • the rotary drive device 42 is designed as a fluid, in particular pneumatic rotary drive device.
  • a pneumatic swivel drive is provided, which is actuated by means of Compressed air generates a rotational movement of the output shaft 53.
  • the angle of rotation of the swivel drive is limited and, if necessary, variably adjustable, whereby the transport movement can be adapted to the length of the clamping gap so that the drawn-in flat object section 41 does not form any wrinkles.
  • the gripping device 14 has a pressing force setting device 56 for setting a default value of the pressing force, which results in the formation of a wave 57 on the uppermost flat object 12, which dips through the object insertion opening 32 into the clamping gap 31.
  • the pressing force setting device 56 comprises a support unit 58 which is movable for positioning the gripping device 14 and on which the gripping unit 30 is movably mounted, wherein a spring device 60 which prestresses the gripping unit 30 into a basic position 59 is formed between the support unit 58 and the gripping unit 30.
  • the fastening interface 18 of the gripping device 14 is located on the top of the support unit 58.
  • the top of the support unit 58 thus forms the upper end of the gripping device 14.
  • the support unit is cylindrical, with a cylinder with a rectangular cross-section being selected in the example.
  • the support unit housing 61 is open at the bottom.
  • the support unit housing 61 has an interior space 62 into which a preferably cylindrical bearing rod 63 can be inserted from below via an insertion opening.
  • the bearing rod 63 has a fastening opening 64 on the front side, which is expediently equipped with an internal thread 65.
  • a fastening means in particular in the form of a fastening screw 68 equipped with an external thread, can be screwed into the fastening opening 64, so that the bearing rod 63 is fastened to the support unit housing 61 with the aid of a bearing disk 66 resting on a step in the interior.
  • the gripping unit 30 in turn has a cup-shaped guide housing 67 on the top of the base section 39, in particular screwed to this.
  • the cup-shaped guide housing 67 is open at the top, wherein the support unit 58 with its support unit housing 61 can be inserted into the receiving space 68 of the guide housing 67. Furthermore, the bearing rod 63 passes through the guide housing 67 along the vertical axis 20.
  • a spring device 60 is provided between the support unit 58 and the gripping unit 30.
  • the spring device is designed as a compression spring device, with a single compression spring 69 being provided in the example shown.
  • the gripping unit 30 and support unit 58 are pressed apart into the basic position 59 via the compression spring 69.
  • the gripping device 14 also has a pressing force adjustment device 70 for variable adjustment of the preset value of the pressing force.
  • the compression spring is mounted on the bearing rod 63 and is supported on the one hand on the underside of the support unit housing 61 and on the other hand on the base of the receptacle of the cup-shaped guide housing 67.
  • the pressing force adjustment device 70 has a detection device 71 designed to detect at least one relative position between the support unit 58 and the gripping unit 30 that corresponds to the preset value.
  • the detection device 71 comprises a limit switch 72, which is shown as an example in the form of a mechanical limit switch, for example a roller lever limit switch.
  • the limit switch 72 is triggered when the relative position corresponding to the preset value is reached.
  • the limit switch 72 is attached to the support unit 58 in the form of a roller lever limit switch and can move into an upwardly open longitudinal slot 73 formed on the cup-shaped guide housing 67 during the relative movement of the gripping unit 30 in relation to the support unit 58.
  • the roller lever 74 associated with the limit switch is in a basic position in the position furthest away from the base body of the limit switch 72 in the illustration shown in Figure 5.
  • the roller lever 74 of the limit switch 72 is assigned an adjusting element 75 which is designed in a block-like manner and is provided with a starting slope 76.
  • the starting slope 76 faces the roller lever 74.
  • the adjusting element 75 is movably mounted by means of an actuating element which is guided in a guide slot 77 formed in the guide housing 67 of the gripping unit 30, whereby by actuating the actuating element 78, which is designed, for example, as an actuating knob, different height positions of the adjusting element 75 can be set in relation to the guide housing 67, whereby the starting slope is shifted upwards or downwards, so that a earlier or later triggering of the limit switch 72 when overrunning the roller lever.
  • a scale 79 can be formed on the actuating element, whereby different levels of the height of the actuating element 75 can be set with pinpoint accuracy and position and can be read from the outside.
  • the trigger point of the limit switch 72 can therefore be changed, so that a default value of the pressing force can be set.
  • Interaction with the control in relation to the set height position of the actuating element 75 is expediently possible.
  • the gripping device 14 and in particular the gripping unit 30 further comprises a clamping force setting device 80 for setting a setting value of the clamping force, at which the flat object section 41 produced from the shaft 57 and transported into the clamping gap 31 by means of the transport movement 46 is held in the clamping gap 31.
  • the clamping force setting device 80 comprises a clamping force setting device 81, with which a variable setting of a setting value of the clamping force is possible.
  • the clamping force adjustment device 81 has a spring unit 82 with which the transport device 42, i.e. the roller cage 49, which can be pivoted relative to the support structure 28, is preloaded by means of spring force into a working position corresponding to the specified value of the clamping force.
  • the spring unit 82 is designed as a tension spring unit, which is mounted on the one hand on the support structure 28 and on the other hand on the transport device 44, i.e. on the roller cage 49.
  • the clamping force adjustment device 81 has a spring carrier 83 on which the tension spring unit is mounted, wherein the spring carrier 82 is mounted linearly displaceably on the support structure 28, in particular on the base section 39 of the gripping unit 30.
  • two tension springs 84a, 84b are provided, which are expediently arranged to the left and right of the roller cage 49.
  • the web section 52 of the roller cage 49 has two first bearing pins 85 which protrude to the left and right beyond the outer circumference or the side wall of the roller cage, on which the tension springs 84a, 84b are mounted on the one hand.
  • the spring carrier also has second bearing pins 86 which protrude laterally outwards to the left and right beyond the outer circumference of the spring carrier, with the tension springs 84a, 84b being mounted on the other hand.
  • the spring carrier is mounted linearly displaceably on the base section 39 of the gripping unit.
  • an actuating element 87 is also used, which is also part of the clamping force adjustment device 81 and is coupled to the spring carrier 83 in such a way that by actuating the actuating element 87, an adjusting movement can be initiated on the spring carrier 83, which causes a displacement of the transport device 44, in particular of the roller cage 49, into the working position corresponding to the specified value.
  • the actuating element 87 is designed as a rotary knob which has an external thread which can be screwed in or out of an internal thread formed in a socket of the spring carrier 83.
  • the spring carrier is moved outwards, away from the clamping gap 31, so that the spring force of the tension springs 84a, 84b is increased, thereby increasing the clamping force. Accordingly, unscrewing the rotary knob relaxes the tension springs and thus reduces the clamping force.
  • a scale 89 is formed on the outside, in particular on the front side 24 of the gripping device 14, whereby the adjustment of the second bearing pins is optically visible and thus the default value of the clamping force is optically apparent.
  • the gripping device has a detection unit 90 for detecting the presence of a flat object section 41 in the clamping gap 31.
  • the detection unit 90 can, for example, comprise an inductive sensor which is arranged in a receptacle provided in the base section 39 of the gripping unit.
  • Optical sensors are of course also possible as an alternative.
  • the inductive sensor in the example shown is directed towards the clamping gap and can therefore reliably detect the presence of a flat object section 41 rolled into the clamping gap 31.
  • the method according to the invention for operating the handling device 11 is as follows:
  • the flat object 12 is determined for the handling device's singling task.
  • the level of the specified value of the pressing force depends on the type of flat object 12.
  • the specified value of the pressing force must be set in such a way that an upwardly projecting wave 57 is generated in the top flat object 12 when pressed in combination with the contoured contact edge 35 of the contact surface 29.
  • the pressing force must not be too strong, so that it is prevented that waves are formed on several layers of flat objects 12 lying on top of each other at the same time, which would hinder the separation task.
  • the pressing force must not be too weak either, since the wave 57 is necessary in order to prepare for the reliable conveying of the top layer of the flat object into the clamping gap 31.
  • the pressing force can be specifically adjusted by moving the adjusting element 75 up or down accordingly, whereby the start-up slope interacting with the roller lever of the limit switch is moved up or down.
  • the limit switch is triggered sooner or later by pressing the roller lever onto a contact, depending on the position of the start-up slope.
  • the pressing force is applied by the positioning unit 17, which in the embodiment shown presses the two gripping devices 14 simultaneously onto the uppermost flat object 12, whereby the gripping units 30 are each displaced from the basic position against the spring force of the associated compression springs 69 and the roller lever of the limit switch rolls on the actuating element 75.
  • the limit switch is triggered, whereby a signal is sent to the higher-level control device, which ensures that the pressing caused by the positioning unit 17 is stopped. This state is shown in Figure 10.
  • the rotary drive device 42 is then activated, whereby the output shaft 53 of the rotary drive device 42 sets the drive roller in rotation and the transport structure rotating on the rollers is set in a circulating or transport movement 43.
  • the shaft 57 is enlarged, that is to say A flat object section 41 is created from the shaft 57 and is rolled into the clamping gap 31 by means of the transport movement of the transport device. This process is continued until a discrete flat object section 41 is rolled into the clamping gap 31, the presence of this flat object section being detected by the detection unit 90.
  • the detection unit also sends a signal to the control device, which controls the rotary drive device 42, which deactivates the rotary drive device 42 so that the process of pulling in the flat object section 41 is thus completed. This prevents the flat object section from being transported to the end of the gap and possibly forming folds there.
  • the clamping force can also be individually adjusted to the type of flat object 12. If necessary, the spring force of the tension springs can be increased or decreased by operating the rotary knob, which ensures a reliable hold of the rolled-in flat object section 41 in the clamping gap.
  • the top flat object can be lifted from the object stack 13 and moved to the target position.
  • the previously described method can be carried out synchronously on both gripping devices.
  • the gripping devices 14 By moving the gripping devices 14 away from each other, the picked up flat object can be grasped, so that a reliable displacement - in particular without sagging between the gripping devices - to the target position is possible.
  • the separated flat object 12 is deposited by a reversing movement of the output shaft 53 of the rotary drive device 41, whereby the flat object section 41 rolled into the clamping gap is transported out of the clamping gap again.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

La présente invention concerne un dispositif de manipulation pour personnaliser des objets plats non rigides (12) à partir d'un empilement d'objets (13) d'une pluralité d'objets plats (12) reposant les uns sur les autres, comprenant au moins un dispositif de préhension (14) qui peut être déplacé dans l'espace, présente un axe vertical (20), et possède au moins une unité de préhension (30) qui est équipée pour saisir et maintenir de manière amovible des objets plats (12). Selon la présente invention, le dispositif de préhension (14) présente une structure de support (28) qui est pourvue d'une surface de contact (29) qui est orientée vers le bas dans la direction axiale de l'axe vertical (20) sur la face inférieure (22) du dispositif de préhension (14), ladite surface de contact étant utilisée pour presser l'unité de préhension (30) contre l'objet plat le plus haut (12) de l'empilement d'objets (13) avec une force de pression afin d'adopter une position de préhension, et la ou les unités de préhension (30) présentent un espace de serrage (31) qui s'étend entre une surface de serrage (36) de la structure de support (28) et un bras de serrage (37) disposé sur la structure de support (28) et présente une ouverture d'insertion d'objet (32) qui est ouverte vers la face inférieure (22) du dispositif de préhension (14) et dans laquelle une section (41) de l'objet plat (12) à soulever peut être serrée de manière amovible. Le bras de serrage (37) présente une structure de transport (40) qui peut être pressée contre l'objet plat (12) à saisir avec une force de serrage dans la position de préhension du dispositif de préhension (14) et qui peut être entraînée au moyen d'un dispositif d'entraînement rotatif (42) afin d'effectuer un mouvement de transport en circulation, au moyen duquel une section (41) de l'objet plat sollicité par la structure de support peut être transportée dans l'espace de serrage (31) à travers l'ouverture d'insertion d'objet (32) à l'aide d'un frottement. Le dispositif de préhension (14) comporte un dispositif de spécification de pression (56) pour spécifier une valeur de spécification de la force de pression, conduisant à la formation d'une onde (57) sur l'objet plat le plus haut (12), ladite onde étant immergée dans l'espace de serrage (31) à travers l'ouverture d'insertion d'objet (32).
PCT/EP2022/081607 2022-11-11 2022-11-11 Dispositif de manipulation et son procédé de fonctionnement WO2024099574A1 (fr)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH654813A5 (it) * 1982-04-01 1986-03-14 Rockwell Rimoldi Spa Dispositivo di prelievo di pezzi impilati di materiale tessile o cartaceo.
US20020113448A1 (en) 2000-12-07 2002-08-22 Homayoon Kazerooni Mechanical grapple for manipulating objects
US20050067753A1 (en) * 2003-09-30 2005-03-31 Avi Zahavi Paper picking system and method
US20060174790A1 (en) * 2004-05-03 2006-08-10 Yee Chang J System and method for interleaf sheet and/or plate sheet removal and/or transport for use with a printing apparatus
DE102018216393A1 (de) 2018-09-26 2020-03-26 Festo Ag & Co. Kg Handhabungsvorrichtung zum Umpositionieren von Objekten
US20210107168A1 (en) * 2019-10-09 2021-04-15 Michel St-Amand Robotic manipulation of fabric pieces using a dropping-roller-type picker

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH654813A5 (it) * 1982-04-01 1986-03-14 Rockwell Rimoldi Spa Dispositivo di prelievo di pezzi impilati di materiale tessile o cartaceo.
US20020113448A1 (en) 2000-12-07 2002-08-22 Homayoon Kazerooni Mechanical grapple for manipulating objects
US20050067753A1 (en) * 2003-09-30 2005-03-31 Avi Zahavi Paper picking system and method
US20060174790A1 (en) * 2004-05-03 2006-08-10 Yee Chang J System and method for interleaf sheet and/or plate sheet removal and/or transport for use with a printing apparatus
DE102018216393A1 (de) 2018-09-26 2020-03-26 Festo Ag & Co. Kg Handhabungsvorrichtung zum Umpositionieren von Objekten
US20210107168A1 (en) * 2019-10-09 2021-04-15 Michel St-Amand Robotic manipulation of fabric pieces using a dropping-roller-type picker

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