• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a parallel robot and a facility comprising the robot for handling objects having a certain volume and weight, such as bags and the like. The robot with four degrees of freedom comprises a fixed plate to which three first motors are attached, each motor rotating an upper arm, and each upper arm being rotationally coupled to a lower arm comprising two bars, to the ends of which a movable plate is attached and rotationally coupled to an actuator comprising a base plate, a second motor being attached to the movable plate and moving a pinion arranged on the movable plate and meshing with a toothed ring arranged on the base plate to transmit a rotational movement to the actuator. The facility comprises a frame on which a conveyor belt and a parallel robot are placed.
    公开号:ES2682746A1
    申请号:ES201890051
    申请日:2016-02-17
    公开日:2018-09-21
    发明作者:Boru LARS
    申请人:Lytzhoft Lone；
    IPC主号:
    专利说明:

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    PARALLEL AND INSTALLATION ROBOT FOR PALETIZATION OF SACOS
    DESCRIPTION
    TECHNICAL FIELD OF THE INVENTION
    The present invention encompasses in the field of parallel robots, in particular, those that manipulate objects of a certain volume and weight as sacks.
    BACKGROUND OF THE INVENTION
    Parallel robots are a type of robot generally constituted by a fixed plate on which actuators, usually pneumatic or electric motors, are mounted, which, through articulated arms or parallel kinematic chains, are attached to a mobile platform to which it is located. tied a tool or clamp.
    These types of robots are simple and allow a wide range of movement, which means that they have been used for a long time in the unit handling industry of small products ("picking" in English) for packaging, given that their design and application is For this type of industry, they usually have light structures that allow very fast movements so that the manipulation is fast enough so that the process is industrially viable in the sense that it equals or exceeds the speed and precision of human manipulation. They are set out in patents with publication numbers EP1870214 and US4976582.
    The mentioned robots have the disadvantage that they are not suitable for handling objects of greater volume than a few cubic centimeters or weighing more than a few grams. Thus, there is a need for these types of robots but to manipulate objects of a certain volume and weight.
    DESCRIPTION OF THE INVENTION
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    The present invention is established and characterized in the independent claims, while the dependent claims describe other features thereof.
    The object of the invention is a parallel robot and an installation that includes it to manipulate objects of a certain volume and weight such as sacks and the like. The technical problem to be solved is to configure the elements of the robot, the arrangement between them, and the inclusion of the robot in an installation to reach the object mentioned.
    With "sack", reference is made to material or merchandise packed in sack-type bags and similar objects, that is, objects of several cubic centimeters of volume and of a weight similar to or greater than five kilograms.
    An advantage related to claim 1 is that the configuration to rotate the actuator is much more robust than the cardan known in the state of the art, which causes inertia and clearances that impair the speed and precision of the movement, which can be apply a much greater turning moment and thus be able to rotate objects such as sacks and the like with high precision and speed. Thus, it is possible to perform two operations at the same time: rotation and translation to position the bag as it has to be in each layer on the palletizing. With all this, the performance is very high for performing these two operations in a single robot, while in the state of the known technique several stations of an installation or machine are necessary: a station for transfer of the bag to another station for rotation of the same.
    Another advantage related to claim 2 is that it provides a sufficiently robust structure to handle objects of a relative high weight and volume such as sacks.
    Another advantage related to claim 3 is that it can handle objects of a relative high weight and volume such as sacks, unlike tweezers or suckers, for example, with less grip power.
    Another advantage related to claim 4 is that the moment of tightening or closing the blades is high, necessary for objects of a relatively high weight and volume such as the bags.
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    Another advantage related to claim 5 is that it allows adjusting to different dimensions of objects, that is, different bag sizes.
    Another advantage related to claims 6, 7 and 8 is that the regulation is manual and simple, allowing a quick adjustment without making the robot more complex or adding more suspended weight as when more complicated motors or mechanisms are added.
    Another advantage related to claim 9 is that a simple installation is achieved, which occupies little place in the space of a factory, to provide a highly effective palletizing station.
    Another advantage related to claim 10 is that it is not necessary for the bag to stand in a pre-established position to act on the actuator, so that the conveyor never stops, the actuator acts on the moving bag and releases it on the move and automatically goes for the next one. Thus, it is achieved that the amount of bags handled per minute is very high, increasing productivity significantly.
    BRIEF DESCRIPTION OF THE FIGURES
    The present specification is complemented by a set of figures, illustrative of the preferred example, and never limiting the invention.
    Figure 1 represents a top perspective view of the robot.
    Figure 2 represents a perspective view of an upper arm.
    Figure 3 depicts an exploded top perspective view of the mobile plate
    and the actuator.
    Figure 4 represents a bottom perspective view of the mobile plate.
    Figure 5 represents a bottom perspective view of the actuator.
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    Figure 6 represents a perspective view of an installation with the robot and a sack.
    DETAILED EXHIBITION OF THE INVENTION
    Next, an embodiment of the invention is set forth with support in the figures.
    Figure 1 shows a parallel robot (1) for palletizing bags (2), a bag is shown in Figure 6, with four degrees of freedom, the three of translation plus one of rotation, as is known in the state of the technique, it comprises a fixed plate (3), normally flat, to which three first motors (4), normally pneumatic or electric, are fixed so that each of them transmits a rotational movement to an upper arm (5 ) rotatably coupled to the fixed plate (3), to each upper arm (5) a lower arm (6) is rotatably coupled comprising two bars (6.1) arranged parallel to each other, to the ends of the bars ( 6.1), it is understood that the ends opposite the fixation to the upper arm (5), a mobile plate (7), normally flat, is fixed. As is known in parallel robots, the rotation of the arms (5,6) is in a vertical plane, that is, the axes of rotation are in a horizontal plane.
    It characterizes the robot (1) that an actuator (8) is rotatably coupled to the mobile plate (7), preferably to its lower face, figures 1 and 6, for the manipulation of the bags (2), figure 6, comprising a base plate (8.1), a second motor (9) that moves a pin (10), figure 4, arranged in the mobile plate (7) that engages with a crown (11) is fixed to the mobile plate (7). ) arranged on the base plate (8.1) to transmit a rotational movement to the actuator (8). In the embodiment shown the second motor (9) is located on the upper face of the mobile plate (7), although it could also be located on one side of the same and even on the lower face, depending on the needs of each application concrete, also in the embodiment the pinon (10) and the crown (11) are located on the opposite side of the mobile plate (7) where the second motor (9) is located, although the arrangement can be varied according to the specific needs . The crown (11) is fixed to the base plate (8.1) by usual means, for example by screws (8.2).
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    As shown in Figure 2, each upper arm (5) is a metal laminar element with the majority of its length with a U-shaped section, this means that more than half of its length is U-shaped, the rest does not have that form, as it is represented the extremes do not have it to be released and to be able to turn. Usually the U-shaped configuration is achieved by folding a metal sheet, of great resistance to bending, because that is the main effort to which said arm (5) is subjected, unlike the lower arms (6) that are subject mainly to tensile and compressive stresses, therefore its preferable configuration is of hollow metal bars (6.1).
    Preferably, the actuator (8) comprises two blades (12), figures 3, 5 and 6, arranged parallel to each other to hug each bag (2), shown in figure 6, with closing means (13) for varying the distance between the two blades (12) so that each bag (2) can be picked up and released. Specifically, the closing means (13), figures 3 and 5, comprise for each blade (12) two side plates (13.1) fixed thereto by one of its ends and by an intermediate point to a central plate (13.2) , figure 5, to which two first guides (13.3) are fixed that run by translation in individual rails (14) fixed to the base plate (8.1) and arranged parallel to each other, said translation takes place thanks to cylinders ( 13.4), normally pneumatic, acting on each end of the side plates (13.1) opposite to each end fixed to each blade (12). Thus, to separate or open the blades (12) each cylinder (13.4) pushes with its rod on the corresponding end of the side plate (13.1) that is integral with the central plate (13.2), the first two guides (13.3) and to the other central plate (13.2), causing the assembly to move thanks to the passage of the first guides (13.3) along the rails (14); to bring or close the blades (12) the cylinders would act by picking up their rods and causing the assembly to move in the opposite direction.
    Optionally, the actuator (8) comprises regulation means (15) for regulating the fixed distance between the blades (12), figure 5. Specifically, said regulation means (15) comprise a platelet (15.1) to which they fix two second guides (15.2) that run along the rails (14) and to which the cylinders (13.4) are also fixed, specifically for their fixed part, different from the mobile rod, or bottle; also, they comprise means for fixing the position (16) to stably fix the
    position of the blades (12) which may comprise at least one spokesperson (16.1) by
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    each plate (12) fixed to the plate (15.1) that supports a flywheel (16.2) comprising a stud, not shown, acting on the base plate (8.1), advantageously said stud can be inserted into hollows (16.3) made in the section of the base plate (8.1) where it rests, figure 5.
    To regulate the distance between the blades (12) with the adjustment means (15), the position thereof is first unlocked by means of the position fixing means (16), for example by turning or pulling the steering wheel (16.2), depending on whether the stud has a threaded part as a screw or does not have it, thus removing the stud from the drain (16.3), then each plate (12) moves along with the regulating means (15) and the fixing means of the position (16) thanks to the possibility of running by moving from the first (13.3) and second guides (15.2), once the desired position is reached, the position is fixed by acting on the steering wheel (16.2) so that the stud acts as of brake or prisoner, for example that enters its corresponding emptying (16.3).
    Figure 6 shows an installation for palletizing bags (2) comprising a frame, (17) in which a conveyor belt (18) is provided, which also comprises a parallel robot (1) as it has been exposed, arranged in the frame (17) and superiorly to the conveyor belt (18) so that it can handle the sacks (2) that run through it.
    All engines, first (4) and second (9), of the robot (1) have an absolute rotary encoder ("encoder" in English) incorporated, this means that each motor (4,9) knows the exact position at all times in which it is found, this together with a control system, not shown, which reaches the signals of the aforementioned motors (4,9) means that said system knows the position, height and rotation of the actuator (8), and therefore of the bag (2) that it carries, at all times. Also, the conveyor belt (18) is moved by a motor, not shown, with absolute rotary encoder and connected to the control system, with which it knows the speed of the same and thus the moment in which the bag (2) enters into it.Therefore, the actuator (8) can follow the bag (2), pick it up at the desired time, manipulate it as desired and release it in the required position.
    The usual movement provided by the robot (1) to each bag (2) consists of hugging it with the blades (12), by way of tweezers, at the beginning of the conveyor belt (18), without vertical movement, moving it and turning it in a plane parallel to that of the belt (18) so as to place it in the proper way as it should be arranged in each layer 5 that will form the palletizing.
    权利要求:
    Claims (10)
    [1]
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    1. - Parallel robot (1) for palletizing bags (2) with four degrees of freedom comprising a fixed plate (3) to which three first motors (4) are fixed so that each of them can transmit a movement rotating to an upper arm (5) rotatably coupled to the fixed plate (3), to each upper arm (5) a lower arm (6) is rotatably coupled comprising two bars (6.1) arranged parallel to each other At the ends of the bars (6.1) a movable plate (7) is fixed, characterized in that an actuator (8) is rotatably coupled to the movable plate (7) for the manipulation of the bags (2) comprising a base plate (8.1), a second motor (9) that moves a pin (10) arranged on the mobile plate (7) that engages with a crown (11) arranged on the base plate is attached to the mobile plate (7) (8.1) in order to transmit a rotation movement to the actuator (8).
    [2]
    2. - Robot (1) according to claim 1 in which each upper arm (5) is a metal laminar element with most of its length with a U-shaped section.
    [3]
    3. - Robot (1) according to claims 1 or 2 wherein the actuator (8) comprises two blades (12) arranged parallel to each other to be able to hug each bag (2) with closing means (13) that can vary the distance between the two blades (12) so that each bag (2) can be picked up and released.
    [4]
    4. - Robot (1) according to claim 3 wherein the closing means (13) comprise for each blade (12) two side plates (13.1) fixed thereto by one of its ends and by an intermediate point to a central plate (13.2) to which two first guides (13.3) are fixed that can run by translation in two rails (14) fixed to the base plate (8.1) and arranged parallel to each other, when said translation takes place is by cylinders (13.4) acting on each end of the side plates (13.1) opposite each end fixed to each blade (12).
    [5]
    5. - Robot (1) according to any of claims 3 or 4 wherein the actuator (8) comprises regulation means (15) for regulating the fixed distance between the blades (12).
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    [6]
    6. - Robot (1) according to claim 5 wherein the regulation means (15) comprise a platelet (15.1) to which two second gwas (15.2) are fixed that can run along the rails (14) and to which the cylinders are also fixed (13.4).
    [7]
    7. - Robot (1) according to claim 6 wherein the regulation means (15) comprise means for fixing the position (16) to stably fix the position of the blades (12).
    [8]
    8. - Robot (1) according to claim 7 wherein the means for fixing the position (16) comprise at least one spokesperson (16.1) for each plate (12) fixed to the plate (15.1) that supports a steering wheel ( 16.2) comprising a stud that acts on the base plate (8.1).
    [9]
    9. - Installation for palletizing bags (2) comprising a frame (17) in which a conveyor belt (18) is provided characterized in that it also comprises a parallel robot (1) according to any of the preceding claims, arranged in the frame (17) and superiorly to the conveyor belt (18) so that it can handle the sacks (2) that run through it.
    [10]
    10. - Installation according to claim 9 in which the conveyor belt (18) is moved by a motor, all the engines, first (4), second (9) and that of the conveyor belt (18) have a rotary encoder incorporated absolute, said motors being connected to a control system so that it can know at all times the exact position in which each motor is located, which includes the height and rotation of the actuator (8), and therefore of the bag ( 2) which carries, at all times, as well as the conveyor belt (18), so that the actuator (8) can follow the bag (2), take it at the desired time, manipulate it as desired and release it in position required
    类似技术:
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    CN207971936U|2018-10-16|Equipment for manipulating and/or for handling the article such as package or part goods
    ES2360134T3|2011-06-01|DEVICE AND METHOD FOR DISPOSING BATTERIES OF FLAT OBJECTS ON PALES.
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    ES2558833T3|2016-02-09|Procedure for the extraction of folded boxes placed together outside an outer packaging
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    同族专利:
    公开号 | 公开日
    ES2682746B1|2019-07-05|
    WO2017140920A1|2017-08-24|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JP3806273B2|1999-09-17|2006-08-09|株式会社ジェイテクト|4-DOF parallel robot|
    DE102007028680A1|2007-06-21|2008-12-24|Elau Elektronik-Automations-Ag|Goods e.g. soft cheese, grouping station for packaging machine, has goods pick-up unit movable position-synchronously to conveyor belt, where unit is positioned on goods and brought at preselectable distance to previously moved goods|
    US8997438B1|2012-09-18|2015-04-07|David M. Fallas|Case packing system having robotic pick and place mechanism and dual dump bins|
    US20140262685A1|2013-03-15|2014-09-18|Illinois Tool Works Inc.|Continuous Motion Article Arranging Systems and Methods|
    JP2014223718A|2013-04-19|2014-12-04|花王株式会社|Article supply apparatus|
    JP5949799B2|2014-01-24|2016-07-13|株式会社安川電機|Parallel link robot, parallel link robot hand and parallel link robot system|US11241795B2|2018-09-21|2022-02-08|Beijing Jingdong Shangke Information Technology Co., Ltd.|Soft package, robot system for processing the same, and method thereof|
    CN111438683B|2020-04-10|2021-05-14|燕山大学|Four-branch four-degree-of-freedom industrial robot with three-dimensional movement and one-dimensional rotation|
    CN112124334A|2020-09-27|2020-12-25|太仓臻溢科技有限公司|RGV equipment based on parallel moving branched chains|
    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    PCT/ES2016/070093|WO2017140920A1|2016-02-17|2016-02-17|Parallel robot and facility for palletising bags|
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