CN203887859U - Configurable handling tool system - Google Patents

Abstract

The utility model includes: an operation tool, the operation tool includes a frame, at least one grasping element mounted on the frame and capable of being positioned at multiple positions relative to the frame, and used for making each of the grasping elements in multiple positions A holding device that maintains a position in a locked state; a release device for releasing at least one grasping element of the operating tool, so that the grasping element remains in a released state, wherein in the released state the grasping element can be repositioning relative to the frame; and a repositioning unit, independent of the operating tool, adapted to interact with the operating tool when at least one gripping element is in a released state, to reposition the gripping element relative to the frame position.

Description

Configurable Operating Tool System

technical field

The utility model relates to a configurable handling tool system which can be used, for example, in a press line where a robot such as a six-axis robot transfers a blank or workpiece from one punch press to another. the

The utility model also relates to a configurable operating tool for the system, a robot equipped with the tool, and a method for configuring the operating tool. the

Background technique

Handling tools equipped with a number of suction cups, grippers or other gripping elements are often used in manufacturing. For example, in a press line for the manufacture of car body parts, robots that transfer sheet metal workpieces from one workstation to another are equipped with such manipulation tools to pick up workpieces from one workstation or punching press and place them on the lower in a workstation or punch press. the

The orientation and orientation of the vacuum chucks or other gripping elements on the tool frame must be adapted to the size and shape of the blank or workpiece to be manipulated, which vary between the different workstations: thus, a large number of different handling tools are required, e.g. A production line for body parts requires five different tools for each part to be manufactured; since the same line is used for several different body parts, the number of operating tools that need to be provided, sorted, stored, etc. may be comparable big. the

When a certain batch of body parts has been manufactured and the press line is switched to start manufacturing a different batch of body parts, the robot's operating tools in the production line must all be removed and stored, and new operating tools must be fetched and installed on the robot. the

Solutions have been devised to at least partially automate the change of handling tools for each robot, but these solutions do not avoid the need to provide and store a large number of different handling tools and the disadvantages associated with this need. the

This problem has been solved by providing a configurable operating tool comprising servo motors provided on the tool frame associated with vacuum chucks or gripping elements to switch the vacuum The position of the suction cup or gripper element relative to the frame. Although this solution is acceptable for some manufacturing lines, it suffers from the following disadvantages: the presence of motors results in handling tools that are bulky and heavy, thus requiring heavier and more powered robots; moreover, these can The configured tool is unsuitable in some applications, for example when the operating tool is used in a press line, because the tool's bulk prevents the tool from entering the press. the

The present invention aims to provide an operating tool system which at least partly solves the above-mentioned disadvantages. the

Utility model content

In a first aspect, the utility model provides a configurable operating tool system, which includes:

An operating tool comprising: a frame, at least one gripping element mounted on said frame and capable of being positioned in a plurality of positions relative to the frame, and for positioning each of said gripping elements in a plurality of positions retaining means to maintain the locked state;

A release device for releasing at least one gripping element of the operating tool so that the gripping element remains in a released state, wherein the gripping element can be repositioned relative to the frame in the released state;

a repositioning unit which is a passive unit independent of the operating tool, the repositioning unit comprising a post fixed to the ground and a fork attached at the top of the post; and

Gripping section, wherein at least two grabbing elements are mounted on the grabbing section, the grabbing section is mounted on the frame,

wherein the gripping section is locked to the frame at a plurality of positions along the frame by locking means, and the gripping section is unlocked by a repositioning unit so that the gripping section can be moved along the frame for repositioning,

Wherein, described locking device comprises: shell; Bolt, this bolt is accommodated in the shell in a slidable manner, and bolt has end, and this end engages in the complementary groove that is arranged on the frame; Spring, and this spring is in shell and an abutment attached to the bolt is arranged around the bolt so as to push the bolt towards the groove, keeping the grabbing section in a locked state relative to the frame; and a bushing surrounding the bolt on the outside of the housing layout, and

wherein, by engaging the prongs around the bushing and moving the frame upwards relative to the repositioning unit, the prongs hold the bolts fixed such that the ends of the bolts disengage from the grooves on the frame, causing the gripping section to move relative to the repositioning unit. Displacement of the frame, thereby unlocking the gripping section. the

In one embodiment, the release device is at least partially integrated on the operating tool. the

In one embodiment, the release device is at least partially integrated on the repositioning unit. the

In one embodiment, at least one gripping element mounted on the gripping section is positionable relative to the gripping section, and wherein the retaining means for holding each gripping element in a locked state, for The release device for releasing the at least one gripping element, and the repositioning unit are adapted to act on the gripping element which is positionably mounted on the gripping section. the

In one embodiment, at least one gripping element is mounted on the frame so that it can be positioned with at least two degrees of freedom, and wherein holding means for holding each gripping element in a locked state, for releasing at least The release means of a gripping element, and the repositioning unit are adapted to act on at least one other degree of freedom of the gripping element independently of at least one degree of freedom of the gripping element. the

In one embodiment, at least one gripping element is mounted on the frame so that it can be positioned with at least two degrees of freedom, and wherein holding means for holding each gripping element in a locked state, for releasing at least A release device of the gripping element and the repositioning unit are adapted to act jointly on at least two degrees of freedom of the gripping element. the

In one embodiment, at least one gripping element is a vacuum suction cup. the

In one embodiment, the holding device for holding the gripping element in the locked state comprises at least one pneumatic cylinder. the

In one embodiment, the release device for releasing the gripping element comprises at least one pneumatic cylinder. the

Providing a gripping element that can be positioned in multiple positions on the frame and providing a separate repositioning unit that interacts with the handling tool to reposition the gripping element allows reducing the number of different handling tools required , in order to handle several different parts or blanks without significantly increasing the size and weight of the tool. the

Additional objects, advantages and features of the embodiments of the present invention will be apparent to those skilled in the art from examination of the specification, or may be learned by practicing the present invention. the

Description of drawings

The specific embodiment of the utility model will be described below with reference to the accompanying drawings, by non-limiting examples, in the accompanying drawings:

FIG. 1 is a perspective view showing an operating tool system according to a first embodiment of the present invention, wherein the operating tool is assembled to a robot and the repositioning unit is in the form of an auxiliary robot;

Figure 2 is a partial perspective view of an operating tool equipped with a positionable vacuum chuck;

Figures 3a and 3b show the operating tool in two different positions according to yet another embodiment of the present utility model;

Figure 4 is a partial sectional view taken along the line IV-IV in Figure 3b;

Figure 5 is a plan view of the repositioning unit of the system in Figures 3a and 3b;

FIG. 6 is an enlarged detail view of FIG. 4 . the

Detailed ways

Fig. 1 shows a configurable operating tool system according to a first embodiment of the present utility model. the

The system may include a configurable operating tool 10 having a gripping element 12, a means for releasing the gripping element 12 so that the gripping element 12 can be repositioned (not shown in FIG. Reposition unit 100 . the

By way of example, in FIG. 1 a handling tool 10 is shown fitted to a six-axis robot R of the type used, for example, to transfer parts or workpieces from one press to another in a manufacturing press line. A punch press; however, embodiments of the manipulation tool of the present invention may be used in other types of robots or manipulators. the

The operating tool 10 of the system may comprise a frame 11 and a plurality of gripping elements 12 which may be vacuum chucks in FIG. 1 , but may also be pliers, magnetic gripping devices or any other type of gripping element. , depending on the part the tool operates on. the

The catch element 12 can be mounted on the frame 11 so as to be arranged in different positions relative to the frame, and can maintain a locked state in a plurality of positions. the

The separate repositioning unit 100 may be a robot equipped with forceps 101 or other means capable of engaging the gripping element 12 of the operating tool, and the repositioning unit 100 may carry out the repositioning of the gripping element 12 of the operating tool relative to the frame 11; But as will be explained later, the separate repositioning unit 100 may also be a passive fixation unit which interacts with the handling tool to allow repositioning of the gripping elements of the handling tool by robot motion. the

A separate repositioning unit means a unit that is not mounted on the frame of the operating tool and is independent of the tool. The separate repositioning unit may be a stand-alone unit, or in some cases it may be associated with a robot equipped with an operating tool. the

The operation of a configurable operating tool system according to an embodiment of the present invention will now be schematically described with reference to FIG. 1 . the

A robot R equipped with a configurable handling tool 10 can transfer the handling tool 10 when it is necessary to switch handling tools—for example because a batch of body parts has been completed in a press line and the manufacture of a different body part has to start. Transferred to a position corresponding to the individual repositioning unit 100 (case of FIG. 1 ), and the pliers 101 of this unit can engage the grasping element 12 of the operating tool 10 . the

Then, the grasping element 12 engaged with the pliers 101 can release the locked state of the grasping element 12 by a release device to be described later, and thus can adopt a released state in which the grasping element 12 can be held relative to the tool. Frame 11 repositioned. Then, the repositioning unit 100 of the system can be moved to place it in a new position (position and/or direction) relative to the frame 11; locked again. the

The robot R and/or the repositioning unit 100 can then be moved such that the pincers 101 engage another gripping element 12 and the process can be repeated until all gripping elements 12 requiring conversion have been repositioned. the

The result of this process is that the same handling tool 10 fitted to the robot R and previously used for one body part workpiece is now properly configured for handling another, different body part workpiece. the

FIG. 2 shows the details of installing a vacuum chuck 12 on the frame 11 according to an embodiment of the present invention. the

A first slider 13 or other sliding system arranged on a suitable bearing 14 may be mounted on a member of the frame 11 and the slider may carry a first arm 15 so that the arm 15 may move along the frame member 11 in the Y direction. slide. The first pneumatic cylinder 16 allows locking the slider 13 and thus the arm 15 in any position on the frame member 11 . the

A second slider 17 may be mounted on the first arm 15 via a bearing 18 and said second slider 17 may carry a second arm 19 . Therefore, the second arm 19 can slide along the first arm 15 in the X direction together with the slider 17 and can also rotate around the first arm 15 . The second pneumatic cylinder 20 can lock the slider 17 and thus the second arm 19 in any position on the first arm 15 . the

The second arm 19 may have a pin 21 attached at its end and a bushing 22 attached at the end of the third arm 23 may be arranged to receive the pin 21 . This arrangement allows the third arm 23 to rotate relative to the second arm 19 . The third pneumatic cylinder 24 allows locking the third arm 23 in any position relative to the second arm 19 by tightening the bushing 21 around the pin 21 . the

It will be appreciated that by the combined rotation of the second arm 19 about the first arm 15 and the third arm 23 about the second arm 19, the end of the third arm 23 opposite the pin 22 can be moved vertically in the Z direction. Moreover, the possibility of vertical displacement is achieved without increasing the vertical dimension of the operating tool beyond the vertical dimension occupied by the two arms in the respective positions. The limitation of the vertical dimension of the tool is advantageous when the tool is used for loading or unloading a punch press in which less vertical space is available. the

At the end of the third arm 23 remote from the pin 22 a ball joint 25 can be mounted, which allows the vacuum chuck 12 to rotate relative to the third arm 23 in three degrees of freedom (as shown, directions of rotation α, β, γ) positioning. The fourth pneumatic cylinder can lock the ball joint 25 so that the vacuum chuck 12 can be locked in any position. the

In this embodiment, the four pneumatic cylinders 16, 20, 24, and 26 can have the function of keeping the corresponding joints of the four pneumatic cylinders 16, 20, 24, and 26 in a locked state in multiple positions, and can also It has the function of releasing the joint so that the arms 15 , 19 , 23 and the vacuum cup 12 adopt a released state in which the arms 15 , 19 , 23 and the vacuum cup 12 can be repositioned. the

It will be appreciated that by means of this arrangement the vacuum cups or other gripping elements 12 can be arranged in a number of positions relative to the frame 11 (and relative to other components of the mounting body), including degrees of freedom of linear and rotational movement. In this application document, the term positioning means placing the grabbing element 12 on the frame 11 or at a certain orientation (translational direction X, Y, Z) relative to the frame, and/or orienting the grabbing element 12 ( Direction of rotation α, β, γ). the

A number of different embodiments of the configurable operating means described with reference to Figures 1 and 2 are possible, some of which are described below. the

The handling tool 10 may comprise gripping sections each comprising several gripping elements 12 which may all be repositioned together at least with some degrees of freedom: for example, the first arm 15 in FIG. 2 may be such a gripping portion section and may carry several gripping elements 12 along its length, each gripping section having a mounting system for vacuum suction cups as shown. All elements can be displaced together in the Y direction by releasing and displacing the first arm or gripping section 15 relative to the frame member 11, and then each gripping element 12 can be individually released and relative to the gripping element 11. Take section 15 and reposition. the

The mounting of the gripping element 12 on the gripping section, such as the first arm 15 , can also be carried out differently and/or with different degrees of freedom for each element. the

In operation, the gripping element 12 can be repositioned by acting on each degree of freedom sequentially and individually; for example, for the embodiment of FIG. 11 reposition and lock arm 15 in the new position, then release arm 19 and arm 23, reposition arm 19 and arm 23 relative to first arm 15, and lock arm 19 and arm 23 in their new position position, and finally loosen the ball joint 25 to reposition the catch element 12 in its orientation, and again lock the catch element 12 in the new orientation. the

Alternatively, the operation can be carried out by engaging the gripping element 12 in the repositioning unit 100, releasing the gripping element 12 to all degrees of freedom relative to the frame member 11, and repositioning the gripping element 12 in one single operation. . the

It is also possible to act on some degrees of freedom in combination and act on other degrees of freedom individually. the

The means for releasing the gripping element 12 so that the gripping element 12 adopts a relaxed state relative to the frame 11 can be mounted on the handling tool itself—for example a pneumatic cylinder in the embodiment of FIG. The operating tool 10 is separate; for example, such a device may be integrated or mounted on the repositioning unit 100 . the

For example, as shown in FIG. 1, the tool frame 11 may be a single tubular member on which one or more gripping segments may be mounted, or the tool frame 11 may be embodied as a structure comprising several frame members fixed to each other, Gripping segments and/or gripping elements are mounted on these frame components. the

Figures 3a and 3b show another embodiment of the configurable handling tool system according to the invention in two operating steps in which the configuration of the tool is changed. the

In the embodiment of Figures 3a, 3b, the configurable handling tool 50 comprises a frame 51 and four gripping sections 53, 54, 55 and 56, wherein in this case the frame 51 is a tubular rod of square section, the frame 51 There are attachment means 52 for fitting to a robot (not shown); the gripping sections 53, 54, 55 and 56 may each be arms on which several gripping elements 12 such as vacuum suction cups may be mounted. The gripping element 12 can be fixed on each gripping section 53 to 56 . the

The gripping sections 53 to 56 are each installed such that each of the gripping sections 53 to 56 can slide along the frame 51 and can maintain a locked state in any position along the frame 51, and can be released to adopt a loosened state. In the open state the gripping sections 53 to 56 are each movable along the frame for repositioning. the

The embodiment of the system shown in Figs. 3a, 3b may also comprise a separate repositioning unit 200, in which case the repositioning unit 200 may be a passive unit comprising posts 201 secured to the ground 300. the

The operation of the configurable operating tool system according to this embodiment of the invention will now be described schematically. the

When a transition is required in manipulating the tool 50, a robot (not shown) equipped with the tool 50 can transfer the tool 50 towards the position corresponding to the individual repositioning unit 200 of FIG. 3a. the

The tool 50 may be placed by a robot (not shown) such that the gripping section 53 to be repositioned engages the repositioning unit 200 and is released from the locked state of the gripping section 53 on the frame 51 to the released In the released state, the catch section 53 is free to slide along the frame 51 in a manner that will be further described later. the

The handling tool 50 can then be displaced by a robot (not shown) in the direction of arrow A ( FIG. 3 b ): due to the engagement of the gripping section 53 with the fixed repositioning unit 200 During the displacement of the remaining part, the gripping section remains fixed so that the gripping section slides along the frame 51 to the position shown in Fig. 3b, where it can be seen that gripping section 53 is closer to gripping section 54 than in Fig. 3a. the

The gripping section 53 is then disengaged from the repositioning unit 200 by further movement of the robot (not shown) and locked to the frame 51 again. It should be understood that a similar process could be followed for the repositioning of the remaining gripping sections 54-56, if desired. the

As a result of this process, the handling tool 50 is reconfigured to be suitable for handling different parts or blanks. the

This embodiment of the operating tool system will be described in more detail below with reference to FIGS. 4 to 6 . the

FIG. 4 is a partial sectional view taken along line IV-IV in FIG. 3 b and shows the mounting of the gripping section 53 on the frame 51 . the

An end portion of the catch section 53 may be attached to a plate portion 60 which may be slidably mounted on a pair of guide rails 61 provided on the lower side of the frame 51 . the

The plate portion 60 and thus the gripping section 53 can remain locked to the frame 51 in any position along the frame 51 and be released by engagement with the repositioning unit 200, as better in the enlarged detail of FIG. 6 observed. the

In Fig. 6, there is shown a locking device 70 attached to the plate portion 60 of the gripping section 53, which locking device 70 may comprise a housing 71 in which a bolt 72 is slidably housed. The bolt 72 has an end 73 which can be engaged into a complementary groove 74 provided on the frame 51 of the operating tool 50. the

A spring 75 may be arranged around the bolt 72 between the housing 71 and an abutment 76 attached to the bolt so that the bolt 72 may be urged towards the groove 74 . The locking device thus makes it possible to hold the plate 60 and thus the gripping section 53 in a locked state relative to the tool frame 51 . the

The bolt 72 protrudes from the housing 71 at its end opposite to the tip 73 , and a bush 77 is arranged around the bolt 72 on the outside of the housing 71 . the

The bushing 77 may be engaged by a prong 203 which may be attached at the top of the strut 201 of the repositioning unit 200; this prong 203 is better seen in FIGS. 4 and 5 , FIG. 5 is a plan view of the repositioning unit 200 . the

Returning to FIG. 4 , it will be appreciated that the plate 60 and the catch section 53 attached to the plate 60 can engage the fork 203 of the repositioning device 200 by surrounding the bushing 77 of the locking unit 70 to release it. locked state, and then the tool 51 is moved upwards by the frame 50: the fork 203 will then hold the bolt 72 fixed while the frame 51, plate 60, and housing 71 move upwards, and thus the end 73 of the bolt 72 will No longer engages with groove 74 . the

In this released state, the plate 60 and thus the gripping section 53 can be slid along the frame 51 . the

At the same time, the engagement with the fork 203 prevents the movement of the plate 60 and the gripping device 53, so that the movement of the handling tool 50 (actuated by the robot equipped with the handling tool) as shown by the arrow A in FIG. 3 b ) will cause the gripping section 53 to displace relative to the frame 51 . the

Once the desired position for the grip section 53 has been reached, the operating tool 50 is moved downwards again so that the bolt 72 is again biased by the spring into the groove 74 and the locking device 70 again engages the plate 60 and the grip Section 53 is locked relative to frame 51 . the

Then, the operating tool can be moved so as not to engage with the fork 203 any more. the

It should be appreciated that in this embodiment the repositioning unit 200 is passive, i.e. does not perform any active movement or manipulation and only interacts with the handling tool 50 moved by the robot to remove the gripping portion 53 from the frame. 51 and hold the gripping section 53 stationary while the robot moves the rest of the handling tool 50 . the

In this embodiment, the device for unclamping the gripping sections 53 to 56 from the frame 51 is partly integrated on the operating tool 50 and partly on the repositioning unit 200, and this unclamping is also done through two The effect is produced by the interaction between the components. the

It should be understood from the above description that embodiments of the present invention also relate to a method for configuring an operating tool, the method may include: providing an operating tool having a frame, a grasping element, wherein the grasping element is mounted on the on the frame and can be positioned in a plurality of positions relative to the frame; move the operating tool to a separate repositioning unit; place the gripping element in a released state in which it can be repositioned; pass between the operating tool and the repositioning unit The interaction between them repositions the grabbing elements; and again locks the grabbing elements to the frame. the

The operation for repositioning the gripping element or gripping section of the operating tool 10, 50 has been described as being carried out by the tool attached to a robot performing a punch loading/unloading operation or the like, and the repositioning And the reconfiguration process can take place during downtime, which can be used to perform other transitions in the press line. the

However, the process of repositioning and reconfiguration can also be carried out separately or independently of the punching line working cycle; and this in complex cases - where the time required for repositioning the gripping elements may be longer - may be particularly useful. In this case, the robot can convert one operating tool into another operating tool previously configured for the next stamping cycle in any known manner, and the tool that has been converted by the robot can then be reconfigured to be used in another stamping cycle. the

Although only some specific embodiments and examples of the present invention are disclosed herein, those skilled in the art will appreciate that other alternative embodiments and/or uses of the present invention as well as obvious obvious aspects of the present invention Modifications of and equivalents are possible. In addition, the present invention covers all possible combinations of the specific embodiments described. The scope of the invention should not be limited to the particular embodiments, but should be determined only by a reasonable understanding of the appended claims. the

Claims (9)

1. A configurable operating tool system, including: An operating tool comprising: a frame; at least one grasping element mounted on the frame and capable of being positioned in a plurality of positions relative to the frame; and for placing each of the grasping elements in a plurality of A holding device for holding the position in a locked state; A release device for releasing at least one gripping element of the operating tool, so that the gripping element remains in a released state, in which the gripping element can be moved relative to the Repositioning of the above framework; It is characterized in that the operating tool system also includes: a repositioning unit that is a passive unit independent of the operating tool, the repositioning unit comprising a post fixed to the ground and a fork attached at the top of the post; and gripping section, wherein at least two gripping elements are mounted on said gripping section, said gripping section is mounted on said frame, wherein the gripping section is locked to the frame at a plurality of positions along the frame by locking means, and the gripping section is unlocked by the repositioning unit such that the the gripping section can be moved along the frame for repositioning, Wherein, the locking device comprises: a housing; a bolt slidably accommodated in the housing, the bolt having an end engaged into a complementary groove provided on the frame a spring arranged around the bolt between the housing and an abutment attached to the bolt so as to urge the bolt toward the groove so that the gripping section is positioned relative to the the frame is held in a locked state; and a bushing is arranged around the bolt on the outside of the housing, and wherein the fork holds the bolt fixed by engaging the fork around the bushing and moving the frame upward relative to the repositioning unit such that the end of the bolt Disengagement from the groove on the frame causes displacement of the grip section relative to the frame, thereby releasing the locked condition of the grip section. the 2. The system of claim 1, wherein the release device is at least partially incorporated on the operating tool. the 3. A system according to any one of claims 1 or 2, wherein the release means is at least partly incorporated on the repositioning unit. the 4. The system of claim 1, wherein at least one gripping element mounted on the gripping section is positionable relative to the gripping section, and wherein each gripping element is Said retaining means held in a locked state, said release means for releasing at least one gripping element, and said repositioning unit are adapted to act on positionably mounted on said gripping section of the grabbing element. the 5. The system according to any one of claims 1 or 2, wherein at least one grasping element is mounted on the frame so as to be positionable with at least two degrees of freedom, and wherein a Said retaining means for retaining the gripping element in a locked state, said release means for releasing at least one gripping element, and said repositioning unit are adapted to act independently of at least one degree of freedom of said gripping element at least one other degree of freedom. the 6. The system according to any one of claims 1 or 2, wherein at least one grasping element is mounted on the frame so as to be positionable in at least two degrees of freedom, and wherein a Said retaining means for retaining the gripping element in a locked state, said release means for releasing at least one gripping element, and said repositioning unit are adapted to jointly control at least two degrees of freedom of said gripping element effect. the 7. The system of any one of claims 1 or 2, wherein at least one gripping element is a vacuum suction cup. the 8. A system according to any one of claims 1 or 2, wherein the retaining means for retaining the gripping element in a locked state comprises at least one pneumatic cylinder. the 9. The system according to any one of claims 1 or 2, wherein the release means for releasing the gripping element comprises at least one pneumatic cylinder. the