Method and system for gripping and moving object

Abstract

The invention relates to a method for gripping and moving a part (51) to be machined by means of a gripping and moving system (100), said part (51) being obtained by cutting and / or punching at least one sheet metal (50) and being arranged on a working surface (110), said gripping and moving system (100) being provided with a detection device (1), the method comprises positioning gripping means (101) of the gripping and moving system (100) at the component (51) to be picked (step 1) and simultaneously positioning the sensor means (4) of the detection device (1) in a first position (A1, B1) in which the sensor means (4) are moved in a first direction (X), the sensor device (4) is substantially aligned with a projection of the peripheral edge of the component (51) along a second direction (Y) orthogonal to the first direction (X) (step 2); gripping the component (51) by means of gripping means (101) and lifting the component (51) to a defined height relative to the working surface (110) (step 3); and activating the sensor device (4) and moving the sensor device (4) to a second position (A2, B2) in order to scan a seating portion (A, B) of the working surface (110) below the lifted component (51) in order to detect a gap or residual connection between the lifted component (51) and the sheet metal (50) (step 4).

Description

Technical Field

[0001] The invention relates to a method and a system for gripping and moving, which are associated with an automatic machine for cutting and / or punching metal sheets, in order to pick up, remove and move the finished parts from the metal sheet after cutting and / or punching. More precisely, the invention relates to a method for gripping and moving, which allows checking whether the finished parts after cutting and / or punching are correctly separated from the metal sheet. The invention also relates to a system for gripping and moving finished and cut parts, which system is provided with a detection device and can be associated with an automatic machine for cutting and / or punching metal sheets. Background Art

[0002] A system for gripping and moving a part / object to be processed is known and is used in a machine for cutting and / or punching metal sheets, the system comprising a detection device using a sensor capable of scanning the upper surface of the working surface of the machine, on which the metal sheet to be cut and / or punched and the part / object obtained from the cutting / punching are positioned. More precisely, at the end of the cutting and / or punching step, during the unloading step of the working surface of the machine, when the finished part is gripped and removed, the detection device verifies whether the part picked up and lifted by the appropriate gripping means of the gripping and moving system is completely separated from the rest of the metal sheet (frame), thereby preventing the gripping means from lifting and / or dragging the entire sheet with the part due to an incomplete cutting and / or punching.

[0003] In particular, the sensor of the detection device, which is usually of optical type, scans the entire working surface during the unloading step to detect the presence or absence of obstacles, that is, whether there is no gap or space of a defined height (usually 20 mm) between the component lifted by the gripping device and the metal sheet, which indicates the lack of effective and complete disassembly and separation of the component and the metal sheet.

[0004] It is known to use inspection devices comprising a rotating head emitting a laser beam capable of scanning the work surface in a relatively short time. However, since these devices must be positioned at a certain distance from the work surface so as not to hinder the picking and moving of the parts, the resolution guaranteed by these devices is generally low, sometimes even lower than the thickness of the parts and the metal sheet, and the resolution decreases with increasing distance, so that the correct identification of the disassembled parts cannot be ensured.

[0005] It is also known to use photoelectric safety barriers that employ multiple LEDs that are linearly arranged and adapted to send pulsed infrared light to multiple receivers to form a light curtain capable of intercepting improperly disassembled parts. However, these systems also offer lower scanning resolution (10mm to 15mm).

[0006] Detection devices are also used that include a laser sensor capable of emitting a laser beam and receiving the reflection of this laser beam, the sensor being movable in a manner parallel to one side of the working surface so as to gradually scan the entire working surface. In order to reduce the time required for scanning, these devices include a plurality of laser sensors that are spaced apart from each other and that can be moved together. These scanning systems ensure a high resolution (2.5 to 3 mm), but still require a certain time (2 to 4 seconds) to scan the entire working surface.

[0007] Inspection equipment is also known and used that uses a vision system that can detect the geometry of the component and the metal sheet and, in particular, identify the gap or distance between the component and the metal sheet after picking up and lifting. However, vision systems, in addition to being relatively expensive, are difficult to install and adjust. Summary of the invention

[0008] The object of the present invention is to improve the known method and system for gripping and moving, which can be associated with an automatic cutting and / or punching machine and is suitable for safely and reliably picking up and moving finished parts from metal sheets after cutting and / or punching.

[0009] Another object of the invention is to provide a method and a system for gripping and moving which allow to check in a very fast and precise and accurate way whether the finished component is correctly removed from the metal sheet after cutting and / or punching.

[0010] Another object is to provide a method and a system for gripping and moving which allow scanning with high resolution the working surface of an associated automatic sheet metal cutting and / or punching machine.

[0011] In a first aspect of the present invention, a method for gripping and moving according to claim 1 is provided.

[0012] In a second aspect of the present invention, a gripping and moving system according to claim 6 is provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention may be better understood and implemented with reference to the accompanying drawings, which show exemplary and non-limiting embodiments of the present invention, in which:

[0014] Figure 1 is a perspective view of a gripping and moving system associated with a work surface according to the present invention;

[0015] Figure 2 yes Figure 1 A three-dimensional diagram of the detection device of the gripping and moving system;

[0016] Figure 3 yes Figure 2 A three-dimensional view of the detection device with the cover shell removed;

[0017] Figure 4 and Figure 5 They are Figure 1 Schematic plan view of a gripping and moving system and a working surface during a first step and a second step of picking up a component. DETAILED DESCRIPTION

[0018] Reference Figures 1 to 5 , shows a gripping and moving system 100 of the invention provided with a detection device 1 .

[0019] The gripping and moving system 100 can be associated with a working surface 110 suitable for supporting at least one metal sheet 50 to be machined and / or a machined component 51. The working surface 110 is, for example, the working surface of an automatic machine for cutting and / or punching the metal sheet 50 to produce a finished machined component 51.

[0020] The detection device 1 or the device 1 is fixed to a side 111 of a work surface 110 .

[0021] The device 1 comprises a support element 2 extending along a first direction X, in particular parallel to the side 111, and provided with linear guide means 3 for supporting a sensor device 4 so as to be able to slide along the first direction X, the sensor device 4 being configured to detect a gap or a residual connection between a component 51 and a metal sheet 50. At the end of the mechanical processing (cutting and / or punching) of the metal sheet 50, in fact, the machined component 51 thus obtained may not be completely separated from the residual part (frame) of the metal sheet 50, but may still be connected to the residual part of the metal sheet 50 at one or more points. When the working surface is moved, some of the cut components may become detached and remain in an incorrect position.

[0022] The sensor device 4 comprises, for example, a laser scanner sensor, in particular an amplified photoelectric sensor, in particular a polarized retroreflective amplified photoelectric sensor with a reflector. In particular, a reflector or an equivalent reflecting element of known type and not shown in the figures is arranged to reflect the laser beam emitted by the sensor, attached to the opposite side of the working surface 110 facing the sensor itself.

[0023] The apparatus 1 is fixed to the side 111 of the working surface 110 so that the sensor device 4 faces the working surface 110 to detect whether there is a residual connection between the component 51 and the sheet 50 .

[0024] The device 1 further comprises a drive means 5 associated with the support element 2 and configured to position the sensor device 4 in a controlled manner and to move the sensor device 4 along a first direction X. In particular, the drive means 5 is configured to position and then move the sensor device 4 to scan settled portions A, B of the working surface 110. In particular, the portions A, B extend along a second direction Y that is substantially orthogonal to the first direction X. The device 1 comprises a mobile frame 6 that is coupled to the guide device 3 and can move along the guide device 3 and that supports the sensor device 4. The mobile frame 6 is driven along the guide device 3 by the drive means 5.

[0025] The guide means 3 comprise, for example, a linear guide or a rail of known type, to which the mobile carriage 6 is connected and along which it can slide.

[0026] The drive means 5 comprises, for example, a rotary electric motor 8, in particular a brushless electric motor, which is controllable in terms of position and / or speed. More precisely, the rotary electric motor 8 is a stepper electric motor, i.e. a synchronous direct current electric motor, which allows precise control of the positioning of the sensor 4. Alternatively, the drive means 5 may comprise other types of electric motors, such as, for example, an inverter-controlled asynchronous electric motor.

[0027] The drive means 5 also include transmission means 9, which are driven by the rotary electric motor 8 and are connected to the sensor device 4 and are suitable for linearly moving the sensor device 4 along the guide means 3. In particular, the transmission means 9 include at least one endless moving belt 11, in particular an endless moving belt of the toothed type, wound around pulley means 12, 13. These pulley means 12, 13 are fixed to the support element 2 in a rotatable manner, while the mobile frame 6 is connected to the moving belt 11.

[0028] The pulley means 12, 13 comprises a plurality of return pulleys 12 and comprises a drive pulley 13 driven into rotation by the rotary electric motor 8. More precisely, the pulley means 12, 13 are positioned at the ends of the support element 2 and are mechanically interconnected by means of a moving belt 11.

[0029] The support element 2 comprises a covering shell 10 which is suitable for enclosing at least the guide means 3 and the drive means 5 and is provided with a longitudinal opening 7 which extends along and at the guide means 3 and allows the sensor device 4 to scan externally the support element 2 .

[0030] The device 1 further comprises a connection bracket 15 for fixing the opposite ends of the support element 2 to the working surface 110. The connection bracket 15 also allows a fine adjustment of the laser beam emitted by the sensor device 4 relative to the working surface and possible retro-reflective surfaces.

[0031] The gripping and moving system 100 comprises a gripping device 101 configured to grip and pick up a machined part 51 obtained by cutting and / or punching a metal sheet 50 from a working surface 110 .

[0032] The gripping and moving system 100 includes a control unit 60, which is arranged to control the gripping device 101 and the detection equipment 1, and to control the driving device 5 of the detection equipment 1, so that the sensor device 4 is positioned and moved along the first direction X to scan the placement parts A and B of the working surface 110, in which there is at least one component 51 to be picked up and lifted by the gripping device 101.

[0033] More precisely, the control unit 60 coordinates the movements of the gripping means 101 and the sensor device 4 to reduce waiting times of machine inactivity.

[0034] In particular, the control unit 60 is configured to control the gripping means 101 and the detection device to perform the following steps of the gripping and moving method of the present invention.

[0035] The method according to the invention for gripping and moving a machined component 51 obtained by cutting and / or punching at least one metal sheet 50 and arranged on a working surface 110, by means of a gripping and moving system 100 provided with a detection device 1, comprises:

[0036] - positioning the gripping means 101 of the gripping and moving system 100 on at least one component 51 to be picked up from the work surface 110 (step 1), and at the same time

[0037] - positioning the sensor device 4 of the detection device 1 in a first position A1, B1 by moving the sensor device 4 in a first direction X, in which the sensor device 4 is substantially aligned with a projection of the peripheral edge of the component 51 in a second direction Y substantially orthogonal to the first direction X (step 2);

[0038] - Gripping and lifting the component 51 to a defined height relative to the working surface 110 by means of the gripping means 101 (step 3);

[0039] - Activate the sensor device 4 and move it to the second position A2, B2 to scan the placement parts A, B of the work surface 110 located below the lifted component 51 to detect the gap or residual connection between the component 51 and the sheet 50 (step 4).

[0040] The method further includes: if the sensor device 4 detects a residual connection between the component 51 and the metal sheet 50, stopping the lifting of the component 51 (step 5); or alternatively, if the sensor device 4 does not detect a residual connection between the lifted component 51 and the metal sheet 50, further lifting the component 51 and moving the component 51 away from the working surface 110 (step 6).

[0041] Special reference Figure 4 and Figure 5 , the placement parts A and B of the working surface 110 scanned by the sensor device 4 extend along the second direction Y, and the placement parts A and B have the following widths along the first direction X: the widths of the placement parts A and B are equal to the distance between the first position A1 and B1 and the second position A2 and B2 and are approximately equal to or greater than the maximum dimension of the component 51 along the first direction X.

[0042] The method further comprises repeating steps 1 to 5 or steps 1 to 4 and 6 for each component 51 picked up from the work surface 110 .

[0043] The method of the present invention also includes: positioning the gripping device 101 at the multiple placed machined parts 51 to be picked up from the working surface 110 (step 1), and gripping and lifting the multiple placed parts (51), in which case the placement parts A and B of the working surface 110 scanned by the sensor device 4 are located below the multiple placed parts 51 lifted by the gripping device 101.

[0044] In this case, the sensor device 4 detects any residual connection that may exist between each lifted component 51 and the metal sheet 50 .

[0045] The operation of the gripping and moving system 100 of the present invention implementing the above-mentioned method for gripping and moving includes: in an initial step, a metal sheet 50 is positioned on a work surface 110, and a plurality of finished parts 51 to be picked up and removed by the gripping device 101 are made of the metal sheet 50, for example, by means of a known type of cutting and / or stamping process.

[0046] Before completely removing the finished components 51 , the inspection device 1 must check whether each component 51 is actually separated from the frame of the metal sheet 50 , so that the gripping means 101 do not lift the metal sheet 50 together with the component.

[0047] To this end, the control unit 60 of the gripping system 1 controls and coordinates the movements of the gripping means 101 and the sensor unit 4. More precisely, the control unit 60 controls the gripping means 101 so as to bring the gripping means 101 closer to the placed component 51 to be picked up from the work surface 110, and the drive means 5 so as to move the sensor device 4 along the guide means 3 to a first position A1 in which the sensor device 4 is substantially aligned with the projection of the peripheral edge of the component 51 along a second direction Y substantially orthogonal to the first direction X ( Figure 4 ).

[0048] The sensor device 4 can also be moved to the first position A1 before moving the gripping means 101 .

[0049] Then, the gripping device 101 grips and lifts the component 51 to a defined and set height. The component 51 may be partially lifted and then placed on the work surface 110 multiple times, typically to eliminate any smallest connection point between the peripheral edge of the component 51 and the frame of the metal sheet 50.

[0050] At the end of the process, when the component 51 is lifted to a defined height (for example, equal to 40 mm) from the working surface 110, the sensor device 4 is moved from the first position A1 along the guide device 3 to the second position A2 by the drive device 5 to scan the entire part A of the working surface 110 located below the component 51.

[0051] If the sensor device 4 detects a residual connection between the partially lifted component 51 and the metal sheet 50, i.e., there is no gap between the component and the sheet, the picking up of the component is stopped and the component is repositioned on the work surface 110, because the component is still connected to the frame of the metal sheet. More precisely, the component 51 is positioned on the work surface 110 and then lifted again for a confirmation scan.

[0052] On the contrary, if the sensor device 4 does not detect any obstacle or residual connection between the component and the plate, that is, detects a gap between the lifted component 51 and the plate 50 , the picking is not stopped, and the component 51 continues to be lifted and transported outside the working surface 110 .

[0053] In order to move the sensor device 4 along the guide device 3, the electric motor 8 of the movement device 5 is activated. More precisely, the electric motor 8 moves the moving belt 11 fixed with the moving frame 6 by driving the pulley 13, and the moving frame 6 supports the sensor device 4 and can slide along the guide device 3, so as to position the sensor device 4 in the first position A1 along the first direction X and then in the second position A2.

[0054] When the component 51 is transferred and removed from the work surface 110, the sensor device 4 can be positioned by the drive device 5 in another first position B1, in which the sensor device 4 is substantially aligned with the projection of the peripheral edge of another component 51 to be picked up and removed according to the second direction Y ( Figure 5 ). It should be noted that the additional component 51 may also be located in the same row as the previously picked component 51 but at a different position along the second direction Y.

[0055] When a further component 51 to be picked up is gripped and lifted by the gripping means 101 , the sensor device 4 can be moved to a further second position B2 by the drive means 5 to scan a further part B of the work surface 110 below the partly lifted component 51 .

[0056] This process may be continuously repeated to pick up all of the parts 51 from the work surface 110 .

[0057] In this way, advantageously, the time required to perform the control of the parts 51 is significantly reduced, since the time required to check whether each part 51 is correctly separated from the frame of the metal sheet is the time required for the sensor device 4 to scan the respective portion A, B of the working surface 110, which corresponds only to the part 51 and is located below it, instead of scanning the entire surface 110 as in known detection systems. This time is only a few tenths of a second, even in the case of large dimensions of the parts 51, also thanks to the performance of the electric motor 8 and the transmission means 9 of the drive means 5. In particular, the drive means allow the sensor device 4, i.e. the mobile carriage 6, to be positioned quickly and precisely and accurately along the guide means 3 in different first positions A and second positions B, which are determined based on the position of the different parts 51 to be picked up in the first direction X.

[0058] It is also provided that the gripping device 10 is configured to pick up and simultaneously lift the plurality of machined components 51 that have been placed from the work surface 110. In this case, the placement portions A, B of the work surface 110 scanned by the sensor device 4 are portions below the plurality of placed components 51 that have been lifted by the gripping device 10, and the sensor device 4 detects any residual connection that may exist between each of the plurality of lifted components 51 and the sheet 50.

Claims

1. A method for gripping and moving a processed component (51) by means of a gripping and moving system (100), the component (51) being obtained by cutting and / or punching at least one metal sheet (50) and arranged on a working surface (110), the gripping and moving system (100) being provided with a detection device (1), the method comprising: - positioning the gripping means (101) of the gripping and moving system (100) on at least one component (51) to be picked up from the working surface (110) (step 1), and at the same time - positioning the sensor device (4) of the detection apparatus (1) in a first position (A1, B1) by moving the sensor device (4) along a first direction (X), in which the sensor device (4) is substantially aligned with a projection of a peripheral edge of the component (51) along a second direction (Y), the second direction (Y) being substantially orthogonal to the first direction (X) (step 2); - gripping at least one of the components (51) by means of the gripping means (101) and lifting at least one of the components (51) to a defined height relative to the working surface (110) (step 3); - activating the sensor device (4) and moving the sensor device (4) to a second position (A2, B2) to scan the placement portion (A, B) of the working surface (110) located below the lifted component (51), thereby detecting a gap or residual connection between the lifted component (51) and the metal sheet (50) (step 4).

2. The method according to claim 1, further comprising: - stopping the lifting of the component (51) (step 5) in the event that the sensor device (4) detects a residual connection between the lifted component (51) and the sheet (50); or - In the event that the sensor device (4) detects no residual connection between the lifted component (51) and the sheet (50), further lifting the component (51) and moving it outside the working surface (110) (step 6).

3. The method according to claim 1 or 2, wherein: The placement portion (A, B) of the working plane (110) scanned by the sensor device (4) extends along the second direction (Y), and the width of the placement portion (A, B) along the first direction (X) is equal to the distance between the first position (A1, B1) and the second position (A2, B2) and is approximately equal to or greater than the maximum dimension of the component (51) along the first direction (X).

4. The method according to any one of claims 1 to 3, comprising: Steps 1 to 5 or steps 1 to 4 and 6 are repeated for each of the components (51) to be picked up from the work surface (110).

5. A method according to any preceding claim, comprising: The gripping device (101) is positioned at the plurality of processed parts (51) to be picked up (step 1), and the plurality of processed parts (51) are gripped and lifted, and the placement parts (A, B) of the working surface (110) are located below the plurality of processed parts (51) lifted by the gripping device (101).

6. A gripping and moving system (100) capable of being associated with a working surface (110), the working surface (110) being suitable for supporting a metal sheet (50) to be processed and / or a component (51) to be processed, the gripping and moving system (100) comprising: - gripping means (101) for gripping and picking up the part (51) to be processed from the working surface (110), in particular, the part (51) being obtained by cutting and / or punching the metal sheet (50); - A detection device (1), said detection device (1) comprising: - a support element (2) which is elongated along a first direction (X), in particular, the support element (2) is elongated parallel to a side (111) of the working surface (110) and is provided with a linear guide means (3); a sensor device (4) configured to detect a residual connection between the component (51) and the sheet (50), and the sensor device (4) is supported by the guide means (3) so as to be able to slide along the first direction (X); - drive means (5) associated with the support element (2) and configured to position and move the sensor device (4) in a controlled manner along the first direction (X); - a control unit (60) configured to control the gripping means (101) and the detection device (1) to perform the steps of the method according to any of the preceding claims.

7. The gripping and moving system (100) according to claim 6, wherein: The control unit (60) is configured to control the drive device (5) of the detection equipment (1) so as to position and move the sensor device (4) along a first direction (X) so as to scan a placement portion (A, B) of the working surface (110) where at least one component (51) to be processed is arranged, in particular, the component (51) is picked up and partially lifted by the gripping device (101).

8. The gripping and moving system (100) according to claim 6 or 7, wherein: The detection device (1) comprises a mobile frame (6), which is connected to the guide device (3) and can move along the guide device (3), the mobile frame (6) supports the sensor device (4), and the mobile frame (6) is driven by the drive device (5) along the guide device (3).

9. The gripping and moving system (100) according to any one of claims 6 to 8, wherein: The drive means (5) comprises a rotary electric motor (8) which can be controlled in terms of position and / or speed and comprises a transmission means (9), in particular the rotary electric motor (8) is a brushless electric motor, the transmission means (9) is driven by the rotary electric motor (8) and is connected to the sensor device (4), and the transmission means (9) is able to move the sensor device (4) linearly along the guide means (3).

10. The gripping and moving system (100) according to claim 9 when dependent on claim 8, wherein: The transmission device (9) comprises at least one moving belt (11) wound around a pulley device (12, 13), in particular the moving belt (11) is an endless toothed belt, the pulley device (12, 13) is rotatably fixed to the supporting element (2), and the moving frame (6) is connected to the moving belt (11).

11. The gripping and moving system (100) according to claim 10, wherein: The pulley device (12, 13) comprises a plurality of redirecting pulleys (12) and a driving pulley (13) rotated by the rotary electric motor (8).

12. The gripping and moving system (100) according to any one of claims 6 to 11, wherein: The support element (2) comprises a covering shell (10) which is suitable for enclosing at least the guide means (3) and the drive means (5), and the covering shell (10) is provided with a longitudinal opening (7) which extends along and at the guide means (3) to allow external scanning of the sensor device (4).

13. The gripping and moving system (100) according to any one of claims 6 to 12, comprising connecting brackets (15) for fixing opposite ends of the supporting element (2) to the working surface (110).

14. The gripping and moving system (100) according to any one of claims 6 to 13, wherein: The sensor device (4) comprises a laser scanning sensor, in particular, the sensor device (4) comprises an amplified photoelectric sensor, in particular, the sensor device (4) comprises a polarized retroreflective amplified photoelectric sensor with a reflector.

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