Apparatus and method for manipulating profiles in a processing plant

Abstract

Apparatus (10) for manipulating profiles (11) in a processing plant (12), comprising at least one automatic operating device (13) for picking up at least one profile (11') which is recognized by a vision system (14) and on which an automatic drilling system (15, 16) makes at least one hole (17) so that, during use, the automatic operating device (13) can hang it on an attachment element (18) of the processing plant (12).

Description

[0001] “APPARATUS AND METHOD FOR MANIPULATING PROFILES IN A PROCESSING PLANT”

[0002] FIELD OF THE INVENTION The present invention concerns an apparatus and a method for manipulating profiles in a processing plant.

[0003] In particular, the present apparatus can be used in an aluminum profile finishing plant, in which the profiles are hung in a vertical position in order to be painted.

[0004] BACKGROUND OF THE INVENTION As is known, there exist processing plants in which profiles, for example in aluminum, are subjected to finishing operations, for example painting. The profiles can be of any shape and size, even several meters in length.

[0005] The profiles are normally moved on several conveyor belts, where they lie side by side in a transverse position with respect to the movement of the belts, in order to guarantee that the entire extension of the profile rests stably.

[0006] The profiles then reach a zone of the plant where there are one or more operators who have to make, usually manually and by means of a drill or suchlike, a hole in proximity to one end of the profiles.

[0007] Once the hole has been made, the operators hang each profile on hooks that slide along a transport chain, which has an inclined segment that gradually lifts the profiles and an elevated and substantially horizontal final segment on which the profiles will be hung, substantially in a vertical position.

[0008] The profiles thus hung can be painted by means of any known painting system whatsoever, automated or not. The essentially manual operations of drilling the profile and attaching the profiles to the transport chain can entail safety risks for operators, as well as obvious limits to the efficiency, timing and accuracy of these operations.

[0009] Some examples of known manipulation systems are described for example in CN1 14273952B, KR102061611B1 and US2019 / 240841 AL However, these known manipulation systems do not allow to acquire and give information on the format and / or type of profiles manipulated, in order to make any subsequent operations, such as picking up, drilling, attaching and painting, more efficient and faster. There is therefore the need to perfect an apparatus and a method for manipulating profiles in a processing plant that can overcome at least one of the disadvantages of the state of the art.

[0010] One purpose of the present invention is to provide an apparatus for manipulating profiles in a processing plant which is safe, efficient and precise, and which speeds up the operations to which the profiles have to be subjected, thus increasing the productivity of the plant.

[0011] Another purpose of the present invention is to provide an apparatus for manipulating profiles which allows to automatically acquire information about the profile to be manipulated, so as to use this information to make the subsequent manipulation operations, for example picking up, drilling, attaching and painting, more effective and rapid.

[0012] Another purpose of the present invention is to provide an effective and simple method for manipulating said profiles. The Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.

[0013] SUMMARY OF THE INVENTION

[0014] The present invention is set forth and characterized in the independent claims. The dependent claims describe other characteristics of the present invention or variants to the main inventive idea.

[0015] In accordance with the above purposes, an apparatus according to the invention for manipulating profiles in a processing plant comprises at least one automatic operating device for picking up at least one profile which is recognized by a vision system and on which an automatic drilling system makes at least on hole so that, during use, the automatic operating device can hang it on an attachment element of the processing plant. In particular, the at least one hole is made through. The vision system comprises a viewer associated with a data processing unit in which a calculation algorithm is loaded to recognize the outline of the at least one profile and to define its orientation and position in space. The data processing unit is connected to a data storage unit containing a database of outlines of the profiles.

[0016] The use of the automatic operating device, the vision system and the automatic drilling system allows to produce an apparatus for manipulating profiles in a processing plant that is safe, efficient and precise, which allows to speed up the operations which the profiles have to undergo, thus increasing the productivity of the plant.

[0017] Moreover, advantageously, the present apparatus allows to automatically recognize the profile to be manipulated and therefore give information regarding its nature, useful for the subsequent manipulation steps, for example picking up, drilling, attaching and painting.

[0018] According to another aspect of the invention, the apparatus comprises a control unit configured to manage and coordinate the operations performed by the automatic operating device, the vision system and the automatic drilling system.

[0019] According to another aspect of the invention, the automatic operating device is an anthropomorphic robot or suchlike, and comprises a gripping device provided with at least one pair of gripper plates, which are configured to close or open in a given direction in order to grip or release the at least one profile. According to another aspect of the invention, the gripper plates are provided at the end with respective fingers for gripping the at least one profile.

[0020] According to another aspect of the invention, the automatic operating device comprises guide elements configured to allow the gripper plates a bi-directional translation in the given direction. According to another aspect of the invention, the automatic operating device comprises an articulated arm to which the gripping device is connected.

[0021] According to another aspect of the invention, the gripping device is rotatable with respect to an axis which is directed longitudinally with respect to the articulated arm. According to another aspect of the invention, the gripping device is rotatable with respect to an axis which is directed transversely with respect to the articulated arm.

[0022] According to another aspect of the invention, the articulated arm comprises a first section and a second section. The first section is connected, at one end, to the gripping device and, at the other end and by means of a hinge, to the second section.

[0023] According to another aspect of the invention, the automatic operating device comprises a drive unit of the articulated arm. The drive unit is connected, by means of a hinge, at an end of the second section opposite the end with which the second section is connected to the first section.

[0024] According to another aspect of the invention, the drive unit is positioned in a rotatable manner on a support anchored to the ground.

[0025] According to another aspect of the invention, the automatic drilling system is positioned outside the automatic operating device and alongside the vision system.

[0026] According to another aspect of the invention, the automatic drilling system is mounted on board the automatic operating device and provides at least one drilling element positioned in at least one of the gripper plates.

[0027] According to another aspect of the invention, the drilling element is positioned on the internal surface of one gripper plate, and the other gripper plate of the pair of gripper plates comprises a seating for positioning the drilling element.

[0028] The invention also concerns a method for manipulating profiles in a processing plant, comprising picking up at least one profile by means of at least one automatic operating device, recognizing it by means of at least one vision system and making at least one hole on it by means of at least one automatic drilling system so that, during use, the automatic operating device can hang it on an attachment element of the processing plant. The vision system comprises a viewer associated with a data processing unit in which a calculation algorithm is loaded to recognize the outline of the at least one profile and to define its orientation and position in space, and wherein the data processing unit is connected to a data storage unit containing a database in which outlines of the profiles are stored.

[0029] The invention also concerns a processing plant, comprising at least one system for transporting profiles toward an apparatus configured to pick up, recognize and drill the profiles and hang them on a transport chain. DESCRIPTION OF THE DRAWINGS

[0030] These and other aspects, characteristics and advantages of the present invention will become apparent from the following description of some embodiments, given as a non-restrictive example with reference to the attached drawings wherein:

[0031] - fig. 1 is a plan view of an apparatus for manipulating profiles according to the present invention;

[0032] - fig. 1 a is an enlarged view of one end of a profile;

[0033] - fig. 2 is a lateral view of the present apparatus;

[0034] - fig. 2a is an enlarged view of one end of an automatic operating device; - fig. 3 is a three-dimensional view of the present apparatus;

[0035] - fig. 4 is a schematic view of a system for drilling the profiles.

[0036] We must clarify that the phraseology and terminology used in the present description, as well as the figures in the attached drawings also in relation as to how described, have the sole function of better illustrating and explaining the present invention, their purpose being to provide a non-limiting example of the invention itself, since the scope of protection is defined by the claims.

[0037] To facilitate comprehension, the same reference numbers have been used, where possible, to identify identical common elements in the drawings. It is understood that elements and characteristics of one embodiment can be conveniently combined or incorporated into other embodiments without further clarifications.

[0038] DESCRIPTION OF SOME EMBODIMENTS

[0039] We will now refer in detail to the possible embodiments of the invention, of which one or more examples are shown in the attached drawings, by way of a non- limiting illustration. The phraseology and terminology used here is also for the purposes of providing non-limiting examples.

[0040] With reference to figs, from 1 to 3 of the attached drawings, an apparatus 10 for manipulating profiles 11 in a processing plant 12 comprises at least one automatic operating device 13 for picking up at least one profile 11 ’, a vision system 14 for recognizing the at least one profile 11 ’ and an automatic drilling system 15, 16 for making at least one hole 17 on the at least one profile 11 ’ recognized by the vision system 14 so that, during use, the automatic operating device 13 can hang it on an attachment element 18 of the processing plant 12. In particular, the at least one hole 17 is made through. All the profiles 11, 11 ’ are therefore provided with the hole 17 so that each one can be hung on an attachment element 18. The hole 17, in particular, is created in proximity to an end 25 of the profiles 11, 11 ’ see fig. la and fig. 2a.

[0041] The apparatus 10 comprises a control unit 19 configured to manage and coordinate the operations performed by the automatic operating device 13, the vision system 14 and the automatic drilling system 15, 16.

[0042] The automatic operating device 13 can be an anthropomorphic robot or suchlike, and comprises a gripping device 21, see fig. 2a. The gripping device 21 comprises a pair of gripper plates 22, configured to close or open in a given direction DI in order to grip or release the profile 11 ’. The gripping device 21 is provided with drive means 23 configured to open or close the gripper plates 22. The automatic operating device 13 is also provided with guide elements 26 with which the gripper plates 22 are associated. The guide elements 26 allow a precise bi-directional translation of the gripper plates 22 in the direction DI .

[0043] The gripper plates 22, in particular, are provided at the end with respective fingers 24 that grip the profile 11 ’ in proximity to its end 25 without interfering with the hole 17 made by the automatic drilling system 15, 16. In particular, each of the gripper plates 22 comprises a finger 24. The gripping device 21 is connected to an articulated arm 28 of the automatic operating device 13, see in particular fig. 2. The gripping device 21 is rotatable with respect to an axis D2 of the substantially longitudinal articulated arm 28. The gripping device 21 can be inclined upward or downward with respect to the articulated arm 28, by means of a rotation around an axis D3 substantially transverse to the articulated arm 28 and in particular to the axis D2.

[0044] The articulated arm 28 comprises a first section 29 connected, at one end, to the gripping device 21 and, at the other end and by means of a hinge 30, to a second section 31.

[0045] The second section 31 is connected, at the end opposite the end with which it is connected to the first section 29 and by means of a hinge 32, to a drive unit 33 comprised in the automatic operating device 13. The drive unit 33 is positioned in a rotatable manner in a direction D4, in particular vertical, on a support 36 anchored to the ground. The drive unit 33 substantially has the task of moving the articulated arm 28 and the corresponding sections 30 and 31. The vision system 14 is configured to recognize the outline of the profiles 11, in this example in particular of the profile 11 ’ that is picked up by the automatic operating device 13, to allow it to be identified and positioned in space. The vision system 14 comprises a viewer 34, for example a camera or suchlike, for viewing the area in which the profile I F is positioned and a data processing unit 35 associated with the viewer 34. A calculation algorithm is loaded in the data processing unit 35, in the form of software, to recognize the outline of the profile 11 ’ and to define its orientation and its position in space, for example with respect to a three-dimensional Cartesian reference system. The algorithm can also, or alternatively, be loaded on the control unit 19.

[0046] The control unit 19 and / or the vision system 14 comprise a data storage unit 38 containing a database in which different profile 11 outlines are stored.

[0047] Once the profile 11 ’ has been framed by means of the vision system 14, the algorithm performs a search for the outline among those present in the database, identifies the profile 11 ’ and supplies the automatic operating device 13 and therefore the gripping device 21 with the type of profile identified, for example a flat or variously shaped profile, in order to perform a grip on suitable points, and it also supplies the coordinates and orientation of its position. It is possible to provide that when faced with an outline not stored in the database, the algorithm will proceed to store it in the database.

[0048] The vision system 14, therefore, analyzes the profile to be manipulated and gives information on its format and / or its type to the automatic operating device 13, so that the latter, for example, can pick it up by taking it in the correct portion and, in addition, can suitably orient it in space so that the drilling operation can be performed correctly. In addition, it can give the apparatus 10 additional information useful, for example, for the attachment and painting operations in the processing plant 12.

[0049] The automatic drilling system 15 can be positioned outside the automatic operating device 13, in particular alongside the vision system 14, so that the profile 11 ’ recognized by the vision system 14 is already in proximity to the automatic drilling system 15. The automatic drilling system 15 can be a press or suchlike, known per se, into which at least one segment of the profile 11 ’ is inserted by the automatic operating device 13. The automatic drilling system 15 can provide a punching element, a profile drilling device or suchlike.

[0050] The automatic drilling system 16 can be mounted on board the automatic operating device 13. In fig. 4, at least one of the gripper plates 22, for example the upper one, provides a drilling element 20, for example a punch or suchlike. The drilling element 20 is clearly positioned on the internal surface of the gripper plate 22. The other gripper plate 22, for example the lower one, can comprise a seating

[0051] 37 for positioning the drilling element 20 when the gripper plates 22 are moved reciprocally closer and closed. In this case, it is possible to provide that the creation of the hole 17 on the profiles 11 is carried out by means of a first operation of closing the gripper plates 22, which will then open and grip the profile 11, for example with the fingers 24, as schematically shown in fig. 2a. It is possible to provide that both the gripper plates 22 move, or only one of them, for both the drilling as well as the gripping or release of the profile 11. It is possible that the apparatus 10 is also equipped with both the automatic drilling systems 15 and 16, and that the most suitable one is chosen by the control unit 19 for example, on the basis of the nature of the processing plant 12, the profiles 11 manipulated or other.

[0052] Once the hole 17 has been made by means of the drilling system 15 or 16, each profile 11 is attached by the automatic operating device 13, by means of the gripping device 21, on the attachment elements 18 provided with hooks 39, as in fig. 2.

[0053] The attachment elements 18 are located in sequence on a transport chain 40 of the processing plant 12. The transport chain 40 is configured to move the attachment elements 18 in a direction XI so that the profiles 11 pass from a substantially horizontal position to a substantially vertical position, in which they can be subjected to painting, for example.

[0054] The transport chain 40 comprises a substantially horizontal first segment 41 raised by a certain height with respect to the ground, a second inclined segment 42 that takes the attachment elements 18 and therefore the profiles 11 upward and toward a substantially horizontal final segment 50, along which the profiles 11 are hung in a substantially vertical position. During the lifting movement, the profiles 11 are further supported and guided by means of suitably positioned and supported conveyor belts 43 and 44, see for example the sustaining uprights 51. The processing plant 12 comprises a transport system 45 by means of which the profiles 11 arrive in proximity to the automatic operating device 13. The transport system 45 comprises a series of conveyor belts 46 disposed in parallel and configured to translate the profiles in the direction XI, see in particular fig. 1. The profiles 11 lie on the conveyor belts 46 substantially transversely with respect to the direction XI. The conveyor belts 46 are associated with corresponding drive means 47.

[0055] The processing plant 12 comprises a transport system 27 configured to transport the profiles 11 hung on the attachment elements 18 at least for the first segment 41 of the transport chain 40. The transport system 27 comprises a series of conveyor belts 48 disposed in parallel and configured to translate the profiles in the direction XI, see in particular fig. 1. The conveyor belts 48 are associated with corresponding drive means 49. Essentially, therefore, the profiles 11 are hung on the attachment elements 18 at one end and are simultaneously translated by the transport system 27 along the transport chain 40. The transport system 27 is therefore disposed downstream of the transport system 45.

[0056] A method for manipulating profiles 11 inside the processing plant 12 therefore comprises picking up at least one profile 11 ’ by means of the automatic operating device 13 , recognizing it by means of the vision system 14 and making the hole 17 on it by means of the automatic drilling system 15, 16 so that, during use, the automatic operating device 13 can hang the profile 11 ’ on the attachment element 18.

[0057] The processing plant 12 comprises at least the transport system 45 for transporting the profiles 11 toward the apparatus 10 able to pick them up, recognize them, drill them and hang them on the transport chain 40.

[0058] Modifications and / or additions of parts may be made to the plant, apparatus and method for manipulating profiles in a processing plant as described heretofore, without departing from the field and scope of the present invention, as defined by the claims.

[0059] It is also clear that, although the present invention has been described with reference to some specific examples, a person of skill in the art will be able to achieve other equivalent forms of the manipulating apparatus, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.

[0060] In the following claims, the sole purpose of the references in brackets is to facilitate their reading and they must not be considered as restrictive factors with regard to the field of protection thereof.

Claims

CLAIMS1. Apparatus (10) for manipulating profiles (11) in a processing plant (12), characterized in that it comprises: at least one automatic operating device (13) for picking up at least one profile (H ’); a vision system (14) for recognizing said at least one profile (11 ’), wherein said vision system (14) comprises a viewer (34) associated with a data processing unit (35) in which a calculation algorithm is loaded to recognize the outline of said at least one profile (1 1 ’) and to define its orientation and position in space, and wherein said data processing unit (35) is connected to a data storage unit (38) containing a database in which outlines of said profiles (11) are stored; and an automatic drilling system (15, 16) for making at least one hole (17) on said at least one profile (11 ’) in order to hang, during use, said least one profile (1 1 ’) on an attachment element (18) by means of said automatic operating device (13).

2. Apparatus (10) as in claim 1, characterized in that it comprises a control unit(19) configured to manage and coordinate the operations performed by said automatic operating device (13), said vision system (14) and said automatic drilling system (15, 16).

3. Apparatus (10) as in claim 1 or 2, characterized in that said automatic operating device ( 13) is an anthropomorphic robot and comprises a gripping device(21) provided with at least one pair of gripper plates (22), which are configured to close or open in a given direction (DI) in order to grip or release said at least one profile (11 ’).

4. Apparatus (10) as in claim 3, characterized in that said gripper plates (22) are provided with respective fingers (24) for gripping said at least one profile (11 ’).

5. Apparatus (10) as in claim 3 or 4, characterized in that said automatic operating device (13) comprises guide elements (26) configured to allow said gripper plates (22) a bi-directional translation in said given direction (DI).

6. Apparatus ( 10) as in any claim from 3 to 5, characterized in that said automatic operating device (13) comprises an articulated arm (28) to which said gripping device (21) is connected.

7. Apparatus (10) as in claim 6, characterized in that said gripping device (21) is rotatable with respect to an axis (D2) which is directed longitudinally with respectto said articulated arm (28).

8. Apparatus (10) as in claim 6 or 7, characterized in that said gripping device (21) is rotatable with respect to an axis (D3) which is directed transversely with respect to said articulated arm (28).

9. Apparatus (10) as in any claim from 6 to 8, characterized in that said articulated arm (28) comprises a first section (29) and a second section (31), said first section (29) being connected, at one end, to said gripping device (21) and, at the other end and by means of a hinge (30), to said second section (31).

10. Apparatus (10) as in claim 9, characterized in that said automatic operating device (13) comprises a drive unit (33) of said articulated arm (28), said drive unit(33) being connected, by means of a hinge (32), at an end of said second section (31) opposite the end with which said second section (31) is connected to said first section (29).

11. Apparatus (10) as in claim 9, characterized in that said drive unit (33) is positioned in a rotatable manner on a support (36) anchored to the ground.

12. Apparatus (10) as in any claim hereinbefore, characterized in that said automatic drilling system (15) is positioned outside said automatic operating device (13) and alongside said vision system (14).

13. Apparatus (10) as in any previous claim from 3 to 12, characterized in that said automatic drilling system (16) is mounted on board said automatic operating device (13) and provides at least one drilling element (20) positioned in at least one of said gripper plates (22).

14. Apparatus (10) as in claim 13, characterized in that said drilling element (20) is positioned on the internal surface of at least one of said gripper plates (22) and the other gripper plate (22) of said pair of gripper plates (22) comprises a seating (37) for positioning said drilling element (20).

15. Method for manipulating profiles (11) in a processing plant (12), characterized in that it comprises picking up at least one profile (11 ’) by means of at least one automatic operating device (13), recognizing it by means of at least one vision system (14) and making at least one hole ( 17) on it by means of at least one automatic drilling system (15, 16) in order to hang, during use, said at least one profile (I T) on an attachment element (18) by means of said automatic operating device (13), wherein said vision system (14) comprises a viewer (34)associated with a data processing unit (35) in which a calculation algorithm is loaded to recognize the outline of said at least one profile (11’) and to define its orientation and position in space, and wherein said data processing unit (35) is connected to a data storage unit (38) containing a database in which outlines of said profiles (11) are stored.

16. Processing plant (12), comprising at least one system (45) for transporting profiles (1 1), an apparatus (10) as in any previous claim from 1 to 14 and a transport chain (14), said apparatus (10) being configured to pick up, recognize and drill said profiles (11) and hang them on said transport chain (40).

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