DEVICE FOR HANDLING ADJACENT SHEET ELEMENTS - Patent application

Abstract

The device for handling adjacent sheet elements comprises a clamp (2) for gripping the sheet elements (10) and a picking head (1) equipped with clamping means (4) for separating, gripping and lifting the edges of the sheet elements (10). The picking head (1) is rotatable about its longitudinal axis (3). It makes it possible to handle sheet elements consisting of one or more layers of sheet material, allowing the clamp to slide along the surface supporting the elements to access the underside of the sheet elements and thus to pick up the elements on the same surface used to cut them.

Description

[Technical field]

[0001] The present invention relates to a device for handling adjacent sheet elements, in particular sheet elements arranged adjacent to one another and separated by cutting, i.e. cutting resulting in no or minimal separation, negligible for handling purposes, and furthermore the cuts can have any type of geometry, be they straight or curved, with closed angles so that one piece can be totally or partially surrounded by the other. [Background technology]

[0002] To prepare sheet elements for processing, such as cut pieces of fabric or leather, sheets for printing, or metal foils for stamping, it may be necessary to perform operations such as unsticking individual sheet elements and separating them from adjacent sheet elements.

[0003] Several devices are known for handling adjacent layered materials. In most cases, these are systems that grab the sheet elements from their upper surface, for example by means of mechanical systems such as static gripper fingers, or via vacuum systems such as suction cups, sharp elements such as angled needles, among others. These systems move together with the head.

[0004] Several drawbacks of these current systems prevent their use in many applications: for example, suction cups have difficulty capturing breathable or porous surfaces, and have the drawback of being limited in transfer speed by the suction capacity of the surface of the sheet elements (which may be large) being collected, and by air resistance to movement (the sail effect).

[0005] Conventional handling of sheet elements, where the sheet element is accessed only from the top surface (using finger grippers), is not suitable for delicate products as it causes wrinkling of the fabric.

[0006] Systems based on piercing elements can only be used with some materials since they cause visual and functional defects in the sheet element.

[0007] Current systems are limited because they can wrinkle, mark or damage the sheet elements.

[0008] If these sheet elements are adjacent to each other and are only separated by a cut slot, it is very difficult to access this slot in order to grab and manipulate the adjacent sheet elements without affecting them. From an automation point of view, it is also very difficult to detect the location of these cuts using artificial vision, because the material is homogenous and the cuts are so fine that it is very difficult, if not impossible, for a sensor to detect them.

[0009] Existing gripping tools cannot access through this very small cut slot and therefore can only access the underside of one or more sheet elements in areas without adjacent sheet elements or stacks, which limits the freedom in the handling sequence and therefore the ability to handle more efficiently in the correct sequence.

[0010] Therefore, there is still a need for a device for handling adjacent sheet elements that allows for handling of adjacent sheets through small gaps, such as cut slots created after cutting the sheet elements longitudinally.

[0011] Another major drawback of the current system is storage and transportation to the next stage of production.

[0012] Currently, these cut sheet elements are captured and then placed into trays, container boxes, shelves, or other elements that make them difficult to handle later.

[0013] As a result, the layered material may become wrinkled or separated from groups, and this storage often results in different elements of the same sheet element being placed in the same container, requiring a lot of attention from the operator in selecting each element to be reprocessed.

[0014] European patent application EP21383181 by the same applicant as the present application, which was not published on the filing date of the present application, describes a system for sorting objects comprising a modular conveyor belt made, for example, from elastic bristle polymer brushes, foam, carpet or the like. [Prior art documents] [Patent documents]

[0015] [Patent Document 1] European patent application EP21383181 Summary of the Invention [Means for solving the problem]

[0016] A device for handling adjacent sheet elements according to the present invention is defined in claim 1 and comprises a gripping clamp for gripping the sheet elements and a picking head provided with clamping means for clamping and lifting the edges of the sheet elements.

[0017] Advantageously, the capture head is rotatable about a longitudinal axis, which is preferably horizontal and centred on said capture head, it can also be a number of successive heads along the axis, working in concert.

[0018] According to an alternative embodiment, the clamping means may be, depending on the type of sheet element: - one or more air suction elements, - one or more air release elements, - one or more adhesive elements, - one or more friction lifting elements, - one or more pressure elements, and / or - One or more scraping elements is selected from the group including

[0019] These alternative embodiments, which can be arranged with respect to one another and combined, can also be implemented on both adjacent sheet elements, i.e. on the material to be captured and on the sheet elements that do not move and remain on the cut surface or support surface after capturing the adjacent portion.

[0020] Advantageously, in embodiments using scraping elements as clamping means, the scraping elements can perform a series of movements, such as, for example, a back and forth movement, or a vibrating movement to separate adjacent sheet elements and position them under the sheet element to be captured, or a separating movement to apply tension to the sheet element to be captured in order to better insert the gripping clamp.

[0021] It should be noted that in accordance with the present application, the type of support surface is not limited to needing to be composed of resilient bristles, carpet, foam, or the like, but can be any type of surface.

[0022] In addition, the gripping clamp is advantageously equipped with an identification element, such as an RFID tag, a graphic code (barcode, QR) or the like.

[0023] The device for handling adjacent sheet elements according to the present invention also comprises a supplying device for the gripping clamps, a camera or similar detection sensor which in some circumstances detects gaps between adjacent sheet elements to facilitate the accuracy of capturing the object, or detects positioning marks during the cut, made by visible ink printing or invisible ink (e.g. visible only by UV) or by applying printed or unprinted stickers of various shapes or colors, which are advantageously positioned to improve the accuracy of capturing the object, and / or a reader / writer of the identification elements of the clamps.

[0024] To open the gripping clamp, the device according to the invention also comprises a clamp actuation element, the position of which determines whether the clamp is open or closed, for example a swing arm. An alternative embodiment is to use a clamp that runs in a guide and can be opened and closed in its movement by a cam.

[0025] The device according to the invention is capable of handling sheet elements formed by one or several layers of sheet elements, the clamps sliding along the surface supporting the elements to access the underside of the sheet elements and thus capture the elements on the same surface used to cut them.

[0026] The device according to the invention allows access and capture via a slot resulting from cutting the sheet elements and from this position allows a firm mechanical lateral clamping, affecting only one or more ends, these areas being usually the joint or seam areas which are hard to see and which may often be hidden in their further processing.

[0027] Another advantage is that different clamps can be inserted at different edges of the contour of the sheet element to be cut, allowing a compensated and distributed capture, which therefore allows correct positioning even in elements with considerable surface area and complex geometry, all without pulling, collisions, etc., and using a reduced space in accordance with those used today by the industry, facilitating this integration.

[0028] The device according to the invention also overcomes one of the major drawbacks of current systems, namely storage and transportation to the next production stage.

[0029] In addition, the device according to the invention also allows the incorporation of labels or temporary visual aids (projections) for identification and positioning during capture.

[0030] Another novelty of the device according to the invention is that apart from the capture function, the clamp inserted into the slot can contain tracking information, data regarding the captured element, the next industrial action, safety warnings etc. This data can be recorded during the industrial process together with complementary information to identify the specific process.

[0031] A dynamic traceability system, such as NFC tags, is built into the clamps to limit human error and provide real-time control, location, and updated status of each captured item.

[0032] Furthermore, because of their configuration, the clamps can be easily picked up by complementary systems (automated or manual) and placed on trays, containers, etc., or placed in a suspended fashion and suspended in automated or manual vertical storage systems, allowing them to be integrated into the production cycle in a real-time, controlled manner.

[0033] This suspended, post-cut positioning system offers many advantages, however suspended material does not wrinkle, is highly visual, can be sorted sequentially, is space saving, is not cumbersome, and automation of transport with overhead systems is a well known and widely used technique.

[0034] In order to complete the description which follows and to facilitate a better understanding of the characteristics of the present invention, according to preferred examples of practical embodiments thereof, a set of drawings is attached hereto as an integral part of said description, in which the following are shown, by way of example and not of limitation: [Brief description of the drawings]

[0035] [Figure 1] 1 shows a plan view of an embodiment of a device for handling sheet elements according to the invention; [Diagram 2] 1A-1D are side elevational views of a device for handling sheet elements according to the present invention, illustrating the process of capturing the sheet elements; [Diagram 3] 1A-1D are side elevational views of a device for handling sheet elements according to the present invention, illustrating the process of capturing the sheet elements; [Figure 4] 1A-1D are side elevational views of a device for handling sheet elements according to the present invention, illustrating the process of capturing the sheet elements; [Diagram 5] 1A-1D are side elevational views of a device for handling sheet elements according to the present invention, illustrating the process of capturing the sheet elements; [Figure 6] 1 is a side view of an embodiment of a device for handling sheet elements according to the invention, in which a clamp feeder is included; [Figure 7] 2 is a schematic side view of a device for handling sheet elements of the present invention according to an alternative embodiment; FIG. [Figure 8] 13 is a side view of an alternative embodiment of a pick-up head for picking up or lifting a sheet element. FIG. [Figure 9]13 is a side view of an alternative embodiment of a pick-up head for picking up or lifting a sheet element. FIG. [Figure 10] 13 is a side view of an alternative embodiment of a pick-up head for picking up or lifting a sheet element. FIG. [Figure 11] 13 is a side view of an alternative embodiment of a pick-up head for picking up or lifting a sheet element. FIG. [Figure 12] 13 is a side view of an alternative embodiment of a pick-up head for picking up or lifting a sheet element. FIG. [Figure 13] 13 is a side view of an alternative embodiment of a pick-up head for picking up or lifting a sheet element. FIG. [Figure 14] 13 is a side view of an alternative embodiment of a pick-up head for picking up or lifting a sheet element. FIG. [Figure 15] FIG. 13 is a perspective view of an embodiment of a capture head with a guide for inserting a gripping clamp and a scraping element as clamping means. [Figure 16] FIG. 13 shows a side view of an embodiment of a capture head with a guide for inserting a gripping clamp and a scraping element as a clamping means. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] The object of the present invention is a device for handling adjacent sheet elements, such as single or multi-layer sheet elements, such as pieces of fabric, pieces of leather, etc., which are subjected to a cutting process according to a pattern or geometry etc. that allows the capture, suspension and movement of such elements.

[0037] The device according to the invention is configured to be able to access the underside of a sheet element and therefore to proceed to handle the sheet element even through gaps or slight longitudinal slots created in the cutting process, without the need to access only through the free edge of such an element, thus overcoming the limitations of the current state of the art.

[0038] For this purpose, according to one embodiment, the device is provided with one or more capturing heads 1 for slightly separating or lifting the edges of a cut sheet element 10 adjacent to another sheet element 10 and gripping said sheet element 10 by means of gripping clamps 2 for handling.

[0039] For this purpose, alternative, variable sequences adapted to the type of sheet element 10 are carried out, which consist in temporarily fixing the sheet elements in the area near the slot or cut between two adjacent sheet elements 10, or separating them in the opposite direction, in order to prevent or force their movement as required by the sheet elements.

[0040] The edge between two adjacent sheet elements 10 is then lifted from the cutting surface or support 11, but only this edge of the sheet element 10 to be gripped and handled is lifted simultaneously or synchronously to facilitate access to its underside through the gap or separation between the two adjacent sheet elements 10.

[0041] When the edge of the sheet element 10 is lifted and separated from the support surface 11 , the clamp 2 causes the sheet element 10 to be firmly fixed to it between its lower and upper surfaces.

[0042] The separation or raising of the captured sheet element 10 relative to the support surface 11 is carried out by its edges, regardless of its geometry or surface.

[0043] The position of the sheet element 10 is preferably determined, for example by a detection camera 7, in order to achieve an optimal positioning of the gripping clamps 2, whereby various criteria such as weight, geometry, surface, type of material and subsequent positioning can be used. To facilitate the exact location and capture point, it can be supplemented by visual aids projected or implemented on the surface of the sheet element 10, in particular by means of stickers, powder markers, inks etc.

[0044] The acquisition head 1 is equipped with clamping means 4, which are adapted to the respective type of material and which generate the necessary interaction with the sheet element 10. This interaction does not require a complete lifting of the sheet portion 10, since its task is only to facilitate the gripping in the edge area by the gripping clamps 2, thus facilitating the entry of the sheet element 10 into the gripping clamps 2 and the subsequent closing of the latter.

[0045] The clamping means 4 allowing the lifting of the sheet element 10 can be of various types or combinations thereof, such as: - a temporary air suction element (as shown in FIG. 8), such as a Venturi, Bernoulli, or vacuum suction cup, - a temporary air release element (shown in Figs. 9 and 12), which for example allows air to enter the slot from above or to lift from below, - adhesive elements (as shown in FIG. 14), for example by mechanical or electrical bonding, - frictional lifting elements (as shown in FIG. 10), such as rollers with bristles, a clamping element (shown in FIG. 11 ) that supports or deforms the sheet element 10 by applying pressure to pull up its edge near the slot, - scraping elements (shown in Figures 13, 15 and 16), for example of scraper or comb type, such as flexible microteeth, which are inserted through a slot or cut between two adjacent sheet elements and move perpendicular to the cut line towards the inside of the element to be captured by scraping the support surface 11 in order to separate the sheet elements 10. These scraping elements can perform a vibration, or a back and forth, etc. movement to facilitate the penetration and separation action to apply tension to the sheet elements 10 and to facilitate the insertion of the gripping clamps 2.

[0046] In order for the gripping clamps 2 to open at the right time when the edge of the sheet element 10 is pulled up, or to properly assist this separation, the device according to the invention also comprises an actuating element 9 for actuating said gripping clamps 2, the position of which determines whether the gripping clamps 2 are open or closed.

[0047] According to the embodiment shown in Figures 2 to 6, the actuating element 9 of the clamp 2 comprises a swing arm, which comes into contact with the clamp 2 and pushes it to open (Figures 3 and 4), and which automatically returns the clamp 2 to its closed position when it is no longer in contact with the clamp 2 (Figures 2 and 5). This depiction is not mutually exclusive, as the clamp can be operated in many different ways.

[0048] According to the embodiment shown in Figures 7, 15 and 16, the actuating element 9 of the clamp 2 comprises an inclined guide, which opens the clamp 2 when it moves along the guide and closes it when it moves out of the guide.

[0049] To facilitate identification throughout the process, the clamp 2 is provided with an identification element 5, for example an RFID tag or similar, and the device is provided with a reader / writer 8 which reads information from the identification element 5 of the clamp 2.

[0050] The gripping clamp 2 is applied in an automated manner by means of a feed device 6, for example with a rod (FIG. 6) or with a clamp inclined surface and an insertion element 12 (FIG. 7). This embodiment is not exclusive and other clamp feed systems may be used.

[0051] This allows multiple actions to be performed in parallel, which can increase productivity for some sheet elements when the clamping frequency and density is high or when the type of sheet element makes the lifting and then gripping process slow.

[0052] In this case, the clamp 2 is designed so that the vision system can set automatic pick-up coordinates and capture it with the sheet element 10 via anchors (not shown) that can be built into the device, such as hooks, rings and interlocking elements.

[0053] The device according to the invention allows for various modes of operation when grasped or held and then positioned.

[0054] In optimal operation, the gripping clamps 2 operate together with the acquisition head 1 and are not released until the sheet element 10 has been unloaded at a defined location. In optimal operation, the use of multiple clamps 2 allows for increased productivity since loading and unloading functions can be performed simultaneously.

[0055] Classical embodiments are also possible, in which the same clamps 2 are used for different captures and for successively loading and unloading the gripped sheet elements, thereby not requiring further clamps 2, but they take more time, since these loading and unloading functions cannot work in parallel, which is suitable for working with conventional anthropomorphic robots.

[0056] In addition, in optimal operation, the clamp 2 can be positioned to allow suspended transport or a balanced configuration, thus allowing balanced capture of sheet elements, particularly those with complex geometries or large surface areas.

[0057] Due to their configuration, the clamps 2 can be easily picked up by a complementary system (automated or manual) and placed on elements such as trays, containers, or hung and placed in suspension in automated or manual vertical storage and transport systems, incorporating into their design suitable fixtures for this, such as hooks, rings or magnets, which allows them to be integrated into the production cycle in a real-time and controlled manner.

[0058] This suspended, post-cut positioning system offers several advantages as the suspended material does not wrinkle, is highly visible, can be positioned continuously, and does not use a lot of space.

[0059] Furthermore, in optimal operation, the gripping clamp 2 can be released from the robot arm so that it is temporarily attached to the sheet element 10 to facilitate identification and subsequent collection, and furthermore the clamp has the potential to incorporate reading and wireless communication technologies, thus enabling traceability of the captured sheet element 10.

[0060] In both single clamp or multiple clamp modes, the system can also capture the sheet element 10 from lateral free space without the need for access via a cut-out slot.

[0061] In one embodiment, there can be different capture heads 1 operating simultaneously in a coordinated manner. The case can also be considered where multiple capture heads 1 are arranged across the entire width of the sheet element 10, thus reducing the movement of the capture heads 1.

[0062] In one possible embodiment, the device is part of an overall system that may operate in various interrelated or sequential modules.

[0063] Although reference has been made to a particular embodiment of the invention, it will be obvious to a person skilled in the art that the described device for handling adjacent sheet elements is susceptible to numerous variations and modifications and that all the described details can be replaced by technically equivalents without departing from the scope of protection defined by the appended claims. [Explanation of symbols]

[0064] 1 Acquisition head 2 Gripping Clamp 3 Longitudinal Axis 4 Clamping means 5. Identification elements 6 Feeding device 7 Detection Camera 8 Reader / Writer 9. Actuating Elements 10 Sheet Elements 11 Support, supporting surface 12 Insertion elements

Claims

1. A device for handling adjacent sheet elements comprising a clamp (2) for gripping the sheet elements (10), characterized in that it comprises a capture head (1) provided with clamping means (4) for separating, gripping and lifting the edges of the sheet elements (10).

2. 2. The device for handling adjacent sheet elements according to claim 1, wherein the picking head (1) is rotatable about a longitudinal axis (3).

3. The clamping means (4) is One or more air suction elements, One or more air release elements; one or more adhesive elements, one or more friction lifting elements; one or more pressure elements, and / or One or more scraping elements 2. The device for handling adjacent sheet elements according to claim 1, selected from the group comprising:

4. 2. The device for handling adjacent sheet elements according to claim 1, wherein the clamp (2) is provided with an identification element (5).

5. 5. A device for handling adjacent sheet elements according to any one of claims 1 to 4, further comprising a feeding device (6) for the gripping clamps (2).

6. 6. A device for handling adjacent sheet elements according to any one of claims 1 to 5, further comprising a camera or other detection sensor (7) for detecting gaps between adjacent sheet elements (10).

7. 5. The device for handling adjacent sheet elements according to claim 4, further comprising a reader / writer (8) for the identification elements (5) of the gripping clamps (2).

8. 8. A device for handling adjacent sheet elements according to any one of claims 1 to 7, further comprising an actuating element (9) of the gripping clamp (2), the position of which determines whether the gripping clamp (2) is open or closed.

9. 9. A device for handling adjacent sheet elements according to any one of the preceding claims, wherein the clamping means (4) are movable and / or oscillating.

10. 10. A device for handling adjacent sheet elements as claimed in claim 9, wherein said clamping means (4) move in a reciprocating motion.

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