System for picking up elements

Abstract

The present invention relates to a system for picking up an element (3). It comprises an automated arm (5) having at least one tool at one end for picking up the element, and a work surface (4) on which the element is placed. The tool comprises at least one pick (1), and the pick-up system also comprises a holding and removing element for removing the picked-up element from the at least one pick. The present invention provides a system for picking up an element that facilitates the element pick-up process, i.e., gripping, mounting, transporting, and releasing the element.

Description

Technical Field

[0001] The present invention relates to a system for picking up elements.

Background Art

[0002] Brushes forming a support surface are known today. The support surface is suitably fixed to a set of mechanical elements and may be in the form of a fixed, movable, or endless conveyor belt.

[0003] In various industrial fields, the aforementioned support surface is used for transporting and / or handling elements that need to be lifted, or elements that are difficult to handle in contact with a normal plane, or elements that cannot come into contact with a rigid or continuous surface.

[0004] Furthermore, robot systems that use different tools to enable the execution of different operations are known. This robot system is extremely versatile and various operations can be performed by specializing the aforementioned tools.

[0005] There are certain elements or products for which the ideal way to be picked up is by gravity. That is, a way of being picked up and supported from below. Among such elements are layered elements such as cloth, fabric, and plastic, flexible parts and cables, highly irregular articles, articles having a wet surface, vegetable foods having delicate leaves, municipal waste, used beverage cans, Tetra Brik (registered trademark) containers, and the like.

[0006] These elements are usually placed on a flat surface, so it is difficult to properly grip them without damaging the support surface or the elements themselves.

[0007] In addition, due to their characteristics, irregular shapes, surface dirt, etc., there are also elements that can be completely perforated (using picks) and picked up and discharged individually or in multiple pieces. This can be the case for dust and waste, or even for flexible layered elements such as fabrics and cloths.

Summary of the Invention

[0008] Therefore, the need for a system that picks up elements, i.e., that easily grips, attaches, transports, and leaves elements, is evident.

[0009] The above drawbacks are solved by a system for picking up elements according to the present invention, which has other advantages described below.

[0010] A system for picking up elements according to the present invention includes an automated arm having at least one tool for picking up elements at one of its ends, and a working surface on which the elements are placed. The tool includes at least one pick, and the picking-up system further includes a fixed discharge element for removing the picked-up elements from at least one pick.

[0011] Advantageously, the tool further includes a head to which at least one pick is fixed.

[0012] Furthermore, the fixed discharge element preferably includes at least one hole or groove for passing at least one pick through.

[0013] According to two alternative embodiments, the fixed discharge element is movable relative to the head, or the fixed discharge element is fixed and the automated arm is movable relative to the fixed discharge element.

[0014] According to an alternative embodiment, the fixed discharge plate includes an array of flexible hairs therein, and the array of flexible hairs contacts the element to be picked up before the pick and ensures that it is fixed during picking up.

[0015] Advantageously, the working surface includes a plurality of flexible hairs, and the element is arranged on the plurality of flexible hairs.

[0016] The pick may have any suitable shape or configuration, but preferably at least one pick is in the form of a needle or blade and may include holding elements such as hooks, chisels, or sawtooth shapes, or rubber-like elements therein.

[0017] Preferably, the end of at least one pick that pierces the element is beveled.

[0018] Furthermore, at least one pick can be pivoting with respect to the head.

Brief Description of the Drawings

[0019] To better understand the above description, a set of drawings is attached. In these drawings, actual embodiments are shown schematically and by way of non-limiting example only.

[0020]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Modes for Carrying Out the Invention

[0021] The present invention relates to an improved automatic and modular pickup system (see FIGS. 2 to 5) for picking up (recoger) an element 3 such as an article or material, which enables holding and then discharging an element perforated by at least one pick (punzon, punch, piercing part) 1.

[0022] The pickup system according to the present invention includes one or more picks 1 that may have variable contour shapes and configurations.

[0023] For example, the pick 1 may be in the form of a needle, a blade, an arpon (a pointed tip with a claw), etc., and may have an inclination with respect to the element 3 to be picked up.

[0024] Furthermore, the pickup system according to the present invention comprises an independent or common fixed discharge element 2 on the pick 1, and the pick 1 has a dual purpose of fixing and sliding an element to be picked up before the pickup and discharging it from the pick 1.

[0025] This fixed discharge element 2 moves longitudinally along the pick 1, and for the complete discharge of the element 3, beyond the end of the picked-up element 3, the fixed discharge element 2 moves.

[0026] These picks 1 and the fixed discharge element 2 are configured and distributed based on the dominant geometric shape of the element 3 to be picked up. These include plastic bottles, cardboard, plastic, or aluminum containers, plant elements with various shapes and textures, thin layers of plastic or paper film, individual or multilayer fabrics arranged flat on the surface of the base, or similar flexible laminated materials, etc., covering a wide range of diverse geometric shapes and volumes.

[0027] Figure 1 shows variable types of different configurations of the pick 1 according to the requirements of different applications.

[0028] The element 3 to be picked up is preferably arranged on the working surface 4. The working surface 4 is formed by different arrangements, configurations, lengths, densities, and flexible hairs (cerdas, bristles) of the material, which act as a floating surface support for the element and material to be picked up. This working surface 4 may also be used as a conveying surface and is the place where the element 3 to be picked up is deposited.

[0029] Examples of these working surfaces are described in documents EP2656987A1 and EP3106411A1, which are in the name of the same inventor as this application.

[0030] The advantage of the configuration of this working surface 4 is that it enables a deep penetration of the pick 1 and allows the element 3 to be picked up to penetrate the lower part of the working surface 4, that is, the part in contact with the hairy surface, and enables these elements 3 to be picked up to be easily fixed to the appropriate position by one or more picks 1 arranged at appropriate positions according to the properties, dimensions, and arrangement on the working surface 4. As a result, this penetration is also effective in individual sheets of film, fabric, and laminated materials.

[0031] Therefore, a specific configuration, the appropriate positioning and configuration of these picks 1, the optimal attachment of different elements of the element 3 to be picked up prior to being perforated, and the rapid and convenient discharge system formed by the aforementioned fixed discharge element 2 are required.

[0032] The working surface 4 with flexible hairs avoids the need to retract and control the depth of the pick 1 and prevents the pick from colliding with the fixed or movable working surface 4 that supports the element 3 to be picked up, without damaging this working surface 4 or the pick 1.

[0033] This is particularly important in layered and flexible elements that cannot be picked up by perforating in other systems, and as a result, it enables different layers of materials to be picked up.

[0034] Advantageously, the pick 1 is arranged at the movable end of the automated arm 5 or the robot. This robot can be of a humanoid type, Cartesian type, Delta type, or SCARA type, or any other type of automatic device that enables movement and supports an appropriate load according to the target material.

[0035] This automated arm 5 is characterized by an appropriate distribution of the pick 1 according to the separation, hardness, and geometric distribution levels of the element 3 to be picked up.

[0036] In order to prevent rotation and unwanted movement of the element 3 picked up when once penetrated by the pick 1, the pick 1 may have different geometric shapes, whereby the position of the picked-up element 3 is controlled whether the pick 1 is individual or part of a group. This enables very rapid movement of the automation arm 5 and controlled positioning during extraction of the element 3 to be picked up.

[0037] For this reason, the elements of the pick-up system according to the invention are exchangeable based on the element 3 to be picked up, and the system appropriately selects and uses this.

[0038] An example of a tool exchange system is described in document EP19382374 by the same inventor as the present application.

[0039] The pick-up system of the present invention comprises a head 6 to which the pick 1 is fixed and the fixed discharge element 2 can move relative to the head 6, for example by electric drive, pneumatic drive or other mechanical combinations. Thereby, the movement of the fixed discharge element 2 relative to the head 6 enables separation of the element picked up at the supply point.

[0040] At the time of pick-up, the fixed discharge element 2 is arranged in the outer region of the tip of the pick 1 and contacts the element 3 to be picked up in front of the pick 1.

[0041] Therefore, this fixed discharge element 2 acts as a fixation for the element 3 to be picked up. Due to this fixation, the pick 1 can enter quickly and surely because the element to be picked up does not move when penetrated, and the pick 1 can be inserted accurately.

[0042] It should be noted that in the pickup system according to the present invention, when the element 3 to be picked up is very stable or planar and requires little effort to penetrate the pick 1, it is possible to operate without performing this prior fixing with the fixed discharge element 2.

[0043] This fixed discharge element 2 is configured such that the pick 1 can pass through it. This is because its configuration includes holes arranged for this purpose.

[0044] During penetration, this fixed discharge element 2 is longitudinally retracted above the pick 1, and the pick 1 can enter the element 3 without difficulty. The fixed discharge element 2 is arranged behind the element 3 from which the hole has been drilled and picked up, and can often be in contact with these elements and be spaced in the opposite direction from the tip of the pick 1.

[0045] When the element 3 to be picked up attempts to separate from the pick 1, this fixed discharge element 2 moves in the reverse direction, i.e., towards the penetration tip of the pick 1, and the element 3 slides over the pick and is released. This longitudinal movement may be performed pneumatically, or using a motor, or by the actual movement of the automated arm 5.

[0046] Figure 6 shows another possible configuration of the pickup system according to the present invention, which includes using only the head 6 to which the pick 1 is fixed on the automated arm 5. That is, in this embodiment, the fixed discharge element 2 is not provided in the movable part of the system, and only the fixed discharge element 2 fixed at the supply point is used. This fixed discharge element 2 includes one or more grooves for the pick 1, where the pick 1 can freely fit and slide.

[0047] Only this fixed discharge element 2 has grooves that allow the vertical entry of the pick. When arranged between the head 6 and the element 3 to be picked up, using the only discharge element at the supply point as the holder of the element 3 to be picked up, the discharge element 2 enables the separation of the element by the movement of the automated arm 5 in the direction opposite to the pickup direction.

[0048] This system is very simple. It is useful for some types of elements to be picked up, such as fixed elements with a stable geometric structure. This allows the tip of pick 1 to penetrate the element while contacting the same element, as the material properties do not allow movement when in contact, this stress does not affect the element, and it allows penetration of the element.

[0049] Figure 9 shows another possible configuration of the fixed discharge element 2, which incorporates (or the head 6 incorporates) an array of flexible hairs for attaching the element 3 to be picked up before being perforated.

[0050] Furthermore, in the head 6 where the pick 1 is located, advantageously, the picks 1 are arranged such that their pointed tips face each other. This establishes a horizontal outward movement with respect to the plane of the element 3 to be picked up during picking, which generates a stress for attaching to the element 3, and prevents the element 3 from slipping off by itself in an undesirable manner.

[0051] The reason it is possible is that, advantageously, the pointed ends of the picks are diagonally sectioned (seccionados en diagonal), i.e., as seen in Figure 7 (and further Figure 8), the pointed ends of the picks are tangents to the points of the arcs of the cross-section of pick 1, and thus are not concentric with the axis of the pick.

[0052] The pick 1 may have various shapes and dimensions such as circular, square, rectangular, etc., suitable for the element 3 to be picked up. This prevents the rotation of the perforated element even when there is only one pick 1.

[0053] The tip portions of these picks 1 can be interchangeable and can be made of a harder material. As a result, when the edges become dull and their penetration performance decreases, it is not necessary to change the entire pick 1, and as a result, the maintenance cost is reduced.

[0054] When the element to be picked up has a certain rigidity and particularity with respect to its physical behavior, it is further assumed that a pick 1 with concentric sharp ends is used, with slots, chisels, knurls, and blast areas to prevent the horizontal movement described above, and that the pick 1 has an intermediate area made of a material showing retention, such as silicone or other texture, on the rear side of the area of the tip penetrating the material. As a result, a grip is provided to prevent the unwanted dropping of the element 3 to be picked up.

[0055] In this case, the need to use the aforementioned working surface 4 based on hair becomes even clearer because it is not related to the element to be picked up (no queda comprometida).

[0056] Also, the pickup system according to the present invention is effective for picking up and positioning the adhesive label of the element to be picked up using a pickup system having picks for a number of applications such as municipal waste, industrial waste applications, packaging applications, logistics applications, and industrial processing applications.

[0057] Although specific embodiments of the present invention have been referred to, it will be apparent to those skilled in the art that the pickup system described may be subject to numerous variations and modifications, and that all of the above details may be replaced by other technically equivalent ones without departing from the scope of protection defined by the appended claims.

Claims

1. A system for picking up elements, comprising: an automated arm having at least one tool for picking up said elements at one of its ends; a working surface on which said elements are arranged; said tool includes at least one pick, and the picking-up system further comprises a fixed discharge element for removing said picked-up elements from at least one of said picks; said automated arm is configured to move at least one of said picks in an approaching direction with respect to said elements; Furthermore, a system for picking up elements, which is formed in said fixed discharge element, corresponds to at least one of said picks in said approaching direction, and includes a hole or groove configured to pass through at least one of said picks that is moved.

2. Said tool further includes a head, and said head has at least one of said picks fixed thereto. A system for picking up elements according to Claim 1.

3. At least one of said picks is a first pick; and a second pick arranged to extend parallel to said first pick, said fixed discharge element includes a first hole configured to pass through said first pick; and a second hole configured to pass through said second pick. A system for picking up elements according to Claim 1.

4. Said fixed discharge element is movable with respect to the head. A system for picking up elements according to Claim 1 or 2.

5. Said fixed discharge element is fixed, and said automated arm is movable with respect to said fixed discharge element. A system for picking up elements according to Claim 1.

6. Said fixed discharge element includes a plurality of flexible hairs. A system for picking up elements according to Claim 1.

7. Said working surface includes a plurality of flexible hairs, and said elements are arranged on said plurality of flexible hairs. A system for picking up elements according to Claim 1.

8. At least one of said picks is in the form of a needle or a burin. A system for picking up elements according to Claim 1.

9. The end of at least one of said picks for piercing said elements is beveled. A system for picking up elements according to Claim 1.

10. At least one of said picks pivots with respect to said head. A system for picking up elements according to Claim 2.

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