Method and system for grasping and moving an object

Abstract

A method for gripping and moving a processed piece (51) obtained by cutting and / or drilling at least one sheet metal (50) and placed on a work surface (110) by means of a gripping and moving system (100) provided with a detection device (1) comprises: Step 1: Positioning the gripping means (101) of the gripping and moving system (100) on the small piece (51) to be lifted; a step (step 2) of positioning the sensor device (4) of the detection device (1) by moving the sensor device (4) along a first direction (X) to a first position (A1, B1), wherein at the first position (A1, B1), the sensor device (4) is aligned with a protrusion on the periphery of the small piece (51) along a second direction (Y), and the second direction (Y) is perpendicular to the first direction (X); a step (step 3) of gripping the small piece (51) with the gripping means (101) and lifting it to a certain height relative to the work surface (110); a step (step 4) of activating the sensor device (4) and moving the sensor device (4) to a second position (A2, B2) to scan a predetermined portion (A, B) of the work surface (110) below the lifted small piece (51) to detect a gap or a remaining connection between the lifted small piece (51) and the thin metal sheet (50); Includes.

Description

【Technical Field】 【0001】 The present invention relates to a gripping and moving method and system that cooperate with an automatic machine for cutting and / or perforating a metal sheet, and after cutting and / or perforating, lift, remove, and move the completed small pieces from the thin sheet metal. More precisely, the present invention relates to a method for gripping and moving that enables confirmation that the completed small pieces have been correctly removed from the thin sheet metal after cutting and / or perforating. Further, the present invention relates to a system provided with a detection device and capable of cooperating with an automatic machine for cutting and / or perforating a thin sheet metal, the system for gripping and moving the completed cut small pieces. 【Background Art】 【0002】 Systems for gripping and moving processed small pieces / objects are known and are used in machines for cutting and / or perforating thin sheet metal. The machine includes a detection device, and the detection device uses a sensor capable of scanning the upper surface of the working surface of the machine. On the working surface, the thin sheet metal to be cut and / or perforated and the small pieces / objects obtained by cutting / perforating are arranged. More precisely, in the removal step from the machine working surface at the end of each process of cutting and / or perforating, while gripping and removing the completed small pieces, the detection device verifies that the small pieces lifted and pulled up by suitable gripping means of the gripping and moving system are completely separated from the remaining part (framework) of the thin sheet metal. Thereby, as a result of incomplete cutting and / or perforating, it is possible to prevent the gripping means from lifting and / or dragging the entire thin sheet along with the small pieces. 【0003】 In particular, the sensor of the detection device is typically an optical sensor, but in this removal step, it scans the entire working surface to detect the presence or absence of an obstacle, that is, the absence of a gap or space of a certain height (typically 20 mm) between the small pieces lifted by the gripping means and the thin sheet metal. This absence indicates that the small pieces have not been effectively and completely removed from the thin sheet metal and are not separated. 【0004】 It is known to use detection devices that include a rotating head emitting a laser beam capable of scanning the work surface relatively quickly. However, since these devices must be positioned at a certain distance from the work surface so as not to interfere with the lifting and movement of the small pieces, the resolution guaranteed by the device is generally low, decreasing with increasing distance, and may even be lower than the thickness of the small pieces and sheet metal. As a result, it cannot be guaranteed that the removal of the small pieces will be correctly identified. 【0005】 Furthermore, it is known to use photoelectric safety barriers employing multiple linearly arranged LEDs adapted to generate a light curtain capable of blocking small pieces that were not properly removed by sending pulsed infrared light to multiple light-receiving sections. However, these systems also have low scanning resolution (10-15 mm). 【0006】 Furthermore, a detection device is used that includes a laser sensor capable of emitting a laser beam and receiving the reflected light. The sensor can move parallel to one side of the work surface, allowing for continuous scanning of the entire work surface. To reduce the time required for scanning, these devices include multiple laser sensors spaced apart from each other and movable together. While these scanning systems guarantee high resolution (2.5-3 mm), a certain amount of time (2-4 seconds) is still required to scan the entire work surface. 【0007】 Furthermore, detection devices are known and in use that utilize vision systems capable of detecting the outlines of small pieces and thin sheet metal, and in particular determining the spacing or distance between the small pieces and the sheet metal following lifting and pulling. However, vision systems are quite expensive and also present difficulties in installation and adjustment. 【0008】 The object of the present invention is to improve upon known methods and systems for gripping and moving, which can be linked with automated cutting and / or drilling machines and are adapted to safely and reliably lift and move finished pieces from sheet metal after cutting and / or drilling. 【0009】 Another object of the present invention is to provide a method and system for gripping and moving which enables quick, accurate, and precise confirmation that the finished piece has been properly removed from the sheet metal after cutting and / or drilling. 【0010】 A further objective is to provide a method and system for gripping and moving, which enables high-resolution scanning of the work surface of an interlocking automatic sheet metal cutting and / or drilling machine. [Overview of the project] 【0011】 In a first aspect of the present invention, a method for gripping and moving is provided according to claim 1. 【0012】 A second aspect of the present invention provides a gripping and moving system as described in claim 6. [Brief explanation of the drawing] 【0013】 The present invention can be better understood and implemented by referring to the following accompanying drawings illustrating exemplary and non-limiting embodiments. [Figure 1] This is a perspective view of the gripping and moving system according to the present invention, with connected work surfaces. [Figure 2] Figure 1 is a perspective view of the detection device for the gripping and moving system. [Figure 3] This is a perspective view of the detection device shown in Figure 2, with the protective casing removed. [Figure 4] Figure 1 is a schematic plan view of the gripping and moving system and work surface in the first step of lifting each small piece. [Figure 5] Figure 1 is a schematic plan view of the gripping and moving system and work surface in the second step of lifting each small piece. [Modes for carrying out the invention] 【0014】 Referring to Figures 1 to 5, the gripping and moving system 100 of the present invention, which is equipped with a detection device 1, will be described. 【0015】 The gripping and moving system 100 can be connected to a work surface 110 adapted to support at least one sheet metal 50 to be machined and / or machined small pieces 51. The work surface 110 is, for example, the work surface of an automated machine for cutting and / or punching the sheet metal 50 to produce finished machined small pieces 51. 【0016】 The detection device 1 (hereinafter also referred to as device 1) is fixed to the side portion 111 of the work surface 110. 【0017】 Apparatus 1 includes a support element 2. The support element 2 extends along a first direction X parallel to the side portion 111 in particular and is provided with a linear guide means 3. The linear guide means 3 is for supporting a sensor device 4 so that it can slide along the first direction X. The sensor device 4 is configured to detect gaps or residual connection points between each piece 51 and the sheet metal 50. When machining (cutting and / or drilling) of the sheet metal 50 is completed, it is possible that the resulting machined pieces 51 are not completely separated from the remaining portion (framework) of the sheet metal 50, but remain connected to the remaining portion at one or more points. Furthermore, when moving the work surface, it is possible that some of the cut pieces may separate and remain in the wrong position. 【0018】 The sensor device 4 includes, for example, a laser scanner sensor, in particular an amplified light sensor, and in particular a polarized retroreflective amplified light sensor equipped with a reflector. In particular, the reflector or equivalent reflective element is of a known type (not shown), is arranged to reflect the laser beam emitted by the sensor, and is mounted on the opposite side of the work surface 110, facing the sensor itself. 【0019】 The device 1 is fixed to the side 111 of the work surface 110, and the sensor device 4 faces the work surface 110 to detect the presence of residual connection points between each small piece 51 and the thin sheet metal 50. 【0020】 Apparatus 1 further includes a drive means 5. The drive means 5 is connected to a support element 2 and is configured to position and move the sensor device 4 in a controlled manner along a first direction X. In particular, the drive means 5 is configured to position and move the sensor device 4 to scan predetermined portions A and B of the work surface 110. In particular, portions A and B extend along a second direction Y which is substantially perpendicular to the first direction X. Apparatus 1 includes a carriage 6. The carriage 6 is connected to a guide means 3, is movable along the guide means 3, and supports the sensor device 4. The carriage 6 is driven along the guide means 3 by the drive means 5. 【0021】 The guiding means 3 includes, for example, a known type of linear guide, i.e., a rail. The carriage 6 is connected to the linear guide and can slide along the linear guide. 【0022】 The driving means 5 includes, for example, a rotary motor 8, particularly a brushless motor with controllable position and / or speed. More precisely, the rotary motor 8 is a step-by-step motor, i.e., a synchronous DC motor that allows for precise control of the positioning of the sensor 4. The driving means 5 may alternatively include other types of motors, such as an inverter-controlled asynchronous motor. 【0023】 The drive means 5 further includes a delivery means 9. The delivery means 9 is driven by a rotary electric motor 8 and is connected to the sensor device 4, and is adapted to linearly move the sensor device 4 along the guiding means 3. In particular, the delivery means 9 includes at least one endless moving belt 11 wound around pulley means 12, 13, especially a toothed type. The pulley means 12, 13 are rotatably fixed to the support element 2, and the reciprocating table 6 is connected to the moving belt 11. 【0024】 The pulley means 12, 13 includes a plurality of return pulleys 12 and a drive pulley 13 that are driven by the rotary electric motor 8 to rotate. More precisely, the pulley means 12, 13 are located at the ends of the support element 2 and are mechanically interconnected by the moving belt 11. 【0025】 The support element 2 includes a covering case 10. The covering case 10 is adapted to surround at least the guiding means 3 and the drive means 5, and is provided with a longitudinal opening 7. The opening 7 extends along the guiding means 3 at the location of the guiding means 3, enabling the sensor device 4 to scan from outside the support element 2. 【0026】 The device 1 further includes a connection bracket 15. The connection bracket 15 is for fixing both ends of the support element 2 to the working surface 110. Further, the connection bracket 15 enables fine adjustment of the laser beam emitted by the sensor device 4 with respect to the working surface and, if there is a retroreflective surface, that surface. 【0027】 The gripping and moving system 100 includes gripping means 101. The gripping means 101 is configured to grip a machined small piece 51 obtained by cutting and / or perforating a thin sheet metal 50 and lift it from the working surface 110. 【0028】 The gripping and moving system 100 includes a control unit 60. The control unit 60 controls the gripping means 101 and the detection device 1, and controls the driving means 5 of the detection device 1, thereby positioning and moving the sensor device 4 along a first direction X to scan predetermined portions A and B of the work surface 110. In the predetermined portions A and B, there is at least one small piece 51 to be lifted and pulled up by the gripping means 101. 【0029】 More precisely, the control unit 60 coordinates the movement of the gripping means 101 with the movement of the sensor device 4 to reduce the waiting time when the machine is not operating. 【0030】 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. 【0031】 A method according to the present invention for gripping and moving machined small pieces 51, obtained by cutting and / or perforating at least one thin sheet metal 50 and placed on a work surface 110, using a gripping and moving system 100 equipped with a detection device 1, is as follows: -Step 1 involves positioning the gripping means 101 of the gripping and moving system 100 on at least one small piece 51 of the object to be lifted from the work surface 110, and simultaneously, - A step (step 2) to position the sensor device 4 of the detection device 1 by moving it to first positions A1, B1 along a first direction X, wherein at the first positions A1, B1, the sensor device 4 is substantially aligned with the projection on the peripheral edge of the small piece 51 along a second direction Y, and the second direction Y is substantially perpendicular to the first direction X. -The process of gripping the small piece 51 with the gripping means 101 and lifting it to a certain height relative to the work surface 110 (step 3), -The steps include: activating the sensor device 4, moving the sensor device 4 to the second positions A2, B2, and scanning predetermined portions A, B of the work surface 110 below the lifted small piece 51 in order to detect a gap or residual connection between the small piece 51 and the thin plate 50 (step 4); Includes. 【0032】 The aforementioned method, If the sensor device 4 detects a residual connection point between the small piece 51 and the thin sheet metal 50, the process of stopping the pulling up of the small piece 51 (step 5), or alternatively, If the sensor device 4 does not detect any residual connection between the lifted small piece 51 and the thin plate 50, the small piece 51 is further lifted and moved outside the work surface 110 (step 6). It also includes. 【0033】 In particular, referring to Figures 4 and 5, the predetermined portions A and B of the work surface 110 scanned by the sensor device 4 extend along the second direction Y, and their width along the first direction X is equal to the distance between the first positions A1 and B1 and the second positions A2 and B2, and substantially greater than or equal to the maximum dimension of the small piece 51 along the first direction X. 【0034】 The method further includes repeating steps 1 to 5, or steps 1 to 4 and 6, for each small piece 51 to be lifted from the work surface 110. 【0035】 The method of the present invention is, Step 1 involves positioning the gripping means 101 on a predetermined number of machined small pieces 51 to be lifted from the work surface 110, A step of grasping and lifting the predetermined plurality of small pieces (51), wherein in this case, the predetermined portions A and B of the work surface 110 scanned by the sensor device 4 are below the predetermined plurality of small pieces 51 lifted by the grasping means 101, It also includes. 【0036】 In this case, the sensor device 4 detects any residual connection points that may exist between each lifted small piece 51 and the thin sheet metal 50. 【0037】 The operation of the gripping and moving system 100 of the present invention, which performs the above-described methods for gripping and moving, includes as a first step the step of positioning the sheet metal 50 on the work surface 110. From the sheet metal 50, for example by a known type of cutting and / or drilling process, a number of finished small pieces 51 to be lifted and removed by the gripping means 101 are made. 【0038】 To completely remove them, the detection device 1 must ensure that each small piece 51 is indeed separated from the framework of the sheet metal 50 so that the gripping means 101 does not lift the sheet metal 50 along with the small piece. 【0039】 For this purpose, the control unit 60 of the detection device 1 controls and coordinates the movement of the gripping means 101 and the movement of the sensor device 4. More precisely, the control unit 60 controls the gripping means 101 to move it closer to a predetermined small piece 51 to be lifted from the work surface 110, and controls the drive means 5 to move the sensor device 4 along the guide means 3 to a first position A1. At the first position A1, the sensor device 4 is substantially aligned with the protrusion on the periphery of the small piece 51 along a second direction Y, and the second direction Y is substantially perpendicular to the first direction X (Figure 4). 【0040】 The sensor device 4 can also be moved to the first position A1 before moving the gripping means 101. 【0041】 Subsequently, the gripping means 101 grasps the small piece 51 and lifts it to a certain predetermined height. The small piece 51 is partially lifted and then placed on the work surface 110 multiple times, typically so that no connection points, no matter how small, are left between the periphery of the small piece 51 and the framework of the sheet metal 50. 【0042】 At the end of this procedure, with the small piece 51 raised a certain height (for example, 40 mm) from the work surface 110, the sensor device 4 is moved by the driving means 5 along the guide means 3 from the first position A1 to the second position A2, scanning the entire portion A of the work surface 110 below the small piece 51. 【0043】 If the sensor device 4 detects a residual connection between the partially lifted piece 51 and the sheet metal 50, i.e., a lack of space between the piece and the sheet metal, it stops lifting the piece and repositions it on the work surface 110, as the piece is still connected to the sheet metal framework. More precisely, it repositions the piece 51 on the work surface 110 and then lifts it again for a confirmation scan. 【0044】 On the other hand, if the sensor device 4 does not detect an obstacle or residual connection between the small piece and the plate, that is, if it detects a gap between the lifted small piece 51 and the thin plate 50, the lifting does not stop, but the small piece 51 is further lifted and transported outside the work surface 110. 【0045】 The motor 8 of the drive means 5 is started to move the sensor device 4 along the guide means 3. More precisely, the motor 8 moves the travel belt 11 to which the carriage 6 is fixed via the drive pulley 13. The carriage 6 supports the sensor device 4 and slides along the guide means 3 to position the sensor device 4 in a first position A1 and then in a second position A2 along a first direction X. 【0046】 While the small piece 51 is being moved and removed from the work surface 110, the sensor device 4 can be positioned at another first position B1 by the drive means 5. At the first position B1, the sensor device 4 is substantially aligned along the second direction Y with the peripheral projection of the other small piece 51 to be lifted and removed (Figure 5). It should be noted that the other small piece 51 may be in the same row as the small piece 51 that was previously lifted at another position along the second direction Y. 【0047】 Once the other small piece 51 to be lifted is grasped by the gripping means 101 and pulled up, the sensor device 4 is moved to another second position B2 by the driving means 5, allowing the other part B of the work surface 110 below the partially lifted small piece 51 to be scanned. 【0048】 This procedure may be repeated continuously for all of the small pieces 51 to be lifted from the work surface 110. 【0049】 Thus, there is an advantage in that the time required to control the small pieces 51 is greatly reduced. This is because the time required for the sensor device 4 to confirm that each small piece 51 has been correctly removed from the sheet metal frame is the time required to scan only the portions A and B below each of the small pieces 51 on the work surface 110, corresponding only to the small pieces 51, rather than the entire surface 110 as in known detection systems. This time is only a few tens of milliseconds, even for small pieces 51 of considerable size, which is also due to the operation of the electric motor 8 and delivery means 9 of the drive means 5. In particular, the drive means enables the sensor device 4, i.e., the carriage 6, to be positioned quickly, accurately, and precisely along the guide means 3 at first and second positions A and B, which are determined based on the position of each small piece 51 to be lifted along the first direction X. 【0050】 Furthermore, the gripping means 10 is configured to simultaneously lift and pull up a predetermined number of machined small pieces 51 from the work surface 110. In this case, predetermined portions A and B of the work surface 110 scanned by the sensor device 4 are the portions below the predetermined number of small pieces 51 that have been pulled up by the gripping means 10, and the sensor device 4 detects any residual connection points that may exist between each of the pulled-up small pieces 51 and the thin plate 50.

Claims

[Claim 1] A method for gripping and moving a processed piece (51) obtained by cutting and / or perforating at least one thin sheet metal (50) and placed on a work surface (110) using a gripping and moving system (100) equipped with a detection device (1), - A step (step 1) of positioning the gripping means (101) of the gripping and moving system (100) on at least one small piece (51) of the object to be lifted from the work surface (110), and simultaneously, - A step (step 2) of positioning the sensor device (4) of the detection device (1) by moving the sensor device (4) to a first position (A1, B1) along a first direction (X), wherein at the first position (A1, B1), the sensor device (4) is substantially aligned with the projection on the peripheral edge of the small piece (51) along a second direction (Y), and the second direction (Y) is substantially perpendicular to the first direction (X). - The process (step 3) involves grasping the at least one small piece (51) with the gripping means (101) and lifting it to a certain height relative to the work surface (110), - Step 4: Activate the sensor device (4), move the sensor device (4) to the second position (A2, B2), and scan predetermined portions (A, B) of the work surface (110) below the lifted small piece (51) in order to detect a gap or residual connection between the lifted small piece (51) and the thin sheet metal (50). Includes A method wherein the predetermined portion (A, B) of the work surface (110) scanned by the sensor device (4) extends along the second direction (Y), and its width along the first direction (X) is equal to the distance between the first position (A1, B1) and the second position (A2, B2), and substantially equal to or greater than the maximum dimension of the small piece (51) along the first direction (X). [Claim 2] - If the sensor device (4) detects a residual connection point between the lifted small piece (51) and the thin sheet metal (50), the lifting of the small piece (51) is stopped (step 5), or - The method according to claim 1, further comprising the step (step 6) of further lifting the small piece (51) and moving the small piece (51) to the outside of the work surface (110) if the sensor device (4) does not detect a residual connection between the lifted small piece (51) and the thin sheet metal (50). [Claim 3] The method according to claim 1 or 2, further comprising the step of repeating steps 1 to 5, or steps 1 to 4 and 6, for each small piece (51) of the object to be lifted from the work surface (110). [Claim 4] Step 1 involves positioning the gripping means (101) on a plurality of processed small pieces (51) to be lifted, A step of grasping and lifting the plurality of processed small pieces (51), wherein the predetermined portions (A, B) of the work surface (110) are below the plurality of processed small pieces (51) that have been lifted by the gripping means (101), The method according to claim 1 or 2, including the method according to claim 1 or 2. [Claim 5] A gripping and moving system (100) connectable to a work surface (110) suitable for supporting a thin sheet metal (50) to be processed and / or a processed small piece (51), - A gripping means (101) for gripping the processed small piece (51) and lifting it from the work surface (110), -Detection device (1), Includes, The detection device (1) is - A support element (2) that extends along a first direction (X) and is provided with a linear guide means (3), - A sensor device (4) is configured to detect residual connection points between the small piece (51) and the thin sheet metal (50), and is supported by the guide means (3) so as to be slidable along the first direction (X), - A driving means (5) is connected to the support element (2) and is configured to position and move the sensor device (4) along the first direction (X) in a controlled manner, - A control unit (60) configured to control the gripping means (101) and the detection device (1) to perform each of the steps described in claim 1, A gripping and moving system (100), including the above. [Claim 6] The gripping and moving system (100) according to claim 5, wherein the control unit (60) is configured to control the driving means (5) of the detection device (1) to position and move the sensor device (4) along the first direction (X) in order to scan predetermined portions (A, B) of the work surface (110), and at least one processed piece (51) is present in the predetermined portions (A, B). [Claim 7] The gripping and moving system (100) according to claim 5 or 6, wherein the detection device (1) includes a reciprocating platform (6), the reciprocating platform (6) is connected to the guide means (3), is movable along the guide means (3), supports the sensor device (4), and the reciprocating platform (6) is driven along the guide means (3) by the drive means (5). [Claim 8] The driving means (5) includes a rotary electric motor (8) whose position and / or speed can be controlled, A gripping and moving system (100) according to claim 5 or 6, comprising: a delivery means (9) driven by the rotary electric motor (8) and connected to the sensor device (4), capable of linearly moving the sensor device (4) along the guide means (3). [Claim 9] The driving means (5) includes a rotary electric motor (8) whose position and / or speed can be controlled, The delivery means (9) is driven by the rotary electric motor (8), connected to the sensor device (4), and capable of moving the sensor device (4) linearly along the guide means (3), The gripping and moving system (100) according to claim 7, wherein the delivery means (9) includes at least one moving belt (11), the moving belt (11) is wound around pulley means (12, 13) rotatably fixed to the support element (2), and the reciprocating table (6) is connected to the moving belt (11). [Claim 10] The gripping and moving system (100) according to claim 9, wherein the pulley means (12, 13) includes a plurality of return pulleys (12) and drive pulleys (13) that are rotationally driven by the rotary electric motor (8). [Claim 11] The gripping and moving system (100) according to claim 5 or 6, wherein the support element (2) includes a covering case (10), the covering case (10) is suitable for enclosing at least the guide means (3) and the drive means (5), and is provided with a longitudinal opening (7), the longitudinal opening (7) extending along the guide means (3) to the location of the guide means (3), allowing the sensor device (4) to scan from the outside. [Claim 12] The gripping and moving system (100) according to claim 5 or 6, comprising connecting brackets (15) for fixing both ends of the support element (2) to the work surface (110). [Claim 13] The gripping and moving system (100) according to claim 5 or 6, wherein the sensor device (4) includes a laser scanner sensor. [Claim 14] The gripping and moving system (100) according to claim 5, wherein the control unit (60) is configured to control the drive means (5) of the detection device (1) to position and move the sensor device (4) along the first direction (X) in order to scan predetermined portions (A, B) of the work surface (110), and at least one processed piece (51) is present in the predetermined portions (A, B) that has been lifted and partially pulled up by the gripping means (101). [Claim 15] The gripping and moving system (100) according to claim 13, wherein the laser scanner sensor is an amplified light sensor. [Claim 16] The amplified light sensor is a polarized retroreflective amplified light sensor equipped with a reflector, the gripping and moving system (100) according to claim 15.

Images