Gripping device

Abstract

The invention relates to a gripping device (1) for at least one workpiece (3) comprising one or more points of attachment (4) to a plate (5). According to the invention, the gripping device (1) comprises at least one gripper (2, 200) comprising means for gripping the workpiece (3) and means for releasing the workpiece (3), the gripping device also comprising means for moving the gripper (2, 200) in space (X, Y, Z), and a control unit able to acquire the coordinates of the attachment point(s) (4) of the workpiece (3) and to control the means for gripping the workpiece (3), the means for releasing the workpiece (3) and the means for moving the gripper(s) (2, 200).

Description

Description Title of the invention: Gripping device

[0001] The present invention relates to the technical field of gripping devices, for at least one part comprising one or more attachment points to a plate.

[0002] As is well known, a laser cuts the desired pieces from a plate. The plate can be metallic or include non-ferrous materials such as aluminum or copper, as well as plastics. The associated cutting methods are adapted to the use of the material.

[0003] In the above field, it is known to recover such laser-machined parts manually, i.e. an operator, using, for example, a hammer, strikes the plate at the attachment points to release the part. The part is thus ejected from the plate and these two successive steps can cause damage to the part. In addition, it is a laborious step for the operator.

[0004] The invention aims to overcome these problems by proposing an automated and secure device. Advantageously, the automation of the steps of releasing an attachment point and recovering the part makes it possible to avoid manual operations and thus facilitate work at these stations.

[0005] Thus, the invention relates to a gripping device for at least one part comprising one or more attachment points to a plate.

[0006] According to the invention, the gripping device comprises at least one gripper comprising means for gripping the part and means for releasing the part, the gripping device also comprising means for moving the gripper in space (X, Y, Z) and a control unit capable of acquiring the coordinates of the attachment point(s) of the part and of controlling the means for gripping the part, the means for releasing the part and the means for moving the gripper(s).

[0007] The implementation of an automated gripper by a control unit with a dual function, namely the release of a part in the plate and the removal of said part from the plate, allows a saving of time in the part gripping process while guaranteeing the integrity of the part.

[0008] Advantageously, the implementation of such a gripper allows the gripping device according to the invention to also be compatible with the removal of a part without an attachment point to the plate.

[0009] According to one embodiment of the invention, the gripper comprises a release member and at least one gripping member. Thus, the means for releasing the part and at least part of the means for gripping the part are arranged on separate members and can be controlled and operated independently.

[0010] In addition, this arrangement allows space to be freed up around the release means. This space can be advantageously occupied by a multi-function box, for example for lubrication, blowing and suction of chips produced during the release of the part or for carrying a camera for monitoring operations. The multi-function box can also include a support plate intended to rest against the plate in order to facilitate the operations carried out. All these options can advantageously be controlled by the control unit.

[0011] This embodiment also allows the implementation of several gripping members mounted on the same gripper allowing parallel work but also collaborative work for the removal of large parts.

[0012] According to a characteristic of the invention, said at least one gripping member is mounted in vertical translation and in pivot along the vertical axis relative to the release member.

[0013] According to a characteristic of the invention, the means for releasing the part comprise a module for releasing an attachment point located on a lower face of the gripper intended to be opposite the plate, the release module comprising an external cutting part capable of translating and having a rotational movement in the vertical direction Z. The implementation of a module for releasing an attachment point at the gripper makes it possible to compact the gripping device. The implementation of a tip or a cutting part is compatible with most laser cutting methods for releasing an attachment point; it is in fact an act of drilling at an attachment point.

[0014] According to one embodiment, the outer cutting part of the release module is removable. Thus, different types of cutting tools can be mounted on the release module depending on the material of the plate, its thickness or even the type of attachment point created.

[0015] According to a characteristic of the invention, the gripper comprises a tool magazine comprising a set of tools and more particularly a set of tools intended for the release of a part.

[0016] According to another characteristic of the invention, the gripping device comprises means for depositing the part, the control unit being capable of controlling the means for depositing said part. Providing for the depositing of the parts makes it possible to release and stack several parts in a row at a chosen location.

[0017] According to one embodiment of the invention, the gripping means of the gripper comprise suction cups located on a lower face of the gripper intended to be opposite the plate. The use of a suction cup allows effective and secure gripping of a part released from the plate.

[0018] According to yet another feature of the invention, the suction cups are pneumomagnetic suction cups. Pneumomagnetic suction cups have a dual pneumatic and magnetic function, thus increasing the grip of the suction cups on the plate and allowing the suction cups to be selected to be activated. In addition, the use of suction cups allows both picking up a part and depositing it. This type of suction cup also allows the gripping device to be used on various materials.

[0019] According to one embodiment of the invention, the control unit is capable of controlling the suction cups independently of one another. Activating certain suction cups independently makes it possible to target the suction cups opposite the part in the plate to only retrieve the part when the gripper is in contact with the plate.

[0020] According to one embodiment of the invention, at least two suction cups comprise different dimensions. Providing large and small suction cups allows the gripper to be able to pick up all sizes of parts, with larger suction cups allowing heavier parts to be lifted.

[0021] According to a feature of the invention, each suction cup is mounted on a pneumatic cylinder capable of moving in the vertical direction Z and the control unit is capable of activating the cylinders independently of each other. In this way, the suction cups have a limited stroke towards the plate and the suction cups which are not active can, for example, be used to press the plate outside the part in order to prevent the part from getting stuck in the skeleton of the plate and thus facilitate its removal. The independent control of the jacks also makes it possible to place the part in a chosen bin without conflict with the edges and, for example, to stack several parts side by side.

[0022] According to one embodiment of the invention, the gripping device comprises a robotic bench capable of moving the gripper(s).

[0023] According to a particular form of the invention, the robotic bench comprises a horizontal arm mounted on a frame capable of translating along the frame in the horizontal direction X and a vertical arm mounted on the horizontal arm capable of translating along the horizontal arm in the transverse direction Y and of translating in the vertical direction Z, a gripper being mounted at one end of the vertical arm so as to have a lower face of the gripper facing the plate.

[0024] According to a characteristic of the invention, the vertical arm comprises at one of its ends a crown capable of rotating the gripper around the vertical axis Z and a slide system allowing the displacement of a part of the gripper in the plane (X',Y'j. The reference frame (X',Y',Z) is the reference system of a gripper moving in the space (X,Y,Z) previously defined corresponding to the reference system of the robotic bench. According to this embodiment, the gripper(s) always have a lower face parallel to the plate orthogonal to the vertical direction Z.

[0025] The implementation of gripper rotation means allows the gripper to be optimally positioned facing the part to be removed. Depending on the embodiment of gripping means comprising suction cups, this allows the suction cups to be placed on the part outside the cutting lines, thus optimizing the gripping of the part.

[0026] The sliding system also allows the position of the part gripping means to be refined, particularly when suction cups of different sizes are used in order to place the desired suction cups in the appropriate location.

[0027] According to one embodiment of the invention, the gripping device further comprises a detection system located near the gripper capable of detecting an attachment point, the control unit being capable of adapting the movement of the gripper according to the information obtained by the detection system.

[0028] The addition of a detection system such as a camera at the gripper level makes it possible to increase the precision and in particular the precise coordinates of the attachment point in order to best adjust the position of the means of releasing the part from the gripper.

[0029] The invention also relates to a method for removing a part comprising at least one attachment point to a plate comprising the following steps: - Implementation of the plate in a gripping device according to the invention, - Acquisition of the following information: number of attachment points of the part to the plate and coordinates of each of the points, - Moving the gripper so as to position the part release means opposite the first attachment point, - Release of the first attachment point, - Repeat the two previous steps until the last attachment point, - Moving the gripper so as to position the release means opposite the last attachment point, - Activation of the part release means, - Release of the last attachment point and, - Removal of the part.

[0030] Advantageously, the step of releasing the last attachment point is accompanied by the removal of the part.

[0031] According to a characteristic of the invention, the method of removing a part further comprises the following step: - Activation of the part gripping means, before the step of activating the part release means. Depending on the embodiment of the part gripping means, for example comprising suction cups mounted on cylinders that can be activated independently of each other, the activation of the suction cups opposite the part ensures that the part is held in place when the last attachment point is released, and the activation of the suction cups and cylinders located outside the part ensures that the skeleton bordering the part is held during extraction.

[0032] The precise steps of the method of removing a part relating to different embodiments of the gripping device according to the invention are described below.

[0033] Of course, the various features, variants and embodiments of the invention may be combined with each other in various combinations to the extent that they are not incompatible or mutually exclusive.

[0034] In addition, various other characteristics of the invention emerge from the appended description given with reference to the drawings which illustrate non-limiting forms of embodiment of the invention and where:

[0035] [Fig.1] is a perspective view of an example of a gripping device according to the invention,

[0036] [Fig. ] is a perspective view of a detail of the gripping device of Figure 1,

[0037] [Fig.3] is a perspective view of the detail of figure 2 from another angle,

[0038] [Fig.4] is a perspective view of a detail of the gripping device of Figure 1,

[0039] [Fig.5] is a flat top view of Figure 2,

[0040] [Fig.6] is a plan view from below of Figure 2,

[0041] [Fig.7] is a perspective view of an exemplary embodiment of a means for releasing the part from a gripping device according to the invention,

[0042] [Fig.8] is a top view of an example of a plate carrying parts compatible with the gripping device according to the invention,

[0043] [Fig.9] is a perspective view of a step in carrying out the method of removing a part according to the invention,

[0044] [Fig.10] is a perspective view of a step in carrying out the method of removing a part according to the invention,

[0045] [Fig.11] is a perspective view of a step in carrying out the method of removing a part according to the invention,

[0046] [Fig.12] is a perspective view of a step in carrying out the method of removing a part according to the invention, and

[0047] [Fig.13] is a perspective view of another exemplary embodiment of a gripper according to the invention.

[0048] It should be noted that in these figures the structural and / or functional elements common to the different variants may have the same references.

[0049] The invention aims to propose a system for picking up at least one pre-cut part from a plate. For these purposes, a gripping device designated by the reference 1 as illustrated in FIG. 1 comprises at least one gripper 2 provided with double means, on the one hand, means for releasing the part 3 which comprises at least one attachment point 4 to a plate 5, and on the other hand, means for gripping said part 3 in order to remove it entirely from the plate 5. According to certain embodiments and in particular the illustrated embodiment, the gripping means can also serve as means for depositing the part 3 in a chosen location such as a bin near the gripping device 1.

[0050] According to the embodiment illustrated in Figure 1, the gripping device 1 comprises two grippers 2 each mounted on a robotic bench 10. For the purposes of the invention, the robotic bench 10 allows the movement of the gripper 2 in space (X,Y,Z). The orthogonal reference frame (X,Y,Z) defines a horizontal axis X, a transverse axis Y and a vertical axis Z.

[0051] According to a non-illustrated embodiment, the gripping device 1 comprises a single gripper 2 suitable for carrying out the invention. The use of two grippers 2 is possible on such a robotic bench 10 and makes it possible to speed up operations, the two grippers 2 being able to operate in parallel on different areas of the plate 5 without conflicting with each other.

[0052] A robotic bench 10 compatible with the invention and illustrated in Figure 1 in the form of a Cartesian robot comprises a frame 11 on which are mounted two horizontal arms 12 capable of translating along the frame 11 in the horizontal direction X. The robotic bench 10 also comprises two vertical arms 13. Each horizontal arm 12 carries a vertical arm 13, a vertical arm 13 being capable of translating in the vertical direction Z and in the transverse direction Y relative to the respective horizontal arm 12. Other embodiments (not illustrated) comprising a robotic bench 10 comprising a single articulated robotic arm allowing the gripper 2 freedom of movement in space (X, Y, Z) are compatible with the invention.

[0053] The gripping device 1 comprises a control unit (not shown) capable of mapping the plate 5, the mapping being able to be obtained for example by CAM (Computer Aided Manufacturing). The coordinates of the attachment point(s) 4 of each of the pre-cut parts 3 to be removed from the plate 5 are thus known. The control unit is also capable of controlling the robotic bench 10 allowing the movement of the gripper(s) 2.

[0054] Figures 2 and 3 illustrate a gripper 2 mounted on a vertical arm 13.

[0055] According to the illustrated embodiment, the gripper 2 has substantially the shape of a rectangular parallelepiped with an upper face comprising an interface allowing it to be fixed to the vertical arm 13 and a lower face intended to be substantially parallel to the plate 5 and in particular to the part 3 to be removed.

[0056] According to the embodiment illustrated in figures 2, 3 and 4, the connection interface between the gripper 2 and the vertical arm 13 comprises a crown 20 allowing the rotation of the gripper 2 around the vertical axis Z which is the longitudinal axis of the vertical arm 13. An orientation motor 21 is mounted on the vertical arm 13 in order to actuate the crown 20. The addition of a rotary movement around the vertical axis Z for the gripper 2 defines a reference frame of the gripper (X', Y', Z).

[0057] The control unit also makes it possible to control the orientation motor 21 in order to act on the rotation means of the gripper(s) 2.

[0058] According to the illustrated embodiment, the connection interface between the gripper 2 and the vertical arm 13 also comprises a slide system formed by two sets of two pads 22 capable of translating respectively in two parallel translation rails 23 located on the upper face of the gripper 2 allowing a part of the gripper 2 a translation movement in the transverse direction Y' according to the frame of reference of the gripper (X', Y', Z). A translation motor 24 mounted on the gripper 2 is capable of acting on the belt connected to the translation rails 23 in order to allow a relative translation movement of a part of the gripper 2 with respect to the vertical arm 13.

[0059] According to the embodiment illustrated and notably visible in figures 5 and 6, the gripper 2 comprises an outer casing 25 in translation with a central part 26 fixed to the crown 20. The translation motor 24 then allows the translation of the outer casing 25 relative to the central part 26 of the gripper 2.

[0060] The control unit also makes it possible to control the translation motor 24 in order to act on the relative translation means of the gripper 2.

[0061] According to the embodiment illustrated in particular in figures 4 and 6, the means for gripping and removing the part 3 are provided by a set of suction cups 30 positioned on its lower face of a gripper 2.

[0062] In order to be able to adapt to the different sizes of part 3 to be removed, one half of the outer casing 25 comprises a set of six large suction cups 30 and another half comprises a set of ten small suction cups 30. And, the central part 26 comprises a set of six small suction cups 30. Other arrangements, sizes and technologies of suction cups 30 on the underside of the gripper 2 are compatible with the invention.

[0063] According to the illustrated embodiment, the suction cups 30 are pneumomagnetic suction cups. The pneumomagnetic suction cups 30, when activated, make it possible to exert a magnetic force and / or a pneumatic force on the surface with which they are in contact. Other types of suction cups 30 are compatible depending on the materials used and depending on the nature and shape of the attachment points 4 of the part 3 to the plate 5.

[0064] Each suction cup 30 is mounted on a jack 32 thus allowing a translational movement of the suction cup 30 independently of each other in the vertical direction Z. A jack 32 is controlled to extend or retract a rod 31 on which a suction cup 30 is fixed.

[0065] Control blocks are provided in order, on the one hand, to activate the magnetic and / or pneumatic properties of each of the suction cups 30, and on the other hand to activate or not each cylinder 32 independently of each other.

[0066] According to the illustrated embodiment, such control blocks comprise pneumatic distribution islands 33 located on either side of the outer casing 25 of the gripper 2. Other configurations are possible within the framework of the invention.

[0067] The control unit allows action on the control blocks to independently control the suction cups 30 and the cylinders 32.

[0068] The gripper 2 according to the invention is also provided with means for releasing the part 3 in the plate 5. According to the illustrated embodiment, the means for releasing the part 3 comprise a release module 40 comprising an external cutting part capable of translating in the vertical direction Z visible in particular in Figures 6 and 7. Figure 7 illustrates a release module 40 comprising a drill 41 compatible for example with attachment points 4 on a metal plate 5 in the form of an attachment tab. For its purposes, the gripping device 1 comprises two motors of the release module 42 allowing the drill 41 to rotate on itself and to translate in the vertical direction Z in order to bring it into contact with the plate 5 and in particular the attachment point 4 to be released.

[0069] Other embodiments of a release module 40 are compatible with the invention. The release module 40 may include a machining spindle allowing the cutting tool to be easily interchanged to adapt it to the material of the plate 5, its thickness as well as the type of attachment point used.

[0070] Other release means depending on the nature of the materials and the shape of the attachment points 4 are implemented within the framework of the invention. According to other embodiments, the plate 5 comprises non-ferrous materials such as aluminum, stainless steel or even wood. And, the release module 40 may for example comprise a laser to melt an attachment point 4.

[0071] The control unit also makes it possible to control the means for releasing the part 3, and in particular, according to the illustrated embodiment, the motor(s) of the release module 42 acting on the release module 40.

[0072] In order to implement the gripping device 1 according to the invention, a first step consists of placing a plate 5 comprising a part 3 to be removed in the gripping device 1. Such a plate 5 illustrated in FIG. 8 comprises several parts 3 of different sizes and shapes. According to the illustrated embodiment, the parts 3 all comprise at least one attachment point 4 to the plate 5. A plate 5 comprising parts 3 completely cut from the plate 5 can also be implemented in the gripping device 1. The step of releasing the part 3 is then simply skipped.

[0073] The control unit holds the mapping information of the plate 5 and in particular the coordinates of the attachment point(s) 4 of each part 3 in the plate 5. This information can be entered manually into the control system or retrieved directly from an upstream workstation.

[0074] The next step consists of activating the movement means of one of the grippers 2 so as to position the release module 40 opposite the first attachment point 4. To do this, the horizontal arm 12 translates in the horizontal direction X along the frame 11 and the vertical arm 13 translates in the transverse direction Y along the horizontal arm 12. The vertical arm 13 translates in the vertical direction Z in order to bring the gripper 2 closer to the plate 5.

[0075] The control unit then drives the two motors of the release module 42 to activate the drill 41 to break the attachment point 4.

[0076] The control unit simultaneously controls the orientation motor 21 and the translation motor 24 in order to place the selected suction cups 30 outside the part 3. The control unit can in fact activate certain jacks 32 in order to place the selected suction cups 30 in contact with the part 3 to allow the suction cups 30 to rest on the plate. 5 thus limiting deformations of the part 3 and preventing the part 3 from getting stuck in the skeleton of the plate 5.

[0077] The operation continues in this way until the last attachment point 4 of part 3 in plate 5.

[0078] At the last attachment point 5, the control unit simultaneously controls the means of rotation and relative translation of the gripper 2 in order to position the suction cups 30 chosen opposite the part 3 to be removed. The suction cups 30 chosen are those adapted to the size of the part 3 to be removed.

[0079] The control unit then controls the pneumatic distribution islands 33 in order to activate the cylinders 32 to lower the suction cups 30 chosen opposite the part 3 and to activate the pneumatic and / or magnetic force of the suction cups 30 so that the chosen suction cups 30 engage with the part 3.

[0080] This step is therefore twofold. On the one hand, the last attachment point 4 will be broken so as to completely release the part 3 and the part 3 will be recovered by the gripper 2 as shown in figures 11 and 12.

[0081] The control unit also controls the pneumatic distribution islands 33 in order to activate the cylinders 32 of the suction cups 30 located outside the part 3, thus bringing them into contact with the plate 5. The cylinders 32 are put in rod outlet and exhaust, that is to say that the cylinders 32 do not exert any force either when the rod 31 is retracted or when the rod 31 is extended. These suction cups 30 located outside the part 3 then make it possible to press on the plate 5 during removal in order to prevent the part 3 from getting stuck in the skeleton of the plate 5.

[0082] Then, the removal method according to the invention comprises a step of depositing the part 3 in a chosen location.

[0083] The jacks 32 of the suction cups 30 outside the part 3 are then activated so as to retract the rods 31 and therefore to raise said suction cups 30.

[0084] The control unit then controls the vertical arm 13 and the horizontal arm 12 to bring the gripper 2 and therefore the released part 3, for example, to a specific bin.

[0085] The control unit then deactivates the suction cups 30 engaged with the part 3 in order to place it in the chosen location.

[0086] The parts 3 thus removed can be recovered, for example in a bin, or even sorted into different bins according to various criteria such as size or shape.

[0087] Advantageously, the removal step also allows the parts 3 to be stacked.

[0088] And, to place the part 3 next to a stack of parts 3 already formed, the jacks 32 are controlled so as to be able to lower the part 3 by a height corresponding to the length of the corresponding rod 31.

[0089] According to the embodiment illustrated in Figure 1, the gripping device 1 comprises two grippers 2 which can act independently, thus reducing the time taken to remove the parts 3 from a plate 5. The control unit can thus control the movement means of each of the grippers 2 independently and in parallel so that the grippers 2 do not touch each other.

[0090] Figure 13 illustrates another exemplary embodiment of a gripper 200 for a gripping device 1 according to the invention.

[0091] According to this illustrated example, the gripper 200 comprises a vertical arm 130 capable of Cartesian movement in space (X, Y, Z) by means, for example, of a robotic bench or an articulated arm (not shown in FIG. 13). A control unit (not shown) is capable of acquiring the coordinates of the attachment point(s) 4 of each part 3 of the plate 5 and of controlling the movement means of the gripper 200.

[0092] According to this exemplary embodiment, the vertical arm 130 of the gripper 200 is equipped with several members, each member being dedicated to a specific function.

[0093] A release member is located in the extension of the vertical arm 13 and carries the means for releasing the part 3 and in particular carries a release module 400.

[0094] According to the illustrated embodiment, the release module 400 is equipped with a machining spindle 401. At least one motor (not visible) is capable of acting on the vertical movement of the release module 400 as well as on the rotary drive of the machining spindle 401.

[0095] The illustrated gripper 200 also comprises a tool magazine 240 located on one face of the vertical arm 130. The tool magazine 240 comprises a set of tools and more particularly a set of tools intended for the release of a part 3 within the meaning of the invention. A controlled automatic loader (not visible) is integrated in the vertical arm 130 to interchange the tool intended to be mounted on the machining spindle 401.

[0096] According to other embodiments not illustrated, the release member may also include a multi-function box for lubricating, blowing and sucking up the chips produced during the release of the part or for carrying a camera for monitoring the operations. The multi-function box may also include a support plate intended to bear against the plate in order to facilitate the operations carried out. All these options can be controlled by the control unit.

[0097] The control unit is capable of controlling the release means and in particular the automatic loader as well as the at least one motor acting on the release module 400.

[0098] According to this illustrated embodiment, the vertical arm 130 also carries two gripping members 201, 202 each provided with gripping means. Gripping means comprising suction cups 30 as described previously are compatible with this second embodiment of a gripper 200.

[0099] A first gripping member 201 is mounted on one face of the vertical arm 130 by means of a carriage 210 capable of translating on the vertical arm 130 along the vertical axis Z. And the first gripping member 201 is pivotally mounted around a first proper axis Z'1 on the carriage 210. The first proper axis Z'1 passes through the center of the first gripping member 201 and is parallel to the vertical axis Z. The first gripping member 201 therefore comprises a proper reference frame (X'l, Y'l, Z'l).

[0100] A second gripping member 202 is mounted on the opposite face of the vertical arm 130 by means of another carriage 210 capable of translating on the vertical arm 130 along the vertical axis Z. And the second gripping member 202 is pivotally mounted around a second proper axis Z'2 on the corresponding carriage 210. The second proper axis Z'2 passes through the center of the second gripping member 202 and is parallel to the vertical axis Z. The second gripping member 202 therefore comprises a proper reference frame (X'2, Y'2, Z'2).

[0101] The rotational movements of each first and second gripping member 201, 202 define a respective working surface S hatched in Figure 13.

[0102] The translational and rotational movements of the first and second gripping members 201, 202 as well as their respective gripping means are also controlled by the control unit.

[0103] In order to implement this second exemplary embodiment of a gripping device 1 according to the invention, a first step consists of placing a plate 5 comprising a part 3 to be removed in the gripping device 1. Such a plate 5 illustrated in FIG. 8 comprises several parts 3 of different sizes and shapes. According to the illustrated embodiment, the parts 3 all comprise at least one attachment point 4 to the plate 5. A plate 5 comprising parts 3 completely cut from the plate 5 can also be implemented in the gripping device 1. The step of releasing the part 3 is then simply skipped.

[0104] The control unit holds the mapping information of the plate 5 and in particular the coordinates of the attachment point(s) 4 of each part 3 in the plate 5. This information can be entered manually into the control system or retrieved directly from an upstream workstation.

[0105] The next step consists of activating the means for moving the gripper 200 and in particular the vertical arm 130 so as to position the release module 400 opposite the first attachment point 4. The vertical arm 130 translates in the vertical direction Z in order to bring the gripper 200 closer to the plate 5.

[0106] The control unit locates the appropriate tool located in the tool magazine and moves it to the release module 400 to place it on the machining spindle 401 via the controlled automatic loader.

[0107] If the main body is provided with a camera, the control unit can retrieve position information and thus adjust the position of the release module 400.

[0108] The control unit then drives the motors of the release module 400 in order to activate the machining spindle 401 and therefore the tool chosen to break the attachment point 4 and the necessary vertical translation movement.

[0109] The operation continues in this way until the last attachment point 4 of part 3 in plate 5.

[0110] At the last attachment point 5, the control unit simultaneously controls the means of rotation and relative translation of the first or second gripping member 201, 202 in order to position the selected suction cups 30 opposite the part 3 to be picked up.

[0111] The control unit then controls the pneumatic distribution islands 33 in order to activate the cylinders 32 to lower the suction cups 30 chosen opposite the part 3 and to activate the pneumatic and / or magnetic force of the suction cups 30 so that the selected suction cups 30 engage with the part 3.

[0112] According to one embodiment, the control unit then controls one of the carriages 210 to move the first or second gripping member 201, 202 engaged with the part 3 and thus release it and, for example, place it in a specific bin.

[0113] The parts 3 thus removed can be recovered, for example in a bin, or even sorted into different bins according to various criteria such as size or shape.

[0114] Advantageously, the removal step also allows the parts 3 to be stacked.

[0115] And, to place the part 3 next to a stack of parts 3 already formed, the jacks 32 are controlled so as to be able to lower the part 3 by a height corresponding to the length of the corresponding rod 31.

[0116] According to one embodiment, a gripping member is capable of simultaneously removing several parts 3 detached from the plate 5.

[0117] According to the embodiment illustrated in Figure 13, the gripping device 1 comprises two gripping members 201, 202 which can act independently, thus reducing the time taken to remove the parts 3 from a plate 5. The control unit can thus control the movement means of each of the gripping members 201, 202 independently.

[0118] For a large part 3, the two gripping members 201, 202 are jointly controlled to engage with it.

[0119] Of course, various other modifications may be made to the invention within the scope of the appended claims.

Claims

Claims

1. Gripping device (1) for at least one part (3) comprising one or more attachment points (4) to a plate (5), characterized in that the gripping device (1) comprises at least one gripper (2,200) comprising means for gripping the part (3) and means for releasing the part (3), the gripping device also comprising means for moving the gripper (2,200) in space (X,Y,Z) and a control unit capable of acquiring the coordinates of the attachment point(s) (4) of the part (3) and of controlling the means for gripping the part (3), the means for releasing the part (3) and the means for moving the gripper(s) (2,200).

2. Gripping device (1) according to the preceding claim in which the means for releasing the part (3) comprise a release module (40,400) from an attachment point (4) located on a lower face of the gripper (2,200) intended to be opposite the plate (5), the release module (40,400) comprising an external cutting part capable of translating and having a rotational movement in the vertical direction (Z).

3. Gripping device (1) according to one of the preceding claims comprising means for depositing the part (3), the control unit being capable of controlling the means for depositing said part (3).

4. Gripping device (1) according to one of the preceding claims in which the gripping means of the gripper (2,200) comprise suction cups (30) located on a lower face of the gripper (2,200) intended to be opposite the plate (5).

5. Gripping device (1) according to the preceding claim in which the suction cups (30) are pneumo-magnetic suction cups (30).

6. Gripping device according to one of claims 3 or 4 in which the control unit is capable of controlling suction cups (30) independently of one another.

7. Gripping device (1) according to one of claims 3 to 5 in which at least two suction cups (30) comprise different dimensions.

8. Gripping device (1) according to one of claims 3 to 6 in which each suction cup (30) is mounted on a pneumatic cylinder (32) capable of moving in the vertical direction (Z) and the control unit is capable of activating the cylinders (32) independently of each other.

9. Gripping device (1) according to one of the preceding claims comprising a robotic bench (10) capable of moving the gripper(s) (2,200).

10. Gripping device (1) according to the preceding claim in which the robotic bench (10) comprises a horizontal arm (12) mounted on a frame (11) capable of translating along the frame (11) in the vertical direction (X) and a vertical arm (13,130) mounted on the horizontal arm (12) capable of translating along the horizontal arm (12) in the transverse direction Y and of translating in the vertical direction (Z), a gripper (2,200) being mounted at one end of the vertical arm (13,130) so as to have a lower face of the gripper (2,200) facing the plate (5).

11. Gripping device (1) according to the preceding claim in which the vertical arm (13,130) comprises at one of its ends a crown (20) capable of rotating the gripper (2,200) around the vertical axis (Z) and a slide system allowing the movement of a part of the gripper (2,200) in the plane (X',Y').

12. Gripping device (1) according to one of the preceding claims further comprising a detection system located near the gripper (2,200) capable of detecting an attachment point (4), the control unit being capable of adapting the movement of the gripper (2,200) as a function of the information obtained by the detection system.

13. Method for removing a part (3) comprising at least one attachment point (4) to a plate (5) comprising the following steps: - Implementation of the plate (5) in a gripping device (1) according to one of claims 1 to 11, - Acquisition of the following information: number of attachment points (4) of the part (3) to the plate (5) and coordinates of each of the points, - Moving the gripper (2,200) so as to arrange the means for releasing the part (3) opposite the first attachment point (4), - Release of the first attachment point (4), - Repeat the two previous steps until the last attachment point (4), - Moving the gripper (2,200) so as to position the release means opposite the last attachment point (4), - Activation of the part release means (3), - Release of the last attachment point (4) and, - Removal of the part (3).

14. A method of removing a part (3) according to the preceding claim further comprising the following step: - Activation of the means for gripping the part (3), before the step of activating the means for releasing the part (3).

15. Method for removing a part (3) according to one of claims 12 or 13 further comprising a step of depositing the part (3) in a chosen container.

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