[go: up one dir, main page]

WO2014089648A1 - Unité robot de transfert - Google Patents

Unité robot de transfert Download PDF

Info

Publication number
WO2014089648A1
WO2014089648A1 PCT/BR2013/000515 BR2013000515W WO2014089648A1 WO 2014089648 A1 WO2014089648 A1 WO 2014089648A1 BR 2013000515 W BR2013000515 W BR 2013000515W WO 2014089648 A1 WO2014089648 A1 WO 2014089648A1
Authority
WO
WIPO (PCT)
Prior art keywords
transfer
transfer robot
robot unit
diaper
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/BR2013/000515
Other languages
English (en)
Portuguese (pt)
Inventor
Lucas De Oliveira SOARES CAMPOS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GD DO BRASIL MAQUINAS DE EMBALAR Ltda
Original Assignee
GD DO BRASIL MAQUINAS DE EMBALAR Ltda
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GD DO BRASIL MAQUINAS DE EMBALAR Ltda filed Critical GD DO BRASIL MAQUINAS DE EMBALAR Ltda
Publication of WO2014089648A1 publication Critical patent/WO2014089648A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms

Definitions

  • This disclosure relates to a patent for a transfer robot unit belonging to the industrial machine automation field, particularly disposable diaper making machine, which has been developed to provide better utilization and application flexibility with respect to the usual means of transfer applied to this type of machine.
  • High-yield type disposable diaper making machines consisting essentially of, among others, subsets: of manufacture; transference; compression; and performing other procedures until the diaper packs are finally obtained;
  • Said transfer subset consists essentially of: a matting mat; and by means of transfer, said mat receives parallel, vertical and adjacent diapers disposed from the manufacturing subset; and the transfer means transfers successive diaper clusters of the mat to the compression subset which successively compresses the diaper clusters so as to shrink and said compression subset, the compressed diaper clusters move to the subsets responsible for other processes. - until the final formation of disposable diaper packs.
  • Said transfer means generally include mechanical and pneumatic systems, suitably serve their intended purpose, but typically require mechanical part changes to be set up for different diaper grouping formats to be transferred. Differences in shape may be related, for example, to varying product stack height levels and / or product dimensions themselves, which are not absorbed by the equipment without changing mechanism parts. This is undesirable not only because of the need for such interference, but also because it causes downtime and consequently lower productivity.
  • conventional transfer media have no sensitivity for detecting any abnormal operating conditions that cause work overload, which can lead to damage to the mechanism of the equipment and / or the products being "handled". For example, if the usual transfer media is hampered by something abnormal during trajectory, it will continue with the movement, which could damage the mechanism or others.
  • the aim of the present invention is to provide a transfer medium, particularly used in manufacturing disposal of disposable diapers, which overcomes the above drawbacks with the usual transfer means.
  • Another objective is to provide a flexible transfer medium for different applications in the manufacturing line.
  • Another objective is to provide a means of transfer that, in addition to overcoming the above problem with the usual means and presenting flexibility of application is not therefore of construction or fabrication with levels of complexity that makes it uninteresting in relation to the usual ones.
  • Another objective is to provide a means of transfer that has adequate acquisition, operating and maintenance costs.
  • the transfer robot unit object of the present invention, was developed, which is essentially comprised of: two interarticulate arms; by two servo motors and planetary reduction boxes that drive respective arms and arranged at the free end of one arm; by a "manipulation" device mounted at the end of the other arm and acting directly on the diaper assembly; and by electronic control and regulation system centralized in a machine panel to interface with the operator and over which he / she operates to enter setup programming for adjustment of the transfer robot unit according to its position of use and the shape of the diaper group to be transferred.
  • the transfer robot unit object of the present invention, described above, overcomes the drawback of the usual disposable diaper making machine transfer means, since the adjustment thereof to different types of diaper assemblies to be transferred is This is done simply by introducing convenient electronic settings through the control and control panel, eliminating the need to change parts and / or other adjustments as usual. This way of performing the setup of the machine, besides being more practical and precise than usual, does not cause or causes minor downtimes on the manufacturing line, favoring productivity.
  • the geometry of the present transfer robot unit provides the description of two-degree movement freedom in translation, which allows to reach various positions.
  • the transfer robot unit is arranged so that its arms move in a horizontal plane, thus enabling its use to transfer diaper clusters from the cluster mat to the precompression table.
  • the same type of transfer robot unit may be arranged so that its arms move in a vertical plane, thus enabling the transfer of the pre-compression table to the diaper machine's compression device.
  • the present transfer robot unit enables movement speed of 70 cycles / minute, which favors productivity.
  • the present transfer robot unit in addition to providing the above advantages, has relatively simple construction and manufacture and low acquisition, operation and maintenance costs, according to other purposes of the arrangement.
  • fig. 1 shows the transfer robot unit and indications of two installation possibilities between the assembly belt and the pre-compression table and between it and the compression device. are disposable diaper manufacturing equipment;
  • fig. 2 shows the transfer robot unit alone and in the arrangement for application between the assembly mat and the pre-compression table
  • fig. 3 shows a schematic of transfer unit movement in the application of the previous figure.
  • Fig. 4 shows the transfer robot unit alone and in the arrangement for application between the pre-compression table and the compression device.
  • the transfer robot unit 1 is part of a transfer subset 100 (fig. 1) of disposable diaper making equipment 200, formed, among others, essentially: by manufacturing subset 150; by the transfer subset 100; per compression subset 160; and by subset 170 responsible for other procedures until the final formation of the diaper packages.
  • Said transfer subset 100 is comprised essentially of: a bundle mat 101 which receives successive parallel, vertical and adjacent arranged diaper bundles 300 from manufacturing subset 150; a first transfer means, comprising a first transfer robot unit 1, object of the invention, arranged to transfer successive diaper assemblies 300 from the mat 101 to a pre-compression table 161 of the compression sub-assembly 10; and by a second transfer means, comprising a second transfer robot unit 1, object of the invention, arranged to transfer successive pre-compressed diaper assemblies 300 from the pre-compression table 161 to a compression device 162, which is part of the subset.
  • the transfer robot unit 1 is essentially comprised of: first 2 and second 3 interarticulate arms; first articulation 4, of articulated connection of arms 2 and 3; by a second articulation 4 'articulated from the first arm 2 to a stationary support means 5; by short "handle" hinged arm 6 hinged at end the second arm 3 opposite the first joint 4 and acting on the diaper assemblies 300; first 2 'and second 3' set of adjacent coaxial reducers and servomotors arranged on opposite sides of the end of the first arm 2 and mounted on the support means 5; said first servo motor 2 'driving the first arm 2 and second servo motor 3' driving the second arm 3; by drive rods 7 with one end subjected to the second servo motor 3 'and the opposite end connected hinged to a tip of the second arm 3 extended beyond the first hinge 4; and by electronic control and supervisory system connected to the first 2 'and second 3' servo motors and centered on the machine'
  • the "handling" means of the transfer robot unit are comprised of: the short “handling” articulated arm 6; per cross member 8 mounted on it: and depending on the application of the unit, by tie rods 9 and 10 (fig. 4) hinged between the short "handle” hinged arm 6 and the first hinge 4 and between it and the support means 5 and intended for maintaining the perpendicularism of the movement.
  • the transfer robot unit 1 may be arranged so that its arms 2 and 3 move in the horizontal plane. In this arrangement, the transfer robot unit 1 is employed to transfer the diaper assemblies 300 from the bundle mat 101 to the precompression table 161.
  • the support means 5 is a tower situated in space around which extends the grouping mat 101.
  • the transfer robot unit 1 performs movement synchronized with the assembly belt 101 (Fig. 3A to 3F), along which the arm 2 of the robot 1 moves angularly with respect to the support 5 and the arm 3 at an angle to joint 4 which connects it to arm 2 so that it crosses 8 moves parallel to the belt axis 101; said movement comprised of:
  • Robot 1's arms 2 and 3 move angularly and slightly in relation to to bracket 5 and gasket 4 respectively, provided for transfer cross-member 8, short forward movement from Point PI, parallel to conveyor direction 101, adjacent to conveyor portion 101 'containing the fault array 300' to be transferred to Point 2, where the transfer tray 8 of robot 1 has in front of it the diaper assembly 300 'to be transferred.
  • Transfer movement 2 of the bank array 300 'to be transferred from the belt 101 to the precompression table 161 (Fig. 3C):
  • the arm 2 performs wide angular movement relative to the support 5 until it is substantially parallel to the belt 1 , the arm 3 performs slight angular movement with respect to the joint 4 which connects it to the arm 2, so as to provide for the transfer rail 8 movement with transverse and longitudinal components and resulting oblique and to traverse the belt 101, said movement.
  • Second return movement 4 (Fig. 3E) - Arm 2 is angled with respect to bracket 5 and away from track 101 and arm 3 is angled at joint 4 so as to progressively opening the angle with respect to arm 2, which results in movement of the transfer rail 8 from Point P4 obliquely traversing the belt 101 to Point 5 adjacent to the opposite side thereof arranged in line with Starting Point PI at a Parallel Track Alignment 101.
  • the arms 2 and 3 of the transfer robot unit move relative to the stationary support 5 and the joint 4 that connects the arms in a movement that provides the transfer cross 8, which contacts the power pack.
  • diapers 300 ' stay parallel to the belt axis 101 and make a lastly: by short forward movement 1 parallel to a first side of the belt 101; wide oblique forward motion to cross to the opposite side of the belt 101 as it contacts and transfers the diaper assembly 300 'from it to the pre-compression table 161; first short return movement 3 parallel to the opposite side of the belt 101; second long return movement 4 oblique and in the direction of traversing to the first side of the belt 101; and third return movement 5 performed to the starting point 1 of the path from which a new cycle begins.
  • the transfer robot unit 1 may be arranged so that its arms 2 and 3 move vertically (Fig. 4). In that arrangement, the transfer robot unit 1 may be applied to transfer the pre-compressed diaper assemblies 300 from the pre-compression table 161 to the compression device 162.
  • the support means 5 is substantially a cube-shaped structure. mounted on a suitable surface of the machine.
  • the first arm 2 can move angled relative to the support means 5 and the second arm 3 angled relative to the first arm 2, configuring two degrees of freedom movement in transaction at a speed of 70 cycles / minute.
  • the bundle mat 101 receives the diaper 300, disposed adjacent and vertical, from the manufacturing sub-assembly 150 and transports them to the transfer region.
  • the first transfer robot unit 1 transfers a diaper assembly 300 from the mat 101 to a guide space 161 'of the precompression table 161 and the second transfer robot unit 1 transfers the precompressed diaper assembly 300 from the pre-compression table 161 to the space between the compression plates of the compression device 161.
  • the pre-compressed diaper assembly 300 is compressing to the pre-programmed level.
  • the compressed diaper assembly 300 is transferred by the transfer means 104 to the next subset 170 which performs the subsequent procedure (s) of the disposable diaper manufacturing process and the new diaper assembly 300. is transferred by the first transfer robot unit 1 and the cycle repeats.
  • the transfer robot unit object of the present patent, may have modifications regarding materials, dimensions, constructive details and / or functional and / or ornamental configuration, without departing from the scope of the requested protection. .

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Le présent abrégé concerne un brevet d'invention pour une unité robot de transfert (1), relevant du domaine des machines industrielles, et notamment une machine pour la fabrication de couches jetables (200); ladite unité robot de transfert (1) comprenant: des premier (2) et second (3) bras articulés entre eux, le premier bras (2) articulé étant sur un moyen de support (5) et le second bras (3) étant doté de moyens de "manipulation" des couches; des premier (2)' et second (3)' servo-moteurs qui mettent en mouvement lesdits premier (2) et second (3) bras; et un système électronique de réglage et de contrôle sous la forme d'un tableau (20), relié auxdits premier (2)' et second (3)' servo-moteurs, et à partir duquel ces derniers peuvent recevoir une programmation de fonctionnement en fonction de l'application de l'unité robot de transfert (1) à laquelle lesdits servo-moteurs appartiennent, et de la configuration de l'ensemble de couches jetables (300) à "manipuler".
PCT/BR2013/000515 2012-12-14 2013-11-27 Unité robot de transfert Ceased WO2014089648A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
BRBR1020120319403 2012-12-14
BR102012031940-3A BR102012031940B1 (pt) 2012-12-14 2012-12-14 Unidade de robô de transferência

Publications (1)

Publication Number Publication Date
WO2014089648A1 true WO2014089648A1 (fr) 2014-06-19

Family

ID=50933609

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/BR2013/000515 Ceased WO2014089648A1 (fr) 2012-12-14 2013-11-27 Unité robot de transfert

Country Status (2)

Country Link
BR (1) BR102012031940B1 (fr)
WO (1) WO2014089648A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4620831A (en) * 1982-06-07 1986-11-04 Merlin Gerin Industrial robot governed by a programmable controller
US20020106271A1 (en) * 2001-01-15 2002-08-08 Societe Industrielle D'etudes Et De Realisations Electriques Et Process and a device for the on-line storage of sets of flat products such as, in particular, disposable liners or sanitary napkins
US20050226711A1 (en) * 2003-11-08 2005-10-13 Bernd Schnoor Process and device for handling objects
US20060177295A1 (en) * 2001-04-22 2006-08-10 Hansrued Frueh Buckling arm robot
US20090037022A1 (en) * 2007-07-31 2009-02-05 Spirit Aerosystems, Inc. System and method for robotic accuracy improvement

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4620831A (en) * 1982-06-07 1986-11-04 Merlin Gerin Industrial robot governed by a programmable controller
US20020106271A1 (en) * 2001-01-15 2002-08-08 Societe Industrielle D'etudes Et De Realisations Electriques Et Process and a device for the on-line storage of sets of flat products such as, in particular, disposable liners or sanitary napkins
US20060177295A1 (en) * 2001-04-22 2006-08-10 Hansrued Frueh Buckling arm robot
US20050226711A1 (en) * 2003-11-08 2005-10-13 Bernd Schnoor Process and device for handling objects
US20090037022A1 (en) * 2007-07-31 2009-02-05 Spirit Aerosystems, Inc. System and method for robotic accuracy improvement

Also Published As

Publication number Publication date
BR102012031940A2 (pt) 2018-02-06
BR102012031940B1 (pt) 2021-07-20

Similar Documents

Publication Publication Date Title
CN110480597B (zh) 高压输电线路机器人
CN104959975B (zh) 运动可解耦的三维平动并联机构
CN103608263A (zh) 用于制造系统的模块和模块化制造系统
CN102922512A (zh) 一种可实现三平动一转动的四自由度单动平台并联机构
CN103552059A (zh) 一种面向拾放操作的四自由度大工作空间并联机器人机构
CN203566704U (zh) 一种双向搬运机械手
CN102886777A (zh) 一种具有大横向位移的二自由度并联机构
CN1843709A (zh) 一种具有两转动和一平动自由度的并联机构
CN104802154B (zh) 一种四自由度高速并联机械手
BR112017015306B1 (pt) Mecanismo de fiação por via seca de fibra elástica e método de controle de manutenção para um conjunto de fiação
CN205928638U (zh) 一种多自由度智能机械臂
CN205588291U (zh) 四自由度并联机构
CN105345858A (zh) 一种导光板剪切设备
WO2014089648A1 (fr) Unité robot de transfert
CN102765185B (zh) 夹胚机械手
CN103273482A (zh) 一种主从支链分离式的二平动并联机器人
CN107877494A (zh) 一种用于机器人末端端拾器自动旋转和分离的装置及方法
CN204675357U (zh) 一种成形纸板的抓取机构
JPH01242318A (ja) 鋳型からコンベヤベルト上へ抜き出された製品の位置決め装置
CN206140491U (zh) 一种间歇旋转式抓取装置
CN205201617U (zh) 一种导光板剪切设备
CN207537344U (zh) 切割系统及其掰断分离装置
CN203778965U (zh) 激光加工机
CN207983338U (zh) 一种三自由度高速搬运机械手机构
CN207465802U (zh) 一种具有六轴传动的注塑机机械手结构

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13861828

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A SENT 21.10.15)

122 Ep: pct application non-entry in european phase

Ref document number: 13861828

Country of ref document: EP

Kind code of ref document: A1