• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention deals with improvements in the technical field of handling so-called filament pucks (2). For this purpose, among other things, a driverless transport vehicle (15) with a handling device (1) is proposed, which includes a handling robot (3). The handling robot (3) has a suction gripper (4) with which the filament pucks (2) can be gripped, in particular sucked.
    公开号:BE1027803B1
    申请号:E20205945
    申请日:2020-12-17
    公开日:2022-01-10
    发明作者:Florian Kiefer；Ingo Kumpf；Marc König
    申请人:Zahoransky；
    IPC主号:
    专利说明:

    The invention relates to a driverless transport vehicle for filament pucks, a brush manufacturing machine, a manufacturing system for manufacturing brushes, a filament puck, a method for handling a filament puck, a computer program and a computer-readable medium. Bristle filaments used in brush manufacture are provided in so-called filament pucks. Within the filament puck, the individual bristle filaments are grouped together in a disc-shaped collection. Since the bristle filaments in the filament pucks are not connected to one another, the automated handling of such filament pucks is particularly difficult. Filament pucks are comparatively soft and can be deformed relatively easily due to their consistency. Bristle filaments can detach from the puck arrangement and get lost. In order to avoid this, manual handling of such filament pucks is often preferred in practice. The object of the invention is therefore to provide a driverless transport vehicle, a brush manufacturing machine, a manufacturing system, a filament puck, a method for handling a filament puck, a computer program and a computer-readable medium of the type mentioned at the outset, which in particular enables the mechanical and/or automated handling of filament pucks simplify.
    To solve the task, a driverless transport vehicle and a brush manufacturing machine are first proposed,
    each having a handling device for filament pucks.
    According to the invention, the handling device of both the driverless transport vehicle and that of the brush manufacturing machine has a handling robot that is equipped with a suction gripper for gripping at least one filament puck.
    With the help of the suction gripper of the handling robot of the handling device, individual filament pucks can be gripped safely and, above all, gently.
    Here, the negative pressure exerted on the gripped filament puck by the suction gripper is used to grip the filament puck gently and at the same time safely.
    A radial load on the filament pucks, which are usually in the shape of a circular disk, can be avoided when using a suction gripper. This prevents deformation of the gripped filament pucks and the loss of bristle filaments during handling.
    The filament puck is preferably sucked in with the suction gripper on a flat, flat side of the filament puck that is oriented transversely to a longitudinal center axis of the filament puck and thereby gripped.
    At this point it should be mentioned that the handling device of the driverless transport vehicle and the handling device of the brush manufacturing machine can be at least essentially identical in construction.
    The following description therefore explains advantageous features of the handling device and can be read both for the handling device of the driverless transport vehicle and for the handling device of the brush manufacturing machine.
    In a preferred embodiment of the handling device, it has at least one camera.
    This camera can be used to set up a control unit of the handling device for identifying ready-made filament pucks and/or for determining the position of ready-made filament pucks and/or for determining gripping points, i.e. for determining gripping points on ready-made filament pucks. First of all, the position of a filament puck to be gripped can be determined. A gripping point can be derived from the determined position, which must be controlled by the handling device in order to separate the filament puck to be gripped from an optionally dense filament puck arrangement. The information captured by the camera and/or data derived from it can be converted into corresponding control commands by the control unit of the handling device.
    It is particularly advantageous if the camera is a color camera. In this way, it is possible to identify filament pucks that have differently colored bristle filaments based on their color and to grip them depending on the color or to separate them using the handling device for downstream production steps. The suction gripper can have a suction opening. A vacuum can be applied to a filament puck to be gripped via the suction opening. In order to be able to avoid sucking off individual bristle filaments from the filament puck to be gripped, it is advantageous if the suction opening is covered with a filament-tight, air-permeable fabric, in particular with a so-called braid fabric. Reliable suction and gripping of filament pucks is possible if a suction surface of the suction gripper is at least half as large as a surface of a flat side of a filament puck to be sucked up and/or at most 1.2 times as large as the surface of the flat side of the filament puck to be sucked up. For sucking up and gripping filament pucks that are kept ready, it is favorable if the suction gripper and/or a vacuum source of the suction gripper, for example a suction unit, is set up to generate a volume flow of 25 m°/h and/or to generate a vacuum of at least 0.2 bar /are. Such a powerful suction gripper and/or such a powerful vacuum source enables the filament pucks that are kept ready to be sucked in safely.
    The camera and/or the suction gripper, in particular the suction opening of the suction gripper, are preferably arranged on a free end of an arm of the handling robot. It is thus possible to be able to reliably pick out filament pucks even from densely packed filament puck arrangements. In order to simplify the identification of filament pucks to be gripped and also the previously mentioned position determination of filament pucks held ready, it can be advantageous if the camera is arranged adjacent to the suction gripper, in particular adjacent to the suction opening of the suction gripper. In this way, the camera can be moved together with the suction pad. Suction pads and camera can then have the same reference system. As a result, the calculation effort for determining the position and/or identifying filament pucks that are held ready can be simplified if necessary.
    In order to be able to clean the suction gripper as required, that is to say, for example, to free it from adhering bristle filaments, it can be advantageous if the handling device has a flushing line and/or a cleaning nozzle connected to the suction gripper. The cleaning nozzle can be arranged and/or formed inside the suction gripper. Between two gripping processes, the suction gripper can be blown free with the aid of the flushing line and/or the cleaning nozzle, if necessary, and in this way the adhering bristle filaments can be removed and/or cleaned. The suction gripper can be connected via a suction line to a vacuum source, for example to the previously mentioned suction unit. The previously mentioned rinsing line for cleaning the suction gripper can be or is connected to a pressure source, in particular to a compressed air connection and/or a compressor. At this point it should be mentioned that the
    Handling device can have a vacuum source, for example a suction unit, and/or a pressure source, for example a compressor and/or a compressed air reservoir.
    5 The flushing line can be arranged in a particularly space-saving manner if the flushing line is routed in the suction line. The flushing line is well protected within the suction line. Of course it is also possible to lay the suction line in the flushing line. In a preferred embodiment of the handling device, the handling robot is a multi-axis robot. The use of a multi-axis robot as the handling robot is advantageous since the handling robot can thus have a sufficient number of degrees of freedom. This enables a particularly flexible use of the handling device. Furthermore, the handling robot can be set up to open a container, in particular a box equipped with filament pucks. In this way it is possible to provide the filament pucks in initially closed boxes for the handling device. Soiling of the filament pucks can be avoided in this way. With the help of the handling robot, the handling device can itself open the provided cartons, so that manual work no longer has to be provided for opening the containers or cartons. For this purpose, the handling robot can have, for example, a gripper with gripper fingers and/or gripper jaws. An emptied container, in particular an emptied carton, can then be disposed of independently with the help of the handling robot.
    In order to avoid the supply of defective or non-intact filament pucks to a downstream process step when using the handling device, it can be advantageous if the handling device has a testing device for testing gripped filament pucks in particular. Such a test device can be a light barrier, for example a forked light barrier, or can include one. In the case of the driverless transport vehicle, the handling device can be arranged, for example, on a frame of the driverless transport vehicle. It is thus possible to unload the pucks delivered with the transport vehicle using the transport device and, for example, to transfer them to a brush manufacturing machine for manufacturing brushes.
    To solve the problem, a driverless transport vehicle for filament pucks is also proposed, which has the means and features of the second independent claim directed to such a driverless transport vehicle. To achieve the object, a driverless transport vehicle for filament pucks is proposed in particular, which has a supply device, for example a circulating elevator, with at least two, preferably circulating, receptacles for filament pucks. With the help of the delivery device, the receptacles loaded with filament pucks can be successively brought to a transfer position on the transport vehicle, from which they can be picked up with a handling device, for example with the aforementioned handling device, and fed, for example, to a brush manufacturing machine for the production of brushes. The driverless transport vehicle can itself have a handling device or can be used on a brush manufacturing machine with a handling device, as explained above. The driverless transport vehicles described above can preferably be floor-bound and/or have their own drive. With their own drive, the driverless transport vehicles can be self-propelled. The driverless transport vehicles described above are preferably controlled automatically and/or guided without contact. An embodiment of the driverless transport vehicle combines the features of both independent claims, which are each directed to a driverless transport vehicle. Thus, to solve the problem, a driverless transport vehicle for filament pucks is also proposed, which has a handling device according to one of the claims directed to a handling device and a provision device for filament pucks, in particular a revolving elevator, with at least two, preferably revolving, receptacles for filament pucks.
    As already mentioned above, the receptacles and filament pucks arranged on them can be moved into a transfer position on the transport vehicle with the provision device. The transfer position can be provided on or on the frame of the transport vehicle.
    The receptacles can preferably have an edge whose height, which can be measured over a bearing surface of the receptacles, is less than a height of the filament pucks arranged on the receptacles. In this way, the filament pucks protrude slightly over the edge of the respective receptacle, which can simplify the isolation and gripping of filament pucks positioned close to the edge on the receptacles.
    Since the bristle filaments combined in the filament pucks are stabilized by using a suction gripper, it is possible to remove a casing, in particular a banderole, from a filament puck gripped with the suction gripper. It is favorable for this if the driverless transport vehicle has a stripping device,
    in particular with a knife, for stripping filament pucks. Furthermore, the transport vehicle can have a centering device for filament pucks. With the aid of the centering device, the shape of filament pucks gripped with the suction gripper and/or a position or an alignment of a gripped filament puck on the suction gripper can be subsequently corrected.
    The driverless transport vehicle can be an autonomous transport vehicle. For safety reasons, it is favorable if the driverless transport vehicle has at least one area scanner, in particular a laser scanner. The transport vehicle particularly preferably has at least two area scanners. The at least two area scanners can be arranged at two diagonally opposite points on a frame of the transport vehicle, for example the frame already mentioned above. Furthermore, the transport vehicle can also have a scanner for scanning a route of the transport vehicle. With the help of the scanner for the route of the transport vehicle and/or with the help of the at least one area scanner of the transport vehicle, the surroundings of the transport vehicle can be monitored and the transport vehicle can be stopped or shut down if an obstacle appears in the vicinity of the transport vehicle. Furthermore, the at least one area scanner can also be or will be coupled to a handling device, for example the one already mentioned above. In this way it is possible to also use the area scanner to protect the handling device. A handling space of the handling device can thus be monitored with the aid of the area scanner. As soon as a potential obstacle appears in the handling space, the handling device, in particular the handling robot of the handling device, depending on one
    Signal of the at least one area scanner of the driverless transport system can be deactivated.
    The transport vehicle can also have a waste container and/or a cleaning device, in particular with a brush strip.
    For example, damaged and/or improper filament pucks and/or packaging material, such as casings and/or bands and/or cartons, can be disposed of in the waste container of the transport vehicle.
    With the help of the cleaning device it is possible, for example, to clean the suction gripper of the previously mentioned handling device from time to time.
    The driverless transport vehicle can have a docking interface for docking with a corresponding counter docking interface of a brush manufacturing machine.
    The docking interface can also be used to properly position the driverless transport vehicle on a brush manufacturing machine.
    With a corresponding configuration, the docking interface can also be used to supply the driverless transport vehicle with energy, in particular with electricity and/or with compressed air, and/or to connect it at least temporarily to a pressure source and/or to a vacuum source.
    In one embodiment of the driverless transport vehicle, it is provided that it has a handling device according to one of the claims directed to a handling device.
    In one embodiment of the driverless transport vehicle, it is provided that it comprises at least one energy store, in particular a battery and/or a compressed air reservoir. The transport vehicle can also have a charging interface, via which a battery of the transport vehicle can be charged if required.
    In order to solve the problem, a brush manufacturing machine with the features of the second independent claim directed to such a brush manufacturing machine is also proposed. In order to achieve the object, a brush manufacturing machine with at least one counter-docking interface for docking a driverless transport vehicle according to one of the claims directed to such a vehicle is thus proposed in particular. Furthermore, to achieve the object, a brush manufacturing machine is also proposed which includes the features of the two independent claims, each directed to a brush manufacturing machine. The object is thus also achieved by a brush manufacturing machine which has a handling device and a provision device, in particular a circulating elevator, for filament pucks.
    To achieve the object, a manufacturing system for manufacturing brushes is also provided with at least one brush manufacturing machine according to one of the claims directed to such, with at least one driverless transport vehicle according to one of the claims directed to such and/or with at least one handling device according to one of the claims directed to a such directed claims proposed. To solve the problem, a filament puck with bristle filaments wrapped by a band is also proposed, with the band surrounding the bristle filaments at an angle of 360° to 720°. In this way, a filament puck is provided which is particularly stable due to the banderole. Such a stable filament puck is comparatively easy to handle. If necessary, this can also be automated using a handling device, as already explained above. The banderole that surrounds the bristle filaments on the long side can prevent excessive flow through the filament puck. This promotes the effect of the suction gripper of the handling device described above when gripping the filament puck with suction. The filament puck can have an inner band, in particular a rubber band, which is arranged between the band and the bristle filaments of the filament puck and surrounds the bristle filaments. The at least one inner band may have a rectangular or square cross-section. This favors the attachment of the tape to the bristle filaments of the filament puck and helps to stabilize the filament puck.
    The bristle filaments of the filament puck can protrude beyond the band at least on one side. The band can have a thickness of between 0.4 mm and 3 mm. In this way, the banderole is sufficiently stable and flexible.
    The banderole can be fixed to the bristle filaments with at least one outer band, in particular with an outer rubber band. The at least one outer band can also have a rectangular or square cross-section. The at least one outer band is advantageously a rubber band. Two outer bands, in particular axially spaced apart from one another, are particularly preferably used to fix the banderole to the bristle filaments of the filament puck. The banderole can be reliably fixed to the bristle filaments with the aid of two bands that are axially spaced apart from one another in relation to a longitudinal axis of the filament puck. To solve the problem, a method for handling a filament puck, in particular one according to one of the claims directed to a filament puck, is also proposed. Here, according to the invention, a handling device of a driverless transport vehicle according to one of the claims directed at such and/or a handling device
    Brush manufacturing machine according to one of the claims directed at such used. First, the position of a filament puck to be gripped is determined and then the filament puck is gripped with the suction gripper of the handling device and fed to a downstream process step, in particular a downstream brush manufacturing machine.
    In an advantageous embodiment of the method, it is provided that the suction gripper grips the filament puck on a flat side of the filament puck that is oriented transversely to the longitudinal axis of the filament puck, and in particular sucks it there.
    To identify and/or determine the position of the filament puck to be gripped and/or to determine the gripping point, a camera of the handling device, for example the camera already mentioned above, can be used.
    To solve the problem, a computer program with the features of the independent claim directed to such a computer program is also proposed.
    According to the invention, the computer program includes commands that cause the handling device of the driverless transport vehicle explained above and claimed in the claims and/or the brush manufacturing machine explained above and claimed in the claims to execute the method according to one of the claims directed to such.
    Finally, to solve the problem, a computer-readable medium is also proposed, on which the aforementioned computer is stored.
    As a potentially independent subject matter of the invention, a handling device for filament pucks is also proposed, which has at least the features of the handling device that are related to the first independent, directed towards a driverless transport vehicle
    claim or those claimed with the first independent claim directed to a brush manufacturing machine. A first embodiment of the handling device comprises a handling robot which has a suction gripper for gripping at least one filament puck. According to a second embodiment of the handling device, it is provided that the handling device has at least one camera, in particular a color camera, for identifying held-ready filament pucks and/or for determining the position of held-ready filament pucks and/or for determining gripping points.
    According to a third embodiment, the handling device has a control unit, which is set up by the camera to identify filament pucks held ready and/or to determine the position of filament pucks held ready and/or to determine the gripping point.
    According to a fourth embodiment of the handling device, the suction gripper of the handling device has a suction opening, in particular the suction opening being covered with a filament-tight, air-permeable fabric, in particular with a dutch weave.
    According to a fifth embodiment of the handling device, a suction surface of the suction gripper is at least half as large as a surface of a flat side of a filament puck to be sucked up and/or at most 1.2 times as large as the surface of the flat side.
    According to a sixth embodiment of the handling device, the suction pad and/or a vacuum source, in particular a
    Suction unit, the handling device set up to generate a volume flow of 25m3/h and/or to generate a negative pressure of at least 0.2 bar.
    According to a seventh embodiment of the handling device, the camera and/or the suction gripper, in particular the suction opening, are arranged on a free end of an arm of the handling robot. Furthermore, the camera can be arranged adjacent to the suction gripper, in particular adjacent to the suction opening.
    According to an eighth embodiment of the handling device, the handling device for cleaning the suction gripper, in particular with compressed air, has a flushing line and/or a cleaning nozzle, in particular the cleaning nozzle can be arranged and/or formed inside the suction gripper. According to a ninth embodiment of the handling device, the suction gripper can be or is connected to a vacuum source via a suction line. According to a tenth embodiment of the handling device, the flushing line can be or is connected to a pressure source, in particular to a compressor and/or to a compressed air connection.
    According to an eleventh embodiment of the handling device, the flushing line is laid in the suction line or the suction line is laid in the flushing line.
    According to a twelfth embodiment of the handling device, the handling robot is a multi-axis robot. Furthermore, the
    Handling robots for opening a container, in particular a box equipped with filament pucks, be set up.
    According to a thirteenth embodiment of the handling device, it has a testing device for testing, in particular, filament pucks that have been sucked in with the suction gripper. The testing device can have a light barrier, in particular a forked light barrier.
    The invention will now be explained in more detail using exemplary embodiments. The invention is not limited to the exemplary embodiments shown. Further exemplary embodiments are obtained by combining the features of individual or multiple claims with one another and/or by combining individual or multiple features of the exemplary embodiments. They show in a partially highly schematic representation: FIG. 1: a perspective representation of a driverless transport vehicle with a handling device for filament pucks arranged thereon, FIG Figures 1 and 2 shown transport vehicle with the cover removed, whereby inside a frame of the transport vehicle a circulating elevator with three shafts can be seen, with which receptacles loaded with filament pucks can be successively brought into transfer positions on the transport vehicle, in which they are held ready for the handling device ,
    4: a perspective view of a brush manufacturing machine with the driverless transport vehicle from the previous figures in the approach position to the brush manufacturing machine,
    5: the brush manufacturing machine shown in FIG. 4 with a docked driverless transport vehicle, FIG. 6: a perspective view of another brush manufacturing machine with a handling unit and a driverless transport vehicle, FIG. 7: the brush manufacturing machine shown in FIG. 6 with a docked driverless transport vehicle,
    Fig. 8: a perspective view of three boxes, each of which is equipped with different filament pucks, Fig. 9: a perspective view of a filament puck whose bristle filaments are combined with two outer rubber bands and a puck-shaped banderole, Fig. 10: the filament puck Fig. 5 without the two outer rubber bands,
    11: the filament puck from FIGS. 5 and 6 after the banderole has been removed, whereby an inner rubber band can still be seen here, with which the bristle filaments are held in the form of a puck, and
    Fig. 12: the filament puck from the previous figures without any casing.
    FIGS. 1 to 7 show handling devices for filament pucks 2 , each labeled 1 . The handling devices 1 each have a handling robot 3 which is equipped with a suction gripper 4 for gripping at least one filament puck 2 . Each handling device 1 also includes a camera 5. The cameras 5 shown in the figures are color cameras that are set up to identify and determine the position of filament pucks 2 that are held ready. The cameras 5 can be used to determine gripping points for gripping filament pucks 2 that are kept ready. The determined gripping points are then used to control the handling device 1 and in particular the handling robot 3 of the handling device 1 in such a way that a selected filament puck 2 can be gripped in a targeted and reliable manner. The handling robot 3 is controlled with the aid of a control unit. The suction grippers 4 used on the handling devices 1 have a suction opening 6 . The suction openings 6 are covered with a filament-tight, air-permeable fabric, here with a so-called dutch fabric. The weft fabric prevents individual bristle filaments from being sucked out of the filament pucks 2 through the suction opening 6, but allows the filament pucks 2 to be reliably sucked in with the suction grippers 4 and thereby gripped. The suction grippers 4 have a suction surface that is at least half the size of a surface of a flat side of one of the filament pucks 2 to be sucked in and at most 1.2 times the size of the surface of this flat side.
    The suction pads 4 are connected to a vacuum source 7, here to a suction unit. The suction units are to generate a
    Flow rate of 25 m / h and set up to generate a vacuum of at least 0.2 bar. The camera 5 and the suction gripper 4 of each handling device 1 are arranged on a free end of an arm 8 of the respective handling robot 3 . The camera 5 is provided adjacent to the suction opening 6 of the respective suction gripper 4 . Each of the handling devices 1 shown is equipped with a flushing line 9 for cleaning the suction gripper 4 . In each of the handling devices 1 shown, the rinsing line 9 is only shown in outline. It is connected to a cleaning nozzle 10 which is arranged inside the suction gripper 4 and is designed to blow the suction gripper 4 free.
    Each suction gripper 4 is connected via a suction line 11 to the previously mentioned vacuum source 7 in the form of the suction unit. The flushing line 9 is connected to a pressure source 12, for example to a compressor and/or to a compressed air connection. The flushing line 9 is laid in the suction line 11 . In the case of embodiments of the handling device 1 not shown in the figures, the reverse arrangement of the suction line 11 within the flushing line 9 can also be provided.
    The handling robots 3 shown in the figures are multi-axis robots. The handling robots 3 are set up to open containers 13 for filament pucks 2 .
    Opened containers 13 for filament pucks 2 are shown in FIG. 8, for example. The containers 13 are boxes filled with filament pucks 2 . Each of the containers 13 includes filament pucks 2 with different colored bristle filaments 30. The different colors of the bristle filaments 30 is due to the different
    Hatching symbolizes the filament pucks, which can be seen in all figures that show filament pucks 2 . The cameras 5 can be used to identify the filament pucks 2 based on the color of their bristle filaments 30 and separate them with the handling device 1 depending on the color. The handling device 1 places the filament pucks 2 of one color in one of three rows of filament pucks 2 that are provided on a feed section 38 of the brush manufacturing machine 16 .
    The handling devices 1 are also each equipped with a testing device 14 for testing filament pucks 2 gripped with the respective suction gripper 4 . The testing devices 14 each have a light barrier, for example a forked light barrier, for testing the gripped filament pucks 2 . If the check shows that a gripped filament puck 2 is not intact, it can be discarded. Figures 1 to 7 also show driverless transport vehicles 15. The driverless transport vehicles 15 are floor-bound and self-propelled, each have their own drive 39 and are automatically controlled and / or guided without contact. The filament pucks 2 are fed to a brush manufacturing machine 16 with the aid of the driverless transport vehicles 15 . The driverless transport vehicles 15 shown in FIGS. 1 to 5 carry the handling device 1 already explained above. In the exemplary embodiment of a driverless transport vehicle 15 shown in FIGS. According to FIGS. 6 and 7, the handling device 1 is arranged on the brush manufacturing machine 16 and can pick up the filament pucks 2 delivered with the driverless transport vehicle 15 and feed them to the brush manufacturing machine 16 .
    The transport vehicles 15 shown each have a supply device for filament pucks. The provision devices are circulating elevators 17. The circulating elevators 17 include a plurality of encircling receptacles 18 on which the containers 13 shown in FIG. 8 for filament pucks 2 can be placed. With the help of the circulating elevators 17, the receptacles 18 with the filament pucks 2 arranged thereon can be brought one after the other from a receiving space of the transport vehicles 15 into a transfer position on the respective transport vehicle 15.
    The driverless transport vehicles 15 have frames 19 . The circulating elevators 17 are arranged within the frames 19 . The receptacles 18, which carry the containers 13 with the filament pucks 2, have an edge whose height, which can be measured over a bearing surface of the receptacles 18, is less than a height of the filament pucks 2 positioned thereon. The driverless transport vehicles 15 are each equipped with a stripping device 20 . The de-sheathing device comprises at least one knife with which the filament pucks 2 can be freed from their 20 sheathing. Each transport vehicle 15 is also equipped with a centering device 21 for the filament pucks 2 . Filament pucks gripped with the suction pads 4 can be centered with the aid of the centering devices 21 . Furthermore, the shape of the filament pucks 2 can be corrected with the aid of the centering device 21 . The transport vehicles 15 are each equipped with a total of four area scanners 36 . The area scanners 36 are laser scanners. One area scanner 36 is located at a corner of the frame 19, which is rectangular in cross section, of each of the driverless transport vehicles 15 shown. In addition to the area scanners 36, the transport vehicles 15 also each have one
    Route scanner 35 mounted on the front underside of frame 19.
    The transport vehicles 15 also have waste containers 22 into which defective filament pucks 2 and packaging material such as the casings of the filament pucks 2 and emptied containers 13 can be disposed of.
    The driverless transport vehicles 15 are each also equipped with a cleaning device 37 .
    The cleaning devices 37 can each include a brush strip, with the help of which the suction pads 4 can be freed from adhering bristle filaments.
    The transport vehicles 15 are equipped with a docking interface 23 .
    This is used to dock the respective driverless transport vehicle 15 to a corresponding counter docking interface 24 of the brush manufacturing machine 16 and in this way to connect it to the brush manufacturing machine 16 .
    FIGS. 5 and 7 show the respective driverless transport vehicle 15 in its docked position on the brush manufacturing machine 16 .
    According to FIG. 2, the transport vehicle 15 shown there is equipped with a vacuum source 7, here with a suction unit.
    In addition, the transport vehicles 15 have energy stores in the form of a battery 25 and a compressed air reservoir 26 .
    The previously mentioned cleaning nozzle 10 in the suction gripper 4 can be supplied with compressed air from the compressed air reservoir 26 in order to blow the suction gripper 4 free.
    The transport vehicles 15 also have charging interfaces 27 via which the batteries 25 of the transport vehicles 15 can be charged if necessary.
    The brush manufacturing machine 16 shown in FIGS. 6 and 7 is equipped with a handling device 1 for filament pucks 2 .
    The handling device 1 present on the brush manufacturing machine 16 shown in FIGS. 6 and 7 also has a handling robot 3, at the free end of which a suction gripper 4 with a camera 5 is arranged.
    If required, the docked transport vehicles 15 can be supplied with compressed air and/or electricity via the counter-docking interfaces 24 of the brush manufacturing machines 16 shown in the figures.
    It is also possible, if required, to connect the suction line 11 of the handling device 1 to a vacuum source of the brush manufacturing machine 16 via the counter-docking interface 24 if the handling device 1 is arranged on the transport vehicle 15 .
    The brush manufacturing machine 16, the at least one driverless transport vehicle 15 and the at least one handling device 1 together form a manufacturing system 28 for manufacturing brushes.
    FIGS. 9 to 12 show a filament puck 2 . The filament puck 2 has a band 29 .
    The bristle filaments 30 of the filament puck 2 are wrapped and held together with this banderole 29 .
    The banderole 29 surrounds the bristle filaments 30 of the filament puck 2 at an angle of 360° to 720°. The filament puck 2 shown in FIGS. 9 to 12 has an inner band 31 .
    The inner band 31 lies between the bristle filaments 30 and the banderole 29 and can be seen in FIG.
    The inner band 31 is a rubber band that holds the bristle filaments 30 together.
    The inner band 31 has a rectangular or square cross section, so that it can bear against the bristle filaments 30 with a flat side. In one embodiment of the filament puck 2, the bristle filaments 31 protrude beyond the banderole 29 on one side. In the exemplary embodiment of a filament puck 2 shown in FIGS. 8 to 12, a width of the band 29 corresponds to a length of the bristle filaments 30 forming the filament puck 2. The band 29 used has a thickness of between 0.4 mm and 3 mm. According to FIG. 9, the banderole 29 is attached to the disc-shaped bristle filament accumulation of the filament puck 2 with the aid of two outer bands 32 . The outer bands 32 are also rubber bands. They are axially spaced from one another with respect to a longitudinal axis of the bristle filaments 30 . A comparison of FIGS. 9 and 10 makes it clear that the outer bands 32 are arranged in such a way that one inner band 31 is arranged between the inside. The two outer bands 32 also have a rectangular or square cross-section, so that one of their flat sides can lie against the banderole 29 . The handling device 1 explained above is set up to carry out the method for handling a filament puck 2 described below. Here, the position of a filament puck 2 to be gripped is determined, after which the filament puck 2 is gripped with the suction gripper 4 of the handling device 1 and fed to a downstream process step, here the brush manufacturing machine 16 .
    The suction gripper 4 grips the filament puck 2 on a flat side, in this case an upper one, aligned transversely to the longitudinal axis of the filament puck 2
    Flat side of the filament puck 2. To do this, the filament puck 2 to be gripped is sucked on the upper flat side. The gripped filament puck 2 is placed on the previously mentioned feed path 38 of the brush manufacturing machine 16, sorted into the row of filament pucks 2 corresponding to its color and thus fed to the processing process carried out with the brush manufacturing machine 16. The handling device 1 has a control unit 33 which is set up to read a computer-readable medium 34 . A computer program is stored on the computer-readable medium 34 and comprises instructions which cause the handling device 1 to carry out the method explained above.
    The invention deals with improvements in the technical field of handling so-called filament pucks 2 . For this purpose, a handling device 1 is proposed, which includes a handling robot 3 . The handling robot 3 has a suction gripper 4 with which the filament pucks 2 can be gripped, in particular sucked.
    LIST OF REFERENCE NUMERALS 1 handling device 2 filament puck 3 handling robot 4 suction gripper 5 camera 6 suction opening 7 vacuum source 8 arm of 3 9 flushing line 10 cleaning nozzle 11 suction line 12 pressure source 13 container 14 test device 15 driverless transport vehicle 16 brush manufacturing machine 17 supply device, circulating elevator 18 receptacle 19 frame of 15 20 stripping device 21 centering device 22 Waste container 23 Docking interface 24 _ Counter docking interface 25 Battery 26 Compressed air reservoir 27 Charging interface 28 Production system 29 Banderole 30 Bristle filaments
    31 inner band 32 outer band 33 control unit 34 computer-readable medium
    35 Route scanner 36 Area scanner 37 Cleaning device 38 — Feed line 39 Travel drive
    权利要求:
    Claims (43)
    [1]
    1. Driverless transport vehicle (15) for filament pucks (2) with a handling device (1) for filament pucks (2) with a handling robot (3) which has a suction gripper (4) for gripping at least one filament puck (2).
    [2]
    2. Driverless transport vehicle (15) according to the preceding claim, wherein the handling device (1) has at least one camera (5), in particular a color camera, for identifying ready-made filament pucks (2) and/or for determining the position of ready-made filament pucks (2) and/or for determination of the gripping point, and/or that the handling device (1) has a control unit (33) which is set up by the camera (5) to identify filament pucks (2) held ready and/or to determine the position of filament pucks (2) held ready and/or to determine the gripping point .
    [3]
    3. Driverless transport vehicle (15) according to one of the preceding claims, wherein the suction gripper (4) has a suction opening (6), in particular wherein the suction opening (6) is covered with a filament-tight, air-permeable fabric, in particular with a braided weave.
    [4]
    4. Driverless transport vehicle (15) according to one of the preceding claims, wherein a suction surface of the suction gripper (4) is at least half as large as a surface of a flat side of a filament puck (2) to be sucked up and/or at most 1.2 times as large as the surface of the flat side is.
    [5]
    5. Driverless transport vehicle (15) according to any one of the preceding claims, wherein the suction pad (4) and / or a
    Negative pressure source (7), in particular a suction unit, is/are set up to generate a volume flow of 25m3h and/or to generate a negative pressure of at least 0.2 bar.
    [6]
    6. Driverless transport vehicle (15) according to one of the preceding claims, wherein the camera (5) and/or the suction gripper (4), in particular the suction opening (6), is arranged on a free end of an arm (8) of the handling robot (3). and/or wherein the camera (5) is arranged adjacent to the suction gripper (4), in particular adjacent to the suction opening (6).
    [7]
    7. Driverless transport vehicle (15) according to one of the preceding claims, wherein the handling device (1) for cleaning the suction gripper (4), in particular with compressed air, has a flushing line (9) and/or a cleaning nozzle (10), in particular the cleaning nozzle (10) is arranged and/or formed within the suction gripper (4).
    [8]
    8. Driverless transport vehicle (15) according to one of the preceding claims, wherein the suction pad (4) can be connected or is connected to a vacuum source (7) via a suction line (11) and/or wherein the flushing line (9) is connected to a pressure source (12) , In particular with a compressor and / or with a compressed air connection, connectable or connected.
    [9]
    9. Driverless transport vehicle (15) according to one of the preceding claims, wherein the flushing line (9) is laid in the suction line (11) or wherein the suction line (11) is laid in the flushing line (10).
    [10]
    10. Automated guided vehicle (15) according to one of the preceding claims, wherein the handling robot (3) is a multi-axis robot and/or wherein the handling robot (3) is used to open a container (13), in particular a box equipped with filament pucks (2).
    [11]
    11. Driverless transport vehicle (15) according to one of the preceding claims, wherein the handling device (1) has a testing device (14) for testing filament pucks (2) sucked in particular with the suction gripper (4), in particular wherein the testing device (14) has a light barrier, in particular has a fork light barrier.
    [12]
    12. Driverless transport vehicle (15) for filament pucks (2), in particular according to one of the preceding claims, wherein the transport vehicle (15) has a delivery device, in particular a circulating elevator (17), with at least two, in particular circulating, receptacles (18) for filament pucks ( 2) has.
    [13]
    13. Driverless transport vehicle (15) according to one of the preceding claims, wherein the driverless transport vehicle (15) is floor-bound and/or has its own traction drive (39) and/or is automatically controlled and/or guided without contact.
    [14]
    14. Driverless transport vehicle (15) according to one of the preceding claims, wherein the receptacles (18) and filament pucks (2) arranged thereon are connected to the supply device, in particular to the circulating elevator (17), preferably from a receptacle space of the transport vehicle (15), into a Transfer position on the transport vehicle (15), in particular on a frame (19) of the transport vehicle (15), are movable, and / or wherein the receptacles (18) have an edge whose over a
    Contact surface of the recordings (18) measurable height is less than a height of the filament pucks (2).
    [15]
    15. Driverless transport vehicle (15) according to one of the preceding claims, wherein the driverless transport vehicle (15) has a stripping device (20), in particular with a knife, for stripping filament pucks (2),
    [16]
    16. Driverless transport vehicle (15) according to one of the preceding claims, wherein the transport vehicle (15) has a centering device (21) for filament pucks (2).
    [17]
    17. Driverless transport vehicle (15) according to one of the preceding claims, wherein the transport vehicle (15) has at least one area scanner (36), in particular a laser scanner, preferably at least two area scanners (36), in particular at two diagonally opposite points on one Frame (19) of the transport vehicle (15) are arranged.
    [18]
    18. Driverless transport vehicle (15) according to one of the preceding claims, wherein the transport vehicle (15) has a waste container (22) and/or a cleaning device (37), in particular with a brush strip.
    [19]
    19. Driverless transport vehicle (15) according to any one of the preceding claims with a docking interface (23) for docking to a corresponding docking counter-interface (24) of a brush manufacturing machine (16).
    [20]
    20. Driverless transport vehicle (15) according to any one of the preceding claims with a handling device (1) according to any one of the preceding claims.
    [21]
    21. Driverless transport vehicle (15) according to one of the preceding claims, wherein the transport vehicle (15) has a vacuum source (7), in particular a suction unit, and/or at least one energy store, in particular a battery (25) and/or a compressed air reservoir (26) comprises, and / or wherein the transport vehicle (15) has a charging interface (27) for charging a battery (25) of the transport vehicle (15).
    [22]
    22. Brush manufacturing machine (16) with a handling device (1) for filament pucks (2) with a handling robot (3) which has a suction gripper (4) for gripping at least one filament puck (2).
    [23]
    23. The brush manufacturing machine (16) according to the preceding claim, wherein the handling device (1) has at least one camera (5), in particular a color camera, for identifying held-ready filament pucks (2) and/or for determining the position of held-ready filament pucks (2) and/or for determining gripping points and/or that the handling device (1) has a control unit (33) which is set up by the camera (5) to identify held-ready filament pucks (2) and/or to determine the position of held-ready filament pucks (2) and/or to determine gripping points.
    [24]
    24. Brush manufacturing machine (16) according to one of the preceding claims, wherein the suction gripper (4) has a suction opening (6), in particular wherein the suction opening (6) is covered with a filament-tight, air-permeable fabric, in particular with a dutch weave.
    [25]
    25. Brush manufacturing machine (16) according to any one of the preceding claims, wherein a suction surface of the suction gripper (4)
    is at least half as large as a surface of a flat side of a filament puck (2) to be sucked in and/or at most 1.2 times as large as the surface of the flat side.
    [26]
    26. Brush manufacturing machine (16) according to one of the preceding claims, wherein the suction gripper (4) and/or a vacuum source (7), in particular a suction unit, for generating a volume flow of 25m3h and/or for generating a vacuum of at least 0.2 bar is/are set up.
    [27]
    27. Brush manufacturing machine (16) according to one of the preceding claims, wherein the camera (5) and/or the suction gripper (4), in particular the suction opening (6), are arranged on a free end of an arm (8) of the handling robot (3). and/or wherein the camera (5) is arranged adjacent to the suction gripper (4), in particular adjacent to the suction opening (6).
    [28]
    28. Brush manufacturing machine (16) according to one of the preceding claims, wherein the handling device (1) for cleaning the suction gripper (4), in particular with compressed air, has a flushing line (9) and/or a cleaning nozzle (10), in particular the cleaning nozzle ( 10) is arranged and/or formed inside the suction gripper (4).
    [29]
    29. Brush manufacturing machine (16) according to one of the preceding claims, wherein the suction gripper (4) can be connected or is connected to a vacuum source (7) via a suction line (11) and/or wherein the flushing line (9) is connected to a pressure source (12), in particular with a compressor and/or with a compressed air connection, can be connected or is connected.
    [30]
    30. Brush manufacturing machine (16) according to one of the preceding claims, wherein the flushing line (9) is laid in the suction line (11) or wherein the suction line (11) is laid in the flushing line (10).
    [31]
    31. Brush manufacturing machine (16) according to one of the preceding claims, wherein the handling robot (3) is a multi-axis robot and/or wherein the handling robot (3) for opening a container (13), in particular a box equipped with filament pucks (2).
    [32]
    32. Brush manufacturing machine (16) according to one of the preceding claims, wherein the handling device (1) has a testing device (14) for testing, in particular, filament pucks (2) sucked in by the suction gripper (4), in particular wherein the testing device (14) has a light barrier, in particular has a fork light barrier.
    [33]
    33. Brush manufacturing machine (16), in particular according to one of the preceding claims, with at least one counter docking interface (24) for docking a driverless transport vehicle (15) according to one of the preceding claims.
    [34]
    34. Manufacturing system (28) for manufacturing brushes, comprising at least one brush manufacturing machine (16) according to one of the preceding claims and/or at least one driverless transport vehicle (15) according to one of the preceding claims.
    [35]
    35. Filament puck (2) with bristle filaments (30) wrapped around by a band (29), the band (29) surrounding the bristle filaments (30) at an angle of 360° to 720°.
    [36]
    36. filament puck (2) according to the preceding claim, wherein the
    Filament puck (2) has at least one inner band (31), in particular a rubber band, which is arranged between the banderole (29) and the bristle filaments (30) and surrounds the bristle filaments (30), and/or wherein the inner band (31 ) has a rectangular or square cross-section.
    [37]
    37. Filament puck (2) according to one of the preceding claims, wherein the bristle filaments (30) protrude beyond the band (29) at least on one side.
    [38]
    38. filament puck (2) according to any one of the preceding claims, wherein the banderole (29) has a thickness between 0.4 mm and 3 mm,
    [39]
    39. Filament puck (2) according to one of the preceding claims, wherein the banderole (29) with at least one outer band (32), in particular with an outer rubber band, preferably with two in particular axially spaced outer bands (32), on the bristle filaments ( 30) is fixed, in particular wherein the at least one outer band (32) has a rectangular or square cross section.
    [40]
    40. Method for handling a filament puck (2), in particular a filament puck (2) according to one of the preceding claims, with a handling device (1) of the driverless transport vehicle (15) according to one of the preceding claims and/or the brush manufacturing machine (16) according to one of the preceding claims, wherein the position of a filament puck (2) to be gripped is determined and after which the filament puck (2) is gripped with the suction gripper (4) of the handling device (1) and fed to a downstream process step, in particular a brush manufacturing machine (16).
    [41]
    41. The method according to the preceding claim, wherein determining the position of the filament puck (2) to be gripped and/or identifying the filament puck (2) to be gripped and/or determining the gripping point with one or the camera (5) of the handling device (1) takes place/takes place, and/or wherein the filament puck (2) is gripped, in particular sucked, on a flat side oriented transversely to the longitudinal axis of the filament puck (2) with the suction gripper (4).
    [42]
    42. Computer program comprising instructions that cause the handling device (1) of the driverless transport vehicle (15) according to one of the preceding claims and/or the brush manufacturing machine (16) according to one of the preceding claims to carry out the method according to one of the preceding claims.
    [43]
    43. Computer-readable medium (34) on which the computer program according to the preceding claim is stored.
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    同族专利:
    公开号 | 公开日
    CN112998391A|2021-06-22|
    DE102019134973A1|2021-06-24|
    BE1027803A1|2021-06-22|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP0577986B1|1992-06-12|1999-09-15|G.D Societa' Per Azioni|Automatic pickup method and unit for cylindrical objects|
    EP2259672A1|2008-02-26|2010-12-08|Kyocera Corporation|Vacuum suction nozzle|
    US20140216662A1|2011-11-18|2014-08-07|Nike, Inc.|Hybrid Pickup Tool|
    DE102015109706B4|2014-07-15|2019-05-23|Zahoransky Ag|Carrier plate and brush, in particular toothbrush with carrier platelets|
    法律状态:
    2022-02-09| FG| Patent granted|Effective date: 20220110 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102019134973.7A|DE102019134973A1|2019-12-18|2019-12-18|Driverless transport vehicle, brush manufacturing machine, manufacturing system, filament puck, method for handling a filament puck, computer program and computer-readable medium|
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