• 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 relates to a method for driving or removing a washer (900) or blank of a watch washer, characterized in that a means of handling such washers (900) is used, comprising at least one gripper ( 1) comprising a clamp with a plurality of jaws (3) movable radially concentrically about a main axis and which are projecting with respect to a support plate which comprises said gripper (1) and which is movable in the direction of said main axis, each said jaw (3) comprising at least a first radial surface arranged for radial support on the edge of a said washer (900) or blank washer, in that said jaws (3) are arranged for maintain a said washer (900) or blank of washer in abutment on said support plate, and in order to exert a force resistant to the thrust or to the traction exerted by said handling means, said support plate comprising at least a first axial surface (4 1) arranged for axial support on a flat surface of a said washer (900) or blank of the washer, and in that said handling means is used to drive out or release a said washer (900) or blank of the washer by a translational movement in the direction of said main axis.
    公开号:CH715500A2
    申请号:CH01302/19
    申请日:2019-10-11
    公开日:2020-04-30
    发明作者:Loeffel Raphaël；Senn Jean-Philippe
    申请人:Eta Sa Mft Horlogere Suisse；
    IPC主号:
    专利说明:

    Area of the œœ
    The invention relates to a method of driving or releasing a washer or blank of a watch washer.
    The invention relates to the field of handling small components of the washer type in an automated manufacture of high-speed timepieces, in particular for the production of blanks.
    Invention background
    The manufacture of clockwork blanks uses as raw materials washers, of very varied dimensions, in diameter as in thickness, and in materials which can be quite different. Modern flexible machining tends to replace the large series of former production batches of much smaller size, even unitary. The supply of means of production must therefore be completely redesigned to adapt to a very diversified supply upstream, for the realization of an even more diversified production downstream.
    As for production machines, the setting time for a change in production is the parameter that it is important to reduce by every conceivable means, so as to allow a reduction in batch sizes at the production level. .
    The handling rates of the washers are very high, with a complete cycle of a few seconds between opening and closing, which leaves only a period of one to two seconds for handling the washer.
    These high rates are not compatible with the inertia and slowness of large manipulators, and commercial manipulators able to take and remove washers are not capable of ensuring these rates while being versatile enough to instant product changes.
    A positioning of the components to be machined with a slight constraint on their machining position is generally favorable for rapid centering, at the same time as good support during machining, but such a constraint, which can be amplified due to the release of certain tensions in the material during machining, has the logical consequence of a delicate, or even difficult, loosening with, or else the need to equip the machining laying with at least one extractor, or indeed a risk of false parallelism during the stripping of the washer, which can lead to its jamming on the laying, or to the deterioration of the machined washer.
    Summary of the invention
    To this end, the invention proposes to develop a method of hunting or detaching a washer or blank of a watch washer, using a flexible gripper, for picking up and removing type washers. varied, suitable for high frequencies, and capable of ensuring a constant resistant force against an opposing manipulator such as a robot, and allowing immediate adaptation to a change in dimensions of the washers.
    And, in particular, the method according to the invention allows a controlled detachment, without requiring additional equipment.
    To this end, the invention relates to a method of driving or releasing a washer or blank of a clockwork washer according to claim 1.
    Brief description of the drawings
    Other characteristics and advantages of the invention will appear on reading the detailed description which follows, with reference to the accompanying drawings, where:Figure 1 shows, schematically, and in perspective, a gripper according to the invention, seen from the side comprising a support plate surrounded by a set of concentric jaws;2 shows, in side view, the gripper of FIG. 1, in position for picking up a load on a setting, and clamping between its jaws the edge of a washer or blank of washer which is also in abutment on a surface of the support plate;Figure 3 shows, similarly to Figure 2, a socket for setting discharge, and shows the cooperation of fingers, which comprise the jaws, with a groove of the setting in which they are introduced, for gripping a washer or washer blank by its underside and its extraction from the laying;4 shows, in side view, one of the jaws shown in Figures 1 to 3;FIG. 5 represents another variant of jaw combined with finger and beak, for particular uses;Figure 6 is an end view of the gripper;Figure 7 is a view similar to Figure 6, and where the support plate has been removed;FIG. 8 is a block diagram representing a handling means with a robot and a robot arm carrying at least one gripper, and vision means and control means;FIG. 9 is a plan view of a blank with a configuration customary in the watch industry;10 shows, schematically and in side view a machining setting comprising two pins on which is inserted the washer of Figure 9;FIG. 11 shows, similarly to FIG. 10, a similar machining setting carrying a stack of washers inserted on its pins;FIG. 12 represents, in top view, a chassis grouping together a plurality of machining positions according to FIG. 10 or 11, here nonetheless limitatively arranged in a network, with a universal gripper according to the invention in action above the one of these poses, not visible in this figure;Figure 13 shows, in side view, the frame of Figure 12 and the universal gripper holding radially in its jaws a washer in position on one of the machining positions;FIG. 14 is a block diagram showing again a production unit for the production of watch components from a store of blanks for washers, and comprising at least one machining or processing means, not shown, on which is brought at least one machining setting, or more particularly at least one chassis according to FIG. 12 or 13, and at least one handling means according to FIG. 8 comprising at least one universal gripper for driving and releasing the washers at each machining installation.
    Detailed description of preferred embodiments
    The invention implements a particular flexible gripper 1, for picking up and removing washers 900 or washer blanks of various types, for making watch blanks or the like. This gripper 1 is suitable for high frequencies, and is capable of ensuring a constant resistant force against an opposing manipulator such as a robot, and allows immediate adaptation to a change in dimensions of washers 900 or blanks washer, as part of flexible production.
    The gripper 1 is designed to capture all types of washers 900 or blanks of a washer of a particular production, on different types of feed systems, and to deposit them on different types of machining laying, with a certain vertical force, preferably tared, and preferably less than or equal to 300 N. The same gripper also makes it possible to grip all these washers 900 or blanks of washer on these same machining positions, without having to use an extraction system by below, and drop them on an outlet system.
    The figures illustrate a non-limiting embodiment suitable for handling washers 900 or blanks of watch blanks which have diameters between 10 mm and 80 mm, and thicknesses between 0.5 mm and 10.0 mm.
    This universal gripper 1 for washers 900 or timepiece washer blanks is designed to be fixed or integrated into a handling means or a robot arm, and comprises a clamp 2 with a plurality of jaws 3 movable radially from concentrically around a main axis D. These jaws 3 are projecting relative to a support plate 4 that comprises the gripper 1, which support plate 4 is movable in the direction of the main axis D.
    The figures illustrate a gripper 1 with two jaws 3 diametrically opposite, guided in slides 90 and cooperating with a helical cam 92 that conventionally comprises a rotor 91. Naturally the gripper 1 may include a greater number of jaws 3, the configuration with two jaws is however particularly advantageous because of its reduced mass, it is indeed a question of producing a gripper with a smaller size than that of the commercial manipulators, and of lower inertia than these, while ensuring a quality operation and resistance to a hunting force of 300 N.
    More particularly, each jaw 3 comprises at least a first radial surface 5, which is arranged for a radial support on the edge 901 of a washer 900 or blank washer. And the support plate 4 comprises at least a first axial surface 41, which is arranged for axial support on a flat surface of a washer 900 or blank of the washer. Each jaw 3 is radially movable, perpendicular to the direction of the main axis D.
    In a particular variant not shown, each jaw 3 is also movable axially in the direction of the main axis D relative to the support plate 4, or vice versa.
    More particularly, each jaw 3 comprises at least a second axial surface 6, which is arranged for axial support on a flat surface of a washer 900 or blank of the washer, as visible in FIG. 3. More particularly, each jaw 3 has a centering surface 7, between the second axial surface 6 and the support plate 4.
    More particularly, all the jaws 3 are arranged to grip the same washer 900 or blank of washer at the same plane perpendicular to the main axis D. More particularly, all the first radial surfaces 5 are arranged to grip the same washer 900 or blank of washer at the same plane perpendicular to the main axis D.
    More particularly, all the second axial surfaces 6 are arranged to grip the same washer 900 or washer blank at the same plane perpendicular to the main axis D.
    More particularly, as visible in Figures 1 to 4, each jaw 3 has a first single finger 31 projecting radially towards the main axis D and having a first radial surface 5, and having a second axial surface 6 between the first radial surface 5 and the support plate 4.
    More particularly, all the jaws 3 are identical and coplanar along a plane perpendicular to the main axis D.
    More particularly, the gripper 1 has only two identical jaws 3, coplanar along a plane perpendicular to the main axis D and diametrically opposite with respect to the main axis D.
    Thus, thanks to the specific shape of the jaw fingers 3, the gripping function of the washers 900 or washer blanks can be performed on the edge of the washers 900 or washer blanks, which corresponds to the general real case during the catch of the washers 900 or blanks of washer on a feeding system, or even below the washers 900 or blanks of washer, which constitutes the real real case when taking the washers 900 or blanks of washer on a laying machining 200.
    In the variant of Figure 5, each jaw 3 has a first finger 31 projecting radially towards the main axis D and having a first radial surface 5, and, on the side of the first finger 31 opposite the support plate 4 , and at a distance from the first finger 31 greater than the maximum thickness of the washers 900 or blanks of the washer to be handled, a second finger 32 projecting radially towards the main axis D and comprising a second axial surface 6 facing the first finger 31 More particularly, this second finger 32 is delimited, towards the main axis D, by a pointed beak 8 arranged to separate a washer 900 or washer blank from a setting 200 or a stack of washers 900 or washer blanks. during a centripetal radial movement of the jaw 3, the pointed beak 8 being at a smaller distance from the main axis D than the first radial surface 5.
    The jaws 3 are arranged to maintain a washer 900 or blank of the washer bearing on the support plate 4, and to exert a force that is resistant to the thrust or to the traction exerted by a robot.
    More particularly, the axial stroke of the support plate 4 is adjustable to adapt to each type of washer 900 or washer blank or to each thickness of washer 900 or washer blank. The support plate 4 is thus arranged to compensate for differences in thickness of different washers 900 or washer blanks of a production batch.
    More particularly, the relative axial stroke between the jaws 3 and the support plate 4 is adjustable to adapt to each thickness of washer 900 or blank of washer.
    More particularly, the gripper 1 comprises axial maneuvering means of the support plate 4 in the direction of the main axis D to maintain the support plate 4 on a setting with a calibrated force and less than or equal to 300 N, and which are advantageously combined with at least one force sensor along the main axis D which is arranged to measure the force in traction and / or compression, and compare it to the calibrated force or to the maximum value of 300N.
    Thus, thanks to its support plate 4 adjustable in height, the gripper 1 is capable of processing all the thicknesses of washers 900 or washer blanks of the production spectrum, the position of the plate being adaptable to the thickness of each washer 900 or blank of washer. This function allows, in addition, a significant support on the surface of the washer 900 or blank of washer, so as to withstand the maximum force of 300 N of driving force without deforming the washer 900 or blank of washer.
    More particularly, the gripper 1 includes electrical controls 10 for the radial operation of the jaws 3, and for the axial operation of the support plate 4.
    More particularly, the gripper 1 includes electrical controls 10 for the axial maneuver of the jaws 3.
    More particularly, the gripper 1 comprises at least one encoder for a motor that includes an electric control 10, for adapting the thickness and / or the diameter of a washer 900 or blank of washer, arranged to give to the electrical controls 10 of the minimum and maximum travel instructions.
    More particularly, the gripper 1 comprises measuring means 11 for adapting the thickness and / or the diameter of a washer 900 or blank of the washer, arranged to give the electrical controls 10 minimum operating instructions and maximum.
    More particularly, the electrical controls 10 are configurable in position and / or speed and / or acceleration and / or torque and / or pressing force.
    More particularly, the electrical controls 10 are arranged to perform a movement consisting in spreading the jaws radially 3 to deposit a washer 900 or blank of the washer on a setting, and in axially displacing the support plate 4 in the direction of the main axis D, to compensate for the differences in thickness between the different washers 900 or blanks of the washer.
    More particularly, the electrical controls 10 are arranged to perform a sequential movement consisting in making the radial spacing of the jaws 3 to deposit a washer 900 or blank of the washer on a setting, and to move the support plate 4 axially. .
    In the particular variant illustrated by the figures, the gripper 1 is entirely electric, all the movements of the jaws 3 and of the support plate 4 are electrically controllable, therefore numerically configurable by gauge or by type of blank (position, speeds, acceleration, forces, and others).
    In the particular embodiment illustrated by the figures, the motorization comprises two motors each equipped with a reduction gear and an encoder, the first motor 14 realizes the movement of the two jaws 3, and the second motor 15 realizes the movement of the plate support 4. These motors are controlled in position by an order coming from a programmable command, the positions are part of a recipe (set of parameters) which is specific to the caliber to be processed. Each motor is equipped with a divider which allows communication with this programmable control.
    The electrical combination of the two movements, the jaws 3, and the support plate 4, as well as the geometry of the mechanical elements, allow advantageous functions.
    A handling means 100 of washers 900 or timepiece washer blanks, comprises at least one such gripper 1, and is arranged for driving and / or releasing a washer 900 or washer blank of a watchmaking sub-assembly without deformation of the washer 900 or blank of the washer.
    The universal gripper 1 for washers 900 or timepiece washer blanks, in fact makes it possible to grasp and deposit, with the chase and release functions, all types of washers 900 or washer blanks which are used in the area of activity of a watch manufacturer producing all of its own components.
    The subject of hunting / releasing the washers 900 or blanks of the washer is particularly delicate on the machining positions, especially when the washer to be machined is positioned with a slight tightening on a machining position, because it is also necessary to master both hunting and unchanging with good parallelism, to avoid any bruising and any deterioration.
    In addition, the multitude of types of washers 900 or blanks of the washer is a real challenge for the flexibility of mechanical elements such as the gripper.
    More particularly but not limited to, this handling means 100 comprises at least one robot 102 with a robot arm 101 carrying at least one gripper 1, and this robot 102, thus equipped, is arranged to hunt or unleash a washer 900 or blank of washer by a movement in the direction of the main axis D.
    More particularly, in an alternative embodiment, the handling means 100 comprises at least one vision means, which is arranged to identify the upper or lower face of a washer blank upstream of the gripper 1 and to control a turning maneuver by an auxiliary manipulator, and / or to determine the angular orientation of a blank of the washer upstream of the gripper 1 according to the position of a notch 910 and / or of holes 920 which the washer 900 or blank comprises washer, and to control an angular rotation maneuver by an auxiliary manipulator, and / or to read on a washer 900 or blank washer upstream of the gripper 1 an identification marking to trigger operating parameters of the gripper 1. In a particular arrangement, the handling means 100 comprises three cameras, each dedicated to one of these functions, arranged one after the other downstream of a station feeder comprising for example a vibrating bowl and at least one conveyor, and make it possible to trigger reversal movements if necessary, and also to perform an angular pre-positioning, while identifying the type of washer 900 or blank of washer without risk of error, so as to allow the elimination of a blank washer foreign to the current series. Thus the washer 900 or blank of washer to be machined can be presented at the entry of the machining setting on its right side, obverse or reverse, and with an angular orientation which is that which it must occupy on the setting.
    A particular fitting 200 for washers 900 or timepiece washer blanks is arranged for handling washers 900 or washer blanks by such a gripper 1.
    In a particular variant, and as visible in FIG. 3, this fitting 200 includes, under a bearing face 201 arranged to receive a washer 900 or washer blank or a stack of washers 900 or washer blanks, a groove 202 arranged to allow the centripetal radial insertion of fingers 31, 32, which comprise jaws 3 of the gripper 1, for gripping without deformation of at least one washer 900 or blank of washer deposited on the bearing face 201 This entry can be made on the edge 901 of the washer 900 or blank of the washer, as visible in FIG. 13, or by the underside of the washer, as visible in FIG. 3. It is noted that the same jaws 3 can be versatile, and suitable for holding on edge as well as taking from below.
    Other particular variants of poses 200 are illustrated by FIGS. 10 to 13: these poses 200 comprise pins 209, which are arranged to cooperate with holes 920 that comprise the washers 900 or washer blanks, as visible in FIG. 9. FIG. 10 shows the case of positioning a single washer, and FIG. 11 the case of a stack of washers 900 or blanks of washer on the setting 200, for common machining operations such as drilling, cutting of teeth, or the like, on a machining means on which the setting 200 is positioned, or else a chassis 2000 grouping together a plurality of settings 200, for example several tens or several hundreds.
    In a particular application, such a washer 900 or washer blank comprising at least two holes 920 is positioned with minimal play, or even with a slight tightening, on the pins 209: the assembly is very slightly hyperstatic, and guarantees a good maintenance of the washer 900 or blank of the washer during its machining, and above all guarantees reproducible machining from one washer to another, which is advantageous for these watchmaking machinings with tolerances in micrometers, because the washer is positioned without adjustment mechanical, directly in position; on the other hand, such a configuration generally requires a machining fitting provided with an extractor to allow the washer to be released. Such an extractor is expensive, and above all very bulky, and it is difficult to install an extractor for each installation on such a frame 2000 grouping together a very large number of installations arranged in a network.
    The universal gripper 1 allows precisely to get rid of such extractors, since it is designed for easy detachment performed by the jaws 3; this allows to bring the poses on the same chassis, and therefore to establish more on a given surface, delimited by the field of machining of the means of production. The low overall volume of the universal gripper 1 makes it possible to intervene on a laying without interfering with the laying close to the laying network. The overall cost of a chassis 2000 is considerably reduced thanks to the use of such a universal gripper 1, which, moreover, is capable of loading and unloading a large variety of separate chassis.
    In addition, the stripping performed by the universal gripper 1 is very fast, and is perfectly compatible with the lowest operating times, which are of the order of a few seconds, on the timepiece components concerned.
    The perfectly parallel stripping thanks to the translation of the gripper avoids any jamming of the washer during its stripping and contributes to the quality of the production produced.
    A production unit 3000 allows the production of watch components from a blank shop 9000 comprising washers 900 or washer blanks, this production unit 3000 comprises at least one means of machining or processing, onto which is brought at least one machining position 200, or more particularly at least one chassis 2000 comprising at least one machining position 200, and at least one handling means 100 equipped as described above and comprising at least one such universal gripper 1 for driving and releasing the washers 900 or blanks of the washer at each machining position 200.
    The gripper 1 is constructed so as to withstand configurable hunting and releasing forces between 10 and 300 N, which represents a large range, and gives great versatility to this tool. It is understood that these forces are generated and measured outside the gripper, the gripper element does, him, that support the forces in compression and traction.
    A particular example of a range of washer diameters 900 or washer blanks in production is between 18.5 mm and 44.5 mm. The thicknesses of the 900 washers or washer blanks in production can vary between 1.0 mm and 4.5 mm in most applications. Therefore, in this particular configuration, the travel of the two jaws is therefore at least 26 mm (44.5 mm - 18.5 mm) over the diameter with a few millimeters of margin. The travel of the support plate is therefore at least 3.5 mm (4.5 mm - 1.0 mm) with a few tenths of a millimeter of margin.
    The support plate is not intended to move during this hunting or detachment operation: it is positioned only once at the start of the series to be produced, in order to be able to adapt to the thickness of the washer. 900 or blank of washer used. For this plate, the positioning force is generated by an electric motor, the friction and the pitch of the screw mean that the holding torque requested from the motor is very low.
    The two movable jaws 3 carry out a tightening and loosening cycle with each grip and fitting of a washer 900 or blank of the washer. Regarding the clamping force of the jaws, the entire construction has been carried out so as to obtain a closing force of at least 10 N. Naturally this force can be adjusted using the electric motor, on a case-by-case basis, depending on the type of washer 900 or blank washer to be produced.
    The force which is generated when the jaws are tightened on the edge of a washer 900 or blank of the washer is very difficult to measure. The mechanical system for opening and closing the jaws is in fact based on a cam system. This kind of system is very sensitive to variations in friction and angles.
    The advantage of this gripper is to be universal, to handle all sizes of washers, with quick and easy production changes. The gripper adapts well to the most delicate configurations such as the combination of a small thickness and a large clamping force on an easily deformable material, or the like.
    Its use makes it possible to drastically reduce the rate of poor workmanship or even scrap.
    Finally, the reduced dimensioning of the manipulator allows easier access in congested areas.
    In summary, the invention makes it possible to solve the technical problem of flattening of the washers, for all of the horological blank washers, the laying with driving in mechanical abutment on a setting defining a machining position, as well as the socket from below for its extraction from the laying. The functions of hunting and detaching the washers on a machining position are thus carried out by a single device, which is moreover light and very compact, with a low inertia, which is perfectly compatible with its manipulation by a robot in time transit of a few tenths of a second.
    The invention relates to a particular method of driving or releasing a washer 900 or blank of a watch washer.
    According to the invention, a handling means 100 of such washers 900 is used, comprising at least one gripper 1 comprising a clamp 2 with a plurality of jaws 3 movable radially concentrically about a main axis D, and which are projecting relative to a support plate 4, which comprises the gripper 1 and which is movable in the direction of the main axis D. Each jaw 3 comprises at least a first radial surface 5 arranged for a radial support on the edge of a washer 900 or blank of washer. More particularly, the jaws 3 are arranged to maintain a washer 900 or blank of the washer bearing on the support plate 4, and to exert a force resistant to the thrust or to the traction exerted by the handling means 100, the plate support 4 comprising at least a first axial surface 41 arranged for axial support on a flat surface of a washer 900 or blank of washer, and the handling means 100 is maneuvered to drive out or release a washer 900 or blank of washer by a translational movement in the direction of the main axis D.
    More particularly, the gripper 1 is arranged with axial maneuvering means of the support plate 4 to maintain the support plate 4 on a machining setting 200 with a calibrated force and less than or equal to 300 N, and which axial maneuvering means are combined with at least one force sensor along the main axis D which is arranged to measure the force in traction and / or compression, and compare it to the calibrated force or to the maximum value of 300N.
    More particularly, the gripper 1 is arranged with each jaw 3 comprising at least a second axial surface 6 arranged for axial support on a flat surface of a washer 900 or blank of the washer.
    More particularly, the gripper 1 is arranged with each jaw 3 having a centering surface 7 between the second axial surface 6 and the support plate 4.
    More particularly, a handling means 100 is used comprising at least one robot 102 with a robot arm 101 carrying at least one gripper 1, and the robot 102 is moved to drive or release a washer 900 or blank washer by movement in the direction of the main axis D.
    More particularly, all the second axial surfaces 6 are arranged to grip the same washer 900 or blank of the washer at the same plane perpendicular to the main axis D.
    More particularly, each jaw 3 is arranged having a single first finger 31 projecting radially towards the main axis D and comprising a first radial surface 5, and comprising a second axial surface 6 between the first radial surface 5 and the plate d '' support 4.
    More particularly, the gripper 1 is arranged with each jaw 3 movable axially in the direction of the main axis D relative to the support plate 4, or vice versa.
    More particularly, the axial stroke of the support plate 4 is adjusted to adapt to each type of washer 900 or washer blank or to each thickness of washer 900 or washer blank.
    More particularly, the relative axial stroke between the jaws 3 and the support plate 4 is adjusted to adapt to each thickness of washer 900 or blank of washer.
    More particularly, the gripper 1 is fitted with electrical controls 10 for the radial operation of the jaws 3, and for the axial operation of the support plate 4.
    More particularly, the gripper 1 is fitted with electrical controls 10 for the axial maneuver of the jaws 3.
    More particularly, the gripper 1 is fitted with at least one encoder for a motor that includes an electric control 10, for adapting the thickness and / or the diameter of a washer 900 or washer blank, arranged to give the electrical controls 10 minimum and maximum travel instructions.
    More particularly, the gripper 1 is equipped with measuring means 11 for adapting the thickness and / or diameter of a washer 900 or washer blank, arranged to give the electrical controls 10 running instructions minimum and maximum.
    More particularly, the electrical controls 10 are set in position and / or in speed and / or in acceleration and / or in torque and / or pressing force.
    More particularly, the electrical controls 10 are arranged to effect a movement consisting in spreading the jaws 3 radially to deposit a washer 900 or washer blank on a setting 200, and in axially moving the support plate 4 in the direction of the main axis D, to compensate for the differences in thickness between the different washers 900 or blanks of the washer.
    More particularly, the electrical controls 10 are arranged to carry out a sequential movement consisting in effecting the radial spacing of the jaws 3 in order to deposit a washer 900 or blank of washer on a setting 200, and to move the support plate axially. 4.
    More particularly, the handling means 100 are fitted with at least one vision means, which is arranged to identify the upper or lower face of a washer blank upstream of the gripper 1 and to control a turning maneuver by an additional manipulator, and / or for determining the angular orientation of a blank of the washer upstream of the gripper 1 according to the position of a notch 910 and / or of at least one bore 920 which the washer 900 or blank of washer and for controlling an angular rotation maneuver by an auxiliary manipulator, and / or for reading on a washer 900 or blank of washer upstream of the gripper 1 an identification marking to trigger operating parameters of the gripper 1.
    More particularly, the handling means 100 are fitted with at least one setting 200 for machining arranged for handling washers 900 or blanks of the washer by the gripper 1, which setting 200 comprises, under a bearing face 201 arranged to receive a washer 900 or blank of washer, or a stack of washers 900 or blanks of washer, a groove 202 arranged to allow the centripetal radial insertion of fingers 31, 32, which comprise jaws 3 of the gripper 1, for the gripping without deformation of at least one washer 900 or blank of washer deposited on the support face 201.
    More particularly, each washer 900 or washer blank is prepared beforehand with at least two positioning holes 920, and each machining fitting 200 is fitted with pins 209 arranged to cooperate with minimal play or with tightening with holes 920.
    权利要求:
    Claims (20)
    [1]
    1. A method of hunting or detaching a washer (900) or blank of a watch washer, characterized in that a handling means (100) of such washers (900) is used, comprising at least one gripper ( 1) comprising a clamp (2) with a plurality of jaws (3) movable radially concentrically about a main axis (D) and which are projecting relative to a support plate (4) which comprises said gripper ( 1) and which is movable in the direction of said main axis (D), each said jaw (3) comprising at least a first radial surface (5) arranged for radial support on the edge of a said washer (900) or blank washer, in that said jaws (3) are arranged to maintain a said washer (900) or blank of washer bearing on said support plate (4), and to exert a force resistant to thrust or to traction exerted by said handling means (100), said support plate (4) comprising at least a first re axial surface (41) arranged for axial support on a flat surface of a said washer (900) or blank of the washer, and in that said handling means (100) is operated to drive out or release said washer ( 900) or blank washer by a translational movement in the direction of said main axis (D).
    [2]
    2. Method according to claim 1, characterized in that said gripper (1) is arranged with axial maneuvering means of said support plate (4) to maintain said support plate (4) on a machining setting. (200) with a calibrated force and less than or equal to 300 N, and which axial maneuvering means are combined with at least one force sensor along said main axis (D) which is arranged to measure the tensile force and / or compression, and compare it to said tared effort or to the value of 300N.
    [3]
    3. Method according to claim 1 or 2, characterized in that said gripper (1) is arranged with each said jaw (3) comprising at least a second axial surface (6) arranged for axial support on a flat surface of a washer 9 or blank of the washer.
    [4]
    4. Method according to one of claims 1 to 3, characterized in that said gripper (1) is arranged with each said jaw (3) comprising a centering surface (7) between said second axial surface (6) and said support plate (4).
    [5]
    5. Method according to one of claims 1 to 4, characterized in that a said handling means (100) is used comprising at least one robot (102) with a robot arm (101) carrying at least one said gripper (1), and in that said robot (102) is moved to drive or release a said washer (900) or blank of washer by a movement in the direction of said main axis (D).
    [6]
    6. Method according to claim 3 and one of claims 1 to 5, characterized in that all the said second axial surfaces (6) are arranged to grip the same said washer (900) or blank of the washer at the same plane perpendicular to said main axis (D).
    [7]
    7. Method according to claim 3 and according to one of claims 1 to 6, characterized in that each said jaw is arranged (3) comprising a first single finger (31) projecting radially towards said main axis (D) and comprising a said first radial surface (5), and comprising a said second axial surface (6) between said first radial surface (5) and said support plate (4).
    [8]
    8. Method according to one of claims 1 to 7, characterized in that said gripper (1) is arranged with each said jaw (3) movable axially in the direction of said main axis (D) relative to said support plate (4), or vice versa.
    [9]
    9. Method according to one of claims 1 to 8, characterized in that the axial stroke of said support plate (4) is adjusted to adapt to each type of washer (900) or blank of washer or to each washer thickness (900) or blank of the washer.
    [10]
    10. Method according to claim 8 and one of claims 1 to 9, characterized in that one adjusts the relative axial stroke between said jaws (3) and said support plate (4) to adapt to each thickness washer (900) or blank washer.
    [11]
    11. Method according to one of claims 1 to 10, characterized in that said gripper (1) is fitted with electrical controls (10) for the radial operation of said jaws (3), and for the axial operation of said plate. support (4).
    [12]
    12. Method according to claims 8 and 10, characterized in that said gripper (1) is equipped with electrical controls (10) for the axial maneuver of said jaws (3).
    [13]
    13. Method according to claim 11 or 12, characterized in that said gripper (1) is equipped with at least one encoder for a motor that includes a said electric control (10), for the adaptation of the thickness and / or of the diameter of a washer (900) or blank of washer, arranged to give said electrical controls (10) minimum and maximum travel instructions.
    [14]
    14. Method according to one of claims 11 to 13, characterized in that said gripper (1) is equipped with measuring means (11) for adapting the thickness and / or diameter of a washer ( 900) or blank washer, arranged to give said electrical controls (10) minimum and maximum travel instructions.
    [15]
    15. Method according to one of claims 11 to 14, characterized in that said electrical controls (10) are set in position and / or in speed and / or in acceleration and / or in torque and / or in force support.
    [16]
    16. Method according to claim 2 and according to one of claims 10 to 14, characterized in that the said electrical controls (10) are arranged to effect a movement consisting in spreading said jaws radially (3) to deposit a said washer ( 900) or blank washer on a said fitting (200), and to move said support plate (4) axially in the direction of said main axis (D), to compensate for the differences in thickness between the different washers (900) or washer blanks.
    [17]
    17. Method according to claim 2 and according to one of claims 11 to 16, characterized in that said electrical controls (10) are arranged to effect a sequential movement consisting in effecting the radial spacing of said jaws (3) for depositing a said washer (900) or blank of the washer on a said fitting (200), and for axially displacing said support plate (4).
    [18]
    18. Method according to one of claims 1 to 17, characterized in that said handling means (100) is equipped with at least one viewing means, which is arranged to identify the upper or lower face of a blank of washer upstream of said gripper (1) and for controlling a turning maneuver by an auxiliary manipulator, and / or for determining the angular orientation of a blank of washer upstream of said gripper (1) according to the position of a notch ( 91) and / or at least one bore (92) that comprises said washer (900) or blank of washer and for controlling an angular rotation maneuver by an auxiliary manipulator, and / or for reading on said washer (900) or blank washer upstream of said gripper (1) an identification marking to trigger operating parameters of said gripper (1).
    [19]
    19. Method according to claim 2 and according to one of claims 1 to 18, characterized in that said handling means (100) is equipped with at least one setting (200) machining arranged for handling washers ( 900) or blanks of washer by said gripper (1), which fitting (200) comprises, under a bearing face (201) arranged to receive a said washer (900) or blank of washer, or a stack of said washers ( 900) or blanks of the washer, a groove (202) arranged to allow the centripetal radial insertion of fingers (31; 32) which comprise jaws (3) of said gripper (1), for gripping without deformation of at least one said washer (900) or blank washer deposited on said bearing face (201).
    [20]
    20. Method according to claim 2 and according to one of claims 1 to 19, characterized in that each said washer (900) or washer blank is prepared beforehand with at least two positioning bores (92), and in what we equip each said machining setting (200) with pins (209) arranged to cooperate with minimum clearance or with clamping with said holes (92).
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    同族专利:
    公开号 | 公开日
    CH715482A2|2020-04-30|
    CH715499A2|2020-04-30|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    CH01262/18A|CH715482A2|2018-10-17|2018-10-17|Universal gripper for watch washers.|
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