• 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:
    Tool for stapling by sheave (3) comprising a hollow main body (1) comprising a first end (4) of attachment to a robot and a second end (5) comprising a secondary body (2) comprising in turn at least one sheave (3), further comprising axially distributed a load cell (6) at the first end (4); an anvil (6.1) in contact with the load cell (6); a first cylinder (11) in contact with the anvil (6.1); a second cylinder (12) to which the secondary body (2) is fixed; an elastic means (7) in contact with the first cylinder (11) and the second cylinder (12); and a cover (8) limiting the axial displacement of the second cylinder (12). The sheave (3), in use, permanently exerts a pressure in the axial direction, this pressure being successively transmitted to the secondary body (2), second cylinder (12), elastic means (7), first cylinder (11), suffix (6.1 ) and up to the load cell (6). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2553618A1
    申请号:ES201430675
    申请日:2014-05-08
    公开日:2015-12-10
    发明作者:Juan Jose ALAÑA GOMEZ；Gaspar MORENO GARCIA；Christian BORALLO SANCHEZ；Jesus BAHILLO DE LA PUEBLA
    申请人:Ingemat SL；
    IPC主号:
    专利说明:

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    Tool for stapling by roller.
    OBJECT OF THE INVENTION
    The present invention relates to a tool for stapling by sheave whose configuration and design allows to monitor the efforts during the stapling process and adjust the pressure exerted by the sheave in a quick and easy way.
    BACKGROUND OF THE INVENTION AND TECHNICAL PROBLEM THAT IS SOLVED
    At present, the process or operation of stapling by roller is known, which is used for example in the union of two panels with two of their surfaces in contact with each other, as an inner panel and an outer panel.
    This stapling process comprises two phases: a pre-stapling phase and a stapling phase.
    The pre-stapling phase comprises the successive folding of a flange of the outer panel contour, until said flange is forming a preset angle with respect to the inner panel. Subsequently, in the stapling phase, the flange is finished folding over the inner panel obtaining the union of both panels.
    This stapling process or operation is carried out, in its two phases, by repeated rolling of rollers or rollers through the flanges of the contours of the panels or parts according to pre-established paths, so that the flanges of the panel contours tend to fold along said paths due to a certain pressure exerted by said rollers. The pressure exerted by the sheaves during the stapling phase is greater than the pressure made by the sheaves during the pre-stapling phase, this being because during the stapling phase in addition to finishing folding the flange, sufficient pressure must be made on the flange that guarantees the union of both panels.
    The trajectories that describe the sheaves must be accurately described, so the sheaves are guided by mechanisms and devices, such as robots, capable of describing the trajectory with a high degree of precision.
    On the other hand, usually to carry out the folds required for each panel requires the use of more than one sheave. This fact is due to the fact that there are several large size sheaves that provide the possibility of large rolling bends with high quality, and there are also several small size sheaves that provide folding in areas that require a small radius of curvature. Additionally, rollers are known in very varied ways (cylindrical, conical, etc.) and with different orientations with respect to the robot that glues them facilitating the positioning of the robot, allowing a saving of energy and time in the movements, besides contributing to avoid the unwanted collision of the rollers or the robot itself with elements arranged close to the stapling area.
    Robots, meanwhile, are usually programmed using linear interpolations, that is, they follow paths defined by linear segments. This implies that, when describing curved trajectories, small imbalances, in the order of hundredths, are inevitably committed, between the path to be followed by the robot and the path followed by it. In this way, the sheave loses contact with the piece or reduces its pressure on the flange at some points when separated from it.
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    The present invention, besides achieving the objectives and avoiding the inconveniences mentioned in the previous sections, allows to know the pressure or the efforts made on the pieces or panels. Knowing this data is interesting and important mainly because it allows to know the conditions of work effort of the robot at all times, in addition to knowing the necessary forces to bend different materials with different thicknesses. Knowing the robot's effort at all times during its operation, in turn, makes it possible to obtain a reference information that can be reflected in a table.
    In this table you can show, among other data, the positioning of the robot at every moment during its operation and the force, pressure or effort exerted against the piece or panel at all times. With this information you can identify the working conditions of the system and in cases where the robot leaves the pre-established working conditions, due to unintended unforeseen events, it allows you to have a glutton of the working conditions to which you can adjust again The operation of the robot.
    This monitoring of working conditions is especially relevant during the commissioning of robots used in operation or process of stapling by roller, since there is an interaction between people and machines. Said commissioning comprises a manual adjustment of the theoretical programming carried out for the displacement of the robots, in addition to establishing the pressure values to be exerted by said robots by means of the sheaves in the pieces to be treated.
    To enable data collection during the rolling of the sheaves and thus be able to carry out the monitoring of the aforementioned data, the robots can comprise for example a spring to avoid loss of contact between the sheaves and the parts during the operation or process stapling When the sheave is resting on the surface of the piece to be stapled by exerting a pressure, the spring is compressed and when the sheave rolls around the piece and the sheave tends to separate from said piece to be stapled, the spring tends to recover its natural elongation keeping the sheave in contact with the piece.
    Although the spring is an elastic element of linear work, and therefore the pressure exerted by the rollers against the parts in the direction in which the spring extends longitudinally is proportional to the variation in its elongation with respect to its state Without load, it is not enough to obtain accurate data of the pressure exerted with which to establish the reference information to be reflected in the aforementioned table.
    This is due to the fact that at some points this pressure can be transmitted at very low values of the variation of the spring elongation, of the order of millimeters or even of decimeters of millimeter, it is very difficult to visually appreciate said variation in the elongation of the spring, and therefore in the value of the pressure exerted. As a consequence of the difficulty of visually appreciating these variations, it is not possible to make valid comparisons between different pressure values.
    In order to obtain a clear and effective visualization and assessment of the different stress values exerted by the rollers during their rolling, the stapling tool may additionally comprise precision devices for measuring pressures such as load cells.
    Said precision devices collect pressure measurements exerted against them and enable them to be transmitted, in the form of an electrical signal, to an analog / digital converter that
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    it can display in a readable way, in the form of numerical values, the efforts measured by the mentioned precision devices.
    The tool for stapling by sheave, object of the present invention, comprises a main body of hollow structure, which comprises a first end of attachment to a robot and a second end comprising a secondary body, which in turn comprises at least a roller The secondary body can comprise up to eight sheaves.
    An important feature of the present invention is that the main body comprises axially distributed inside a load cell at the first end; a bearing in contact with the load cell; a first cylinder in contact with the bearing; a second cylinder to which the secondary body is fixed; an elastic means in contact with the first cylinder and the second cylinder; and a cap limiting the axial displacement of the second cylinder towards the outside of the main body.
    In this way, the sheave, in use, permanently exerts a pressure in the axial direction, this pressure being successively transmitted to the secondary body, to the second cylinder, to the elastic medium, to the first cylinder, to the undercarriage and finally to the load cell.
    Another important feature of the present invention is that the lid is screwed on the second end so that the compression of the elastic means with the sheave at rest or in use, is adjustable by threading the lid on the second end. It is considered that the present tool or the sheave is at rest when the sheave does not exert pressure against the piece to be stapled, and instead it is considered that the present tool or sheave is in use when the sheave does exert pressure against the piece to be stapled .
    In addition, the tool for stapling by sheave, object of the present invention, can comprise clamping screws that exert pressure against an outer cylindrical surface of the second end after being screwed into through threaded holes angularly distributed in the outer perimeter of the lid.
    Alternatively, the present roller stapling tool may comprise a first key that can be fixed to the main body by screwing a first screw through a torn hole comprised in the first key, the first key being partially and tightly housed in a recess of a crenellated edge covered by the lid.
    Another important feature of the present invention is that the present tool comprises blind holes for screwing and unscrewing the cover to the second end by mechanical means.
    Another important feature of the present invention is that it can comprise anti-rotation means that prevent the relative rotation of the second cylinder with respect to its central longitudinal axis while allowing axial displacement of the second cylinder.
    DESCRIPTION OF THE DRAWINGS
    The invention is complemented, for an easy understanding of the description that is being made, with a set of drawings where, with an illustrative and non-limiting nature, the following has been represented:
    - Figure 1 shows a perspective view of a tool for stapling by roller, object of the present invention, according to a preferred embodiment.
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    - Figure 2 shows a perspective view with a longitudinal section of the roller stapling tool of Figure 1.
    - Figure 3 shows a view of a cover according to a preferred embodiment.
    - Figure 4 shows a view of a cover according to another preferred embodiment.
    Below is a list of the different elements represented in the figures that make up the invention:
    1 = Main body
    2 = Secondary body
    3 = Roller
    4 = First end
    5 = Second end
    6 = Load cell
    6.1 = Suffering
    6.2 = Connector
    7 = Elastic medium
    8 = Cover
    9.1 = First bushing
    9.2 = Second bushing
    10 = Fourth screw
    11 = First cylinder
    12 = Second cylinder 12 ’= Outgoing
    13 = Reference element
    14 = Anti-rotation means
    14.1 = Detachable plate
    14.2 = Second key
    14.3 = Second screw
    15 = Blind Hole
    16 = Tightening screws
    17 = First key 17 ’= Torn hole
    18 = Hollow
    19 = Plate
    20 = Bearing
    21 = Through threaded hole
    22 = Discount
    23 = First screw
    24 = Third screw
    25 = First hole
    26 = Second hole
    27 = Fixation
    DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT OF THE INVENTION
    As already indicated, and as can be seen in Figures 1 and 2, the present invention discloses a tool for stapling by roller (3) preferably comprising a main body (1) of hollow cylindrical longitudinal structure, the which comprises a first end (4) by which it is fixed to a robot.
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    The first end (4) comprises a stop plate (19) to connect the present tool to a robotic arm by means of second holes (26), while the plate (19) comprises first holes (25) distributed angularly for fixing to the end of the main body (1) by screwing in third screws (24), as shown in figure 2. This configuration allows access to the inside of the main body (1) through the first end ( 4). In another preferred embodiment, not shown in the figures, this plate (19) is used as the closure of the first end (4) of the main body (1), while being fixed to a coupling cylinder, which in turn It is fixed to the robotic arm. With this preferred embodiment, an extension in the final positioning of the rollers (3) is obtained.
    A second end (5) of the main body (1) comprises a secondary body (2) partially inserted therein. The secondary body (2) is axially and rotationally fixed with respect to a second cylinder (12), as described below. The secondary body (2) comprises 4 fasteners (27) angularly distributed every 90 ° for the provision of a sheave (3) in each of the fasteners (27). The fixings (27) may vary in length and orientation depending on the folding operations to be performed on each piece. In other preferred embodiments, the number of fixings (27) ranges from 1 to 8, and therefore also the number of sheaves (3) comprised by the present tool for stapling by sheave (3). Each of the fasteners (27) additionally comprises a bearing (20) for the rotation of each of the rollers (3) in their bearings by the flanges of the contours of the panels or pieces, carrying out progressive folding of said flanges by default paths.
    Additionally, the secondary body (2) comprises fixed in the central part a reference element (13) of the robot, a "Tool Control Point" (TCP), protruding centered and axially from the rest of the tool. The reference element (13 ) comprises a metal rod preferably fixed by screwing in the secondary body (2) In other preferred embodiments, the reference element (13) can be fixed in another area of the tool for stapling by sheave.
    For axial and rotational fixing of the secondary body (2) to the second cylinder (12) disposed inside the main body (1) at its second end (5), the present tool comprises a fourth screw (10). In turn, the secondary body (2) is partially inserted in the second cylinder (12) favoring its axially centered arrangement.
    The second cylinder (12) is wrapped by first bushings (9.1) to ensure and favor its guidance in its axial displacements inside the main body (1). Additionally, the second cylinder (12) has its relative rotation prevented with respect to its own central longitudinal axis due to anti-rotation means (14) arranged, in the preferred embodiment shown in the figures, in a part close to the inner end of the second cylinder (12), that is to the end of the second cylinder (12) that is closest to the first end (4). The main body (1) comprises an access opening to said anti-rotation means (14) which is covered by a removable plate (14.1).
    The anti-rotation means (14) preferably comprise a second key (14.2) fixed to the outside of the second cylinder (12) by means of a second screw (14.3). The second key (14.2) has a gap in the main body (1) of longitudinal extension, according to the longitudinal extension of the main body (1), for its accommodation and displacement, since the second cylinder (12) moves axially without rotation.
    In the preferred embodiment shown in Figure 2, the inner end of the second cylinder (12) comprises on a circular surface a perfectly centered projection (12 '), which serves for the tight placement of one end of an elastic means (7) , such as a spring or
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    elastic spring, at said inner end of the second cylinder (12). Preferably, at least half of the length of the elastic means (7) is inserted through the center of a circular surface of a first cylinder (11) facing the circular surface of the inner end of the second cylinder (12) inside the main body (1). In the preferred embodiment shown in Figure 2, the length of the elastic means (7) inserted is approximately three quarters of the total length.
    The arrangement of the elastic means (7) partially inserted in the first cylinder (11) and by pressure wrapping the projection (12 ') of the second cylinder (12) allows to obtain an axial fixation and guidance of the longitudinal extension of the elastic medium (7 ) without allowing said elastic medium (7) to deform laterally, especially when compressed.
    Preferably, the first cylinder (11) is wrapped by a few second bushings (9.2) to ensure and favor its guidance in its axial displacements inside the main body (1). Additionally, the first cylinder (11) comprises an outer end, that is to say the end disposed closest to the outside of the main body (1) following an axial path, with a circular surface, complementary in its central part to a die
    (6.1). In this way, all pressure by the axial displacement of the first cylinder (11), especially towards the plate (19), is collected by the runner (6.1).
    The bearing (6.1) transmits to a conventional load cell (6), the pressure exerted by said displacements of the first cylinder (11), the load cell (6) being retained at the first end (4) against the main body ( 1) by the plate (19). The colocation of the sufridera
    (6.1) prevents wear of the first cylinder (11) and / or the load cell (6), being cheaper to replace the runner (6.1) than the first cylinder (11) and / or the load cell (6) .
    The load cell (6) is inserted in the main body (1) except for at least one connector (6.2) for connecting the load cell (6) to an analog / digital converter, conventional and not shown in the figures . The analog / digital converter transforms to numerical values the forces or pressures measured by the aforementioned load cell (6) through the bearing (6.1), and in turn has the function of wireless transmitter to transmit the measured values. The numerical values obtained are sent to a monitoring device, PC or specific display, for visualization and evaluation.
    The assembly formed by the rail (6.1), the first cylinder (11), the elastic means (7), the second cylinder (12) and the secondary body (2), perfectly aligned axially with each other by their centers, is axially delimited by a cover (8) arranged at the second end (5) of the main body (1). An aligned arrangement of said assembly, preferably of its longitudinal central axes, is important for a linear and effective transmission of the forces or pressure exerted by the present tool against the parts to be treated in the longitudinal direction of said tool.
    The secondary body (2) is inserted through the cover (8). The cover (8) is screwed to the second end (5) and is in contact with the second cylinder (12) so as to prevent its displacement towards the outside of the main body (1) through the second end (5).
    The present tool for stapling includes blind holes (15), more clearly visible in Figures 3 and 4, made in the outer cylindrical perimeter of the cover (8), angularly distributed, to partially insert mechanical means with which to facilitate rotation of the cover (8). These mechanical means are preferably keys of one or a similar mechanical element of longitudinal extension comprising a housing end in said blind holes (15).
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    To ensure or fix the positioning of the cover (8) once it is screwed on as far as desired at the second end (5), the cover (8) is fixed in said position by screwing in some clamping screws (16 ), preferably without a head, in threaded through holes (21) arranged in the outer cylindrical perimeter of the cover (8). The tightening screws (16) are screwed into said through threaded holes (21) until the required pressure is exerted against the outside of the main body (1) to ensure that the cover (8) will not suffer unwanted movements with the present tool in use or rest. This preferred embodiment allows the fixation of the cover (8) in a desired position or the release of the cover (8) from said desired position, without requiring manipulation of any other element.
    Figure 4 shows an alternative preferred embodiment to that shown in Figure 3. In this preferred embodiment the tool object of the present invention comprises a crenellated edge in the cover (8) and a first key (17) with a torn hole (17 ') to insert a first screw (23) that is screwed into the outer cylindrical surface of the main body (1) for fixing said first key (17) to the outer surface of the main body (1). The first key (17) is preferably fixed in a recess (22). Preferably, on the outer surface of the main body (1) there are between 1 and 8 recesses (22) angularly distributed to ensure lateral immobilization preventing the first key (17) from rotating or moving.
    The torn hole (17 '), of extension in the longitudinal direction according to the longitudinal extension of the main body (1), facilitates adapting the longitudinal position of the first key (17) to the different degrees of screwing of the cover (8) at the second end (5). Once the cover (8) is screwed to its desired position at the second end (5), a hole (18) of the crenellated edge of the cover (8) closer to said first is matched with the first key (17) key (17), thus leaving the first key (17) tightly inserted in the recess (18) and in the desired longitudinal position by means of the torn hole (17 ').
    During the pre-stapling phase, the tool behavior must be similar to that of a stiff solid, since in this stage of the stapling operation in which the folding of the contour flange of an outer panel takes place up to a pre-established angle with respect to an inner panel, the precision in the folding of the areas of the panel with curvature is not a restrictive parameter, the speed of the operation being more relevant. Therefore, since the roller stapling tool of the present invention comprises an elastic means (7), it is necessary to establish a preload to said elastic means (7), through which the behavior of the tool is equivalent to of a solid solid. This preload is the one corresponding to compressing the elastic means (7) in such a way that the pressure exerted by the robot on the flange during the pre-stapling phase is lower than the preload made on the elastic means (7). Thus, given that the preload to which the elastic medium (7) is subjected is not exceeded by the pressure that the robot makes on the flange during the pre-stapling phase, the behavior of the elastic medium (7) and therefore that of the roller stapling tool of the present invention is equivalent to that of a rigid solid.
    For the realization of this preload, the cover (8) is screwed until it exerts a pressure against the second cylinder (12) which in turn compresses the elastic medium (7) according to desired values. When screwing the cover (8) until the elastic medium (7) is compressed as desired, it is when that position of the cover (8) is fixed within its screwing path, as explained above. In this way, the rotation of the cover (8) is prevented by avoiding unwanted variations of the preload to which the elastic medium (7) is subjected.
    During the stapling phase, it is necessary to obtain a high degree of precision in the trajectories and therefore correct the existing deviations during folding in the curved areas of the panels, therefore in this phase an elastic behavior of the tool is necessary .
    In the stapling phase, a load or pressure is exerted by the stapling tool against the piece to be stapled resulting in a compression of the elastic medium (7). Said compression of the elastic means (7) prevents the sheaves (3) from losing contact with the pieces 5 or reducing their pressure on the pieces, by following paths defined by linear segments.
    This is because when the sheaves (3) lose contact with the contour flange of the panel or part being stapled, the elastic means (7) pushes the second cylinder (12) 10 and this in turn to the secondary body ( 2), thus maintaining the contact of the sheave (3) with the flange of the contour of the panel or part being stapled, correcting the deviation existing between the linear path of the robot and the curvature of the panel or part.
    The tool object of the present invention makes it possible, in addition to monitoring the stresses 15 during the stapling process, to quickly and easily adapt the state of the elastic medium (7) to the requirements of the pre-stapling phase, also facilitates adapting or modifying the state of the elastic medium (7), if necessary, when passing from the pre-stapling phase to the stapling phase reducing the time required for it.
    2 0 Once the nature of the invention has been described, it is stated for the appropriate purposes that it is not limited to the exact details of this exposition, but that, on the contrary, it will introduce the modifications that are considered appropriate by experts in the matter, provided that the essential characteristics of it are not altered. Accordingly, the scope of the invention is defined by the following claims.
    权利要求:
    Claims (6)
    [1]
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    1. - Tool for stapling by roller, comprising:
    - a main body (1) of hollow structure, which comprises a first end (4) of attachment to a robot and a second end (5) comprising a secondary body (2), which in turn comprises at least one roldana (3);
    characterized in that the main body (1) comprises axially distributed in its interior:
    - a load cell (6) at the first end (4);
    - a bearing (6.1) in contact with the load cell (6);
    - a first cylinder (11) in contact with the bearing (6.1);
    - a second cylinder (12) to which the secondary body (2) is fixed;
    - an elastic means (7) in contact with the first cylinder (11) and the second cylinder (12); Y
    - a cover (8) limiting the axial displacement of the second cylinder (12) towards the external part of the main body (1);
    such that the sheave (3), in use, permanently exerts a pressure in axial direction, this pressure being successively transmitted to the secondary body (2), to the second cylinder (12), to the elastic medium (7), to the first cylinder (11 ), to the sufridera (6.1) and finally to the load cell (6).
    [2]
    2. - Tool for stapling by sheave according to claim 1, characterized in that the cover (8) is screwed on the second end (5) so that the compression of the elastic medium (7) with the sheave (3) at rest or in use, it is adjustable by screwing the lid (8) on the second end (5).
    [3]
    3. - Tool for stapling by sheave according to claim 1 or 2, characterized in that it comprises clamping screws (16) that exert pressure against an outer cylindrical surface of the second end (5) after being screwed into through threaded holes (21) distributed angularly on the outer perimeter of the lid (8).
    [4]
    4. - Tool for stapling by sheave according to claim 1 or 2, characterized in that it comprises a first key (17) fixed on the main body (1) by screwing a first screw (23) through a torn hole (17 ') comprised in the first key (17), the first key (17) being partially and tightly housed in a recess (18) of a crenellated edge comprised in the cover (8).
    [5]
    5. - Tool for stapling by roller according to any one of the preceding claims, characterized in that it comprises blind holes (15) for screwing and unscrewing the cover (8) to the second end (5) by mechanical means.
    [6]
    6. - Tool for stapling by roller according to any one of the preceding claims, characterized in that it comprises anti-rotation means (14) that prevent the relative rotation of the second cylinder (12) with respect to its central longitudinal axis while allowing axial displacement of the second cylinder (12).
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    同族专利:
    公开号 | 公开日
    ES2553618B1|2016-09-21|
    MX2016014466A|2017-04-06|
    EP3141313A1|2017-03-15|
    WO2015169983A1|2015-11-12|
    EP3141313A4|2017-06-14|
    US20170151602A1|2017-06-01|
    US9999913B2|2018-06-19|
    ES2658060T3|2018-03-08|
    ES2658060T4|2018-04-13|
    EP3141313B1|2017-12-06|
    CN106794511A|2017-05-31|
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