• 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:
    System and procedure for the shredding of parts manufactured by a punch, comprising control means (2) and a claw (6) integral with positioning means comprising a plurality of pneumatic needle clamps (7), where each clamp (7) is configured to extract, once activated, at least one pneumatic needle (13) from the base (14) of the clip (7) to produce the grip of die-cut parts (24), and where the control means (2) are configured so that, when the claw (6) is in the pick-up position, activate one or more clamps (7) determined according to the die used and the arrangement of the clamps (7) in the claw, for destroying at least one piece (24) generated by the die. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2686149A1
    申请号:ES201830417
    申请日:2018-04-26
    公开日:2018-10-16
    发明作者:Alejandro ESCARIZ DIAZ；Bruno MARTÍNEZ BARGIELA；Carmen FERNÁNDEZ GONZÁLEZ；Óscar MUIÑOS DOMÍNGUEZ；Sergio GIL GIL
    申请人:Ledisson A&it S L；Ledisson A&it SL；
    IPC主号:
    专利说明:

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    SYSTEM AND PROCEDURE FOR THE DRILLING OF MANUFACTURED PARTS
    FOR A TROQUEL
    DESCRIPTION
    Field of the Invention
    The present invention encompasses in the field of systems and procedures for the automatic shattering of parts manufactured in a die cutter of textile materials, foamed materials and other materials of similar characteristics.
    Background of the invention
    A claw is normally used to derail parts manufactured by a press. Currently, to destroy different types of parts manufactured by the same press, changes are used to the claw used, where each claw adapts to a particular type of piece manufactured.
    Said shredding of parts by means of a claw change has the following drawbacks:
    - Extra cost caused by the manufacture of as many claws as there are types of pieces.
    - Loss of space invested in the nests to store the different claws that are out of production.
    - Waste of production time invested in making the claw change.
    The present invention solves these problems caused by claw changes, by presenting an intelligent claw with the ability to adapt to the die automatically, so that with the same claw you can perform the shattering of all types of parts.
    Description of the invention
    The present invention relates to a system and method for the shattering of parts manufactured by a press. The system comprises an intelligent claw that adapts automatically to the pieces that are manufactured in a die cutter of textile material or similar, so that when the reference of the manufactured part is changed, the claw automatically adapts to said piece and is able to perform the shattered. This
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    form, with a single claw can be made the shattering of all types of pieces autonomously.
    The claw is composed of a plurality of pneumatic needle clamps. The claw is mounted on a robot and is controlled by a control unit that, according to the piece to be destroyed, identifies the clamps that need to be activated to take each of the pieces. Similarly, the control unit is also responsible for deactivating each clamp according to the previously defined destination of each of the pieces that are in the claw. A PLC exchanges information with the control unit by means of an OPC protocol, and in turn also exchanges information with the robot, which activates the necessary clamps to perform the catch according to the pieces to be smashed.
    The control unit collects an image of the die that is in production and compares it with an image of the claw mounted on the robot. Thus, automatically, the claw adapts to the pieces to be shattered, allowing maximum flexibility, cost savings and a reduction in downtime in the reference changes to be produced. Normally this is done in a previous stage of configuration, in which a user adds an image of the die that manufactures each of the pieces and an image of the claw that performs the shattering, determining for said die-claw assembly the pneumatic needles of the claw that must be activated to destroy each piece generated by the die.
    A first aspect of the present invention relates to a system for the shattering of parts manufactured by a die. The system comprises control means and a clamp fixed to positioning means (which can be part of the system), implemented for example by means of a robot. The claw in turn comprises a plurality of pneumatic needle clamps, where each clamp is configured to extract, once activated, at least one pneumatic needle from the base of the clamp to produce the grip of die-cut pieces. The control means are configured so that, when the claw is in the position of collecting parts, activate one or more specific clamps depending on the die used and the arrangement of the clamps on the claw, to crack at least one piece generated by the die The pneumatic needle clamps are preferably arranged in a matrix of rows and columns.
    In one embodiment, the control means comprise a control unit configured
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    to determine the clamps to be activated by obtaining the die-claw assembly that is in production and consulting a database of the clamps to be activated corresponding to said die-claw assembly.
    The control unit may preferably be configured to determine, in a configuration stage, the clamps to be activated for each die-claw assembly by superimposing an image of the claw (which includes the arrangement of the clamp bases), with an image of the die (which includes one or more pieces to be smashed), and then store the results in memory, for example in a database.
    For the determination of the clamps to be activated for each die-claw assembly, the control unit can be configured to calculate the area of the base of each clamp that in the overlay is covered by a piece, and determine the activation of the clamps whose Covered base area is equal to or greater than a certain threshold. The control unit can be configured to, in the configuration stage, automatically detect the parts by analyzing the image of the die.
    According to one embodiment, the image of the die includes the pieces represented in a certain color, preferably black, and the image of the claw includes the bases of the tongs represented in the same color as the pieces.
    The control means may also be configured to, when the claw is in position to release at least one piece, deactivate the previously activated clamps for said at least one piece.
    The control means may be configured to determine the position of the claw (e.g. position of picking up parts, position of leaving parts) by receiving a clamp positioning signal from the positioning means.
    In one embodiment, the control means comprise a control unit and a PLC in communication with the control unit and with the positioning means. The system may comprise a set or block of solenoid valves responsible for producing the pneumatic activation of the clamp clamps. The claw can comprise a support to which the clamps and the solenoid valve block are fixed.
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    A second aspect of the present invention relates to a method for the shattering of parts manufactured by a die. The method comprises activating one or more pneumatic needle clamps that are part of a claw to destroy, by removing at least one pneumatic needle from the base of the clamp, at least one piece generated by a die when said claw is in position for collecting parts, where the clamps to be activated are determined according to the die used and the arrangement of the clamps in the claw.
    The procedure may comprise the step of moving the claw to the part picking position. The procedure may comprise the detection of the placement of the claw in the position of collecting parts.
    According to one embodiment, the method comprises obtaining the die-claw assembly that is in production and determining the clamps to be activated corresponding to said die-claw assembly by consulting a database.
    The method preferably comprises a previous configuration step, which comprises obtaining an image of a claw that includes the arrangement of the clamp bases; obtain an image of a die that includes one or more pieces to be shattered; superimpose both images; analyze the superimposed image; determine the clamps to be activated for said die-claw assembly based on said analysis, and store the results in a database. This previous configuration stage is preferably performed on each existing die-claw assembly.
    Brief description of the drawings
    A series of drawings that help to better understand the invention and that expressly relate to an embodiment of said invention which is presented as a non-limiting example thereof is described very briefly below.
    Figure 1 shows a schematic of a system for shredding parts according to the present invention.
    Figures 2A and 2B illustrate, according to a possible embodiment of the present invention, two perspective views of the intelligent claw that is part of the system for parts shattering.
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    Figure 3 illustrates another example of arrangement of the pneumatic needle pliers that are part of the smart claw.
    Figures 4A, 4B and 4C represent different views of a pneumatic needle clamp.
    Figure 5 illustrates a flow chart of the parts shattering process.
    Figure 6 illustrates a flow chart of the process of releasing previously shattered parts.
    Figures 7A, 7B and 7C illustrate different stages of the process of generating a die-claw assembly performed by the control unit.
    Figure 8 shows the claw in operation, with the pieces already cracked. Detailed description of the invention
    Figure 1 schematically represents the elements that make up system 1 for shattering parts manufactured by a die. The system 1 comprises control means 2, positioning means (implemented for example through a robot 5) and a claw 6 for cracking parts fixed to the positioning means.
    The positioning means control the position of the claw 6, according to control orders received. The positioning means can be implemented by an industrial robot 5 (eg a robotic arm, as shown in Figure 1), although it can take any other form or arrangement as long as it fulfills the function of spatial positioning of the claw 6. The control commands for the positioning of the claw 6 can come from the control means 2 or from another entity external to the system 1 (in the first case, the control means 2 would be configured to control the movement of the means of positioning, and with it the position of the claw 6 at each moment, through the sending of claw positioning orders).
    The control means 2 perform the control of the activation or deactivation of the pneumatic needle clamps of the claw 6, by sending a claw activation signal
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    Sact. In turn, the control means 2 receive from the positioning means a positioning signal of the claw Spos indicative of the current position of the claw 6. In particular, said positioning signal of the claw Spos at least informs the means control 2 when the claw 6 is in a position to pick up one or more pieces (pick-up or crushing position) and when the claw 6 is in a position to release one or more pieces (left position).
    The communication between the different elements of the system and the sending of the control orders can be carried out by any known communication protocol, for example via EtherNet / IP.
    In turn, the control means 2 can be implemented in a single entity or, as shown in Figure 1, in different entities intercommunicated with each other. Thus, in the embodiment of Figure 1 the control means 2 comprise a control unit 3 (for example, a computer) and a management PLC 4 (a programmable logic controller), connected to each other using a specific communications protocol ( for example, said communication can be done through OPC, "OLE for Process Control").
    Figures 2A and 2B show two top and bottom perspective views, respectively, of an intelligent claw 6 for parts shattering according to a possible embodiment. The claw 6 comprises a plurality of pliers 7 of pneumatic needles attached to a support 8 and arranged on a surface that preferably covers the entire surface of the die (or at least most of the surface occupied by the pieces to be cracked). In the embodiment shown in these figures, the claw comprises 25 pliers 7 of pneumatic needles arranged in a matrix of 5 rows of pliers and 5 columns of pliers, although the arrangement of the pneumatic needle pliers may vary; for example, in Figure 3 a matrix 9 of pneumatic needle clamps of size 8x2 (i.e. 8 rows and 2 columns of pliers, or vice versa) is shown.
    Each of the pneumatic needle clamps 2 is operated independently by means of a block of solenoid valves 10 that is embedded in the claw 6, attached to the support 8, although the solenoid valves could be incorporated or fixed to the robot 5. In this figure it is not possible show the tubes that make the pneumatic connection between each solenoid valve of the solenoid valve group 10 and each pneumatic needle clamp 7. In this embodiment the support 8 comprises several plates joined together and arranged perpendicularly, although
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    the support 8 can take other forms and different arrangements.
    Figures 4A, 4B and 4C show a perspective view, a side view and a bottom view of a pneumatic needle clamp 7 (corresponding to a commercial clamp) that composes the array 9 of pliers used in the smart claw 6. The pneumatic needle clamp 7 has at its top an inlet connector 12 of pressurized air, through which it is connected, by means of a tube or hose of compressed air (which is not represented in the figures), with a of the solenoid valves of the solenoid valve block 10.
    The pressurized air received through said inlet connector 12, by activating a solenoid valve, pushes one or more pneumatic needles 13 collected at the base 14 of the clamp 7, producing its deployment to act with a grip function. As illustrated in the example of Figure 4B, the pneumatic needles 13 are preferably deployed at an obtuse angle with respect to the surface of the base 14, to favor the grip of the pieces. In this example, the pneumatic needles 13 are deployed at an angle of + 30 ° or -30 ° with respect to the base 14, depending on their location, orienting the needle towards the outside of the base, thus forming 120 ° between opposite needles. Of course, any other type of pneumatic needle pliers 7, of any size and brand, can be used, provided they are effective for gripping the parts.
    In the control unit 3, the configuration of the pieces to be crushed for each die-claw assembly is carried out, using an ad hoc application. Each die can generate one or several pieces to be destroyed. For each die that generates one or several pieces, an image of said die is included where the shapes of the pieces are identified (for example, a CAD design of the same in a recognizable format, such as AutoCad or any other assisted design software tool by computer) and is associated with an image or CAD design of the claw 6 with which the shattering is to be performed. The die set can be encoded with an identifier that uniquely identifies it.
    A flowchart of the process of scrapping or picking up parts 100 is shown in Figure 5. When the robot 5 detects that the claw 6 is in the pick-up or shredding position 102 of parts, the robot 5 informs the PLC 104 of said situation. The PLC 4 informs 106 to the control unit 3 of the die-claw assembly that is in production. If the application of the control unit 3 has not registered said set,
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    it emits an alarm signal 108 (this verification of the existence of the die-cutting assembly could be carried out previously, for example in the first step of the process). Otherwise, the application of the control unit 3 informs the PLC 4 of the clamps 7 to be activated. The PLC sends 112 to the robot 5 a Sact claw activation signal to activate the clamps assigned to the collection of parts of said die-claw assembly. Finally, the robot activates 114 the clamps 7 of the claw 6 and the shattering of the piece or pieces in question occurs.
    Figure 6 shows a flow chart of the process of leaving pieces 200 that have been previously picked up by the claw 6. When the robot 5 detects that the claw 6 is in the left position 202 of one or more pieces, the robot 5 informs PLC 204 of this situation. The PLC 4 informs 206 to the control unit 3 that clamps 7 that take one or more pieces must be deactivated. The application of the control unit 3 informs 210 to the PLC 4 of the clamps 7 which must be deactivated, depending on the position left in the robot and the parts to be released. The PLC sends 212 to the robot 5 a Sact claw activation signal to deactivate the clamps assigned to the left of said parts. Finally, the robot deactivates 214 the clamps 7 of the claw 6 and releases the piece or pieces in question.
    Although in these processes of shredding of pieces 100 and of leaving pieces 200 described in the examples of Figures 5 and 6, and according to the scheme of Figure 1, the Sact claw activation signal (which controls the activation or deactivation of the solenoid valves of the solenoid valve block 10) is sent to the claw 6 passing through the robot 5, in another alternative embodiment said Sact claw activation signal can be sent directly to the claw 6 from the control means 2 , without going through the means of positioning as an intermediary. It all depends on the interconnection and communication established between the different elements of the system. What is relevant in the system is that the control means 2 generate a Sact claw activation signal, and that said signal reaches the claw 6 for activating or deactivating the appropriate solenoid valves. Similarly, the control means 2 somehow receive a positioning signal from the Spos claw indicative of the moment in which the claw 6 is in the proper position for collecting or leaving parts, which launches the previous process .
    The process of generating a new die assembly is explained in detail below.
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    claw in the application of the control unit 3.
    First, the user proceeds to create, in the application of the control unit 3, a new claw, associating an image 20 with said claw (the image can be previously stored in a database accessible to the control unit 3 or it can be loaded, or even generated, by the user himself). Alternatively, the user selects an already created claw, for example by entering a reference or identifier. Figure 7A shows an image 20 of a given Gx claw, in particular an image of the clamp matrix 9 (Pi, P2, ..., P25) of the claw 6 of the example of Figures 2A and 2B (it would be an image corresponding to the bottom view of the array 9 of tweezers, the bases 14 of the tweezers 7, where all the tweezers 7 are the same size and are on a certain scale with respect to the actual tweezers). The surface occupied by the die matrix 9 preferably covers the entire surface of the die, or at least most of the area occupied by the pieces of the die, so that the claw 6 can destroy in a single action all the pieces generated by the die . In the example, the tweezers (Pi, P2, ..., P25) are shown in black and the rest of the image with a white background. The tweezers (Pi, P2, ..., P25) in image 20 are separated from each other by at least one line of pixels of the background color (white, in the example of Figure 7A).
    Next, the user creates a new die, associating an image 21 with the die. Alternatively, the user selects an already created die. Figure 7B shows, by way of example, an image 21 of a particular die Tx where the pieces (21a, 21b, 21c, 21d) to be smashed in black, and the rest of the blank die are shown. The pieces do not touch the edges of the image 21 nor do they touch each other; in this way the control unit 3 can easily automatically recognize the different pieces of the die Tx.
    The application of the control unit 3 proceeds to superimpose both images (20, 21), which have the same size (in this example, 1000x1000 pixels) and are at the same scale, so that the physical dimensions coincide . Figure 7C shows the images of Figures 7A and 7B (image 20 of the claw Gx and image 21 of the die Tx) superimposed (image 22), where for greater clarity to distinguish the pieces (21a, 21b, 21c , 21d) the colors in image 20 of the Gx claw have been inverted, representing the clamps (P1, P2, ..., P25) in white and the background in black. As can be seen, the surface of the gripper matrix 9 almost completely covers the entire area of
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    The die pieces.
    When a new die-claw assembly (Tx-Gx) is registered in the application of the control unit 3, the application automatically detects the parts (21a, 21b, 21c, 21d) of the selected Tx die and the user assigns to each one of said pieces a left position (D1, D2, D3 or D4, in the example of Figure 7C), which can correspond, for example, to a container where the piece is to be located.
    The control unit 3 then determines, automatically by analyzing the superposition of both images, the clamps (Pi, P2, ..., P25) of the claw that must be activated to collect each piece of the die (and, by therefore, the clamps that must be deactivated to release the piece). Thus, in the example of Figure 7B, the clamps to be activated to pick up the pieces are highlighted in gray (those clamps that are totally covered by one of the pieces), and in the center of each piece the position of left is indicated (D1 , D2, D3 or D4) assigned to each piece by the user. Thus:
    - The hexagonal piece 21a is collected by the activation of the clamps P6 and P7, and the left position is the D1 position.
    - The circular piece 21b is collected by the clamp P9 and left in position D2.
    - The triangular piece 21c is destroyed by the clamp P16 and will be left in position D3.
    - And finally, the square piece 21d is picked up by tweezers P19, P20, P24 and P25 and left in position D4.
    The automatic detection of the clamps to be activated in the die-claw assembly (Tx-Gx) can be carried out as follows:
    - Locate the pieces using artificial vision libraries. To do this, with the help of an artificial vision library, image 21 of the pixel-to-pixel die is traced by locating the black contours. Once the contours are located, the pieces are redrawn in different grayscale (not perceptible to the human eye), in this way a different color is assigned to each of the pieces and a number is assigned to each piece, which is then used to associate that piece with the position in which you want to leave each piece.
    - Locate similarly the clamps in the image 20 of the claw, locating the contour of each of the needle clamps.
    - The image 21 of the die is superimposed on the image 20 of the claw, obtaining the image 22 superimposed.
    - Once the images are superimposed, each of the tweezers is checked individually. To activate a clamp, it must be completely covered by one of the pieces (alternatively, you can obtain the percentage of the area of a clamp covered by a piece and determine the activation of a clamp 5 when the percentage of the area over the total of the clamp is equal to or greater than one
    certain threshold). If so, the color of the piece is checked to know in which position the piece must be left.
    At the time the new die-claw assembly (Tx-Gx) is registered, a database is stored in 10, so it is not necessary to perform any type of action in the application
    at the time the reference is changed. Thus, if PLC 4 requests a set code that is not stored in the application database, it returns an alarm indicating the situation to the operator, according to step 108 of Figure 5.
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    Figure 8 shows the robot 5 and the claw 6 in operation, with the matrix 9 of clamps holding the pieces 24 that have been previously shattered from a plate 25 of foamed material cut by the die (the gaps 26 are appreciated in the plate 25 resulting from the collection of the pieces by claw 6). These pieces will then be left in one or more containers, according to the process shown in Figure 6.
    权利要求:
    Claims (19)
    [1]
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    1. System for the shattering of parts manufactured by a die, comprising control means (2) and a claw (6) fixed to positioning means, characterized in that the claw (6) comprises a plurality of clamps (7 ) of pneumatic needles, where each clamp (7) is configured to extract, once activated, at least one pneumatic needle (13) from the base (14) of the clamp (7) to produce the grip of die-cut parts (24) ,
    where the control means (2) are configured to, when the claw (6) is in the position of picking up parts, activate one or more tweezers (7) determined according to the die used and the arrangement of the tweezers (7 ) in the claw, to destroy at least one piece (24) generated by the die.
    [2]
    2. System according to claim 1, characterized in that the control means (2) comprise a control unit (3) configured to determine the clamps (7) to be activated by obtaining the die-claw assembly (Tx-Gx) which It is in production and the query in a database of the clamps (7) to be activated corresponding to said die-claw assembly (Tx-Gx).
    [3]
    3. System according to claim 2, characterized in that the control unit (3) is configured to determine, in a configuration stage, the clamps (7) to be activated for each die-claw assembly (Tx-Gx) by superposition of an image (20) of the claw (Gx) including the arrangement of the bases (14) of the clamps (7), with an image (21) of the die (Tx) including one or more pieces (21a, 21b, 21c , 21d) to smash, and store the results in a database.
    [4]
    System according to claim 3, characterized in that for the determination of the clamps (7) to be activated for each die-claw assembly (Tx-Gx), the control unit (3) is configured to:
    calculate the area of the base (14) of each clamp (7) that in the overlay is covered by a piece (21a, 21b, 21c, 21d);
    determine the activation of the clamps (7) whose area of the covered base (14) is equal to or greater than a certain threshold.
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    [5]
    5. System according to any of claims 3 to 4, characterized in that the control unit (3) is configured to automatically detect the parts (21a, 21b, 21c, 21d) in the configuration stage by analyzing the image (21) of the die (Tx).
    [6]
    System according to any one of claims 3 to 5, characterized in that the image (21) of the die (Tx) includes the parts (21a, 21b, 21c, 21d) represented in a certain color, and the image (20) of the claw (Gx) includes the bases (14) of the clamps (7) represented in the same color as the pieces (21a, 21b, 21c, 21d).
    [7]
    System according to any of the preceding claims, characterized in that the control means (2) are configured to, when the claw (6) is in position to release at least one piece (24), deactivate the clamps (7) previously activated for said at least one piece (24).
    [8]
    System according to any of the preceding claims, characterized in that the control means (2) are configured to determine the position of the claw (6) by receiving a claw positioning signal (Spos) from the means of positioning.
    [9]
    9. System according to any of the preceding claims, characterized in that the pneumatic needle pliers (7) are arranged in the form of a die (9).
    [10]
    10. System according to any of the preceding claims, characterized in that it comprises the positioning means.
    [11]
    11. System according to claim 10, characterized in that the positioning means comprise a robot (5).
    [12]
    System according to any one of the preceding claims, characterized in that the control means (2) comprise a control unit (3) and a PLC (4) in communication with the control unit (3) and with the positioning means .
    [13]
    13. System according to any of the preceding claims, characterized in that it comprises a block of solenoid valves (10) configured to produce pneumatic activation of the clamps (7) of the claw (6).
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    [14]
    14. System according to claim 13, characterized in that the claw (6) comprises a support (8) to which the clamps (7) and the solenoid valve block (10) are fixed.
    [15]
    15. Procedure for the crushing of parts manufactured by a die, characterized in that it comprises activating one or more tweezers (7) of pneumatic needles that are part of a claw (6) to destroy, by removing at least one pneumatic needle
    (13) of the base (14) of the clamp (7), at least one piece (24) generated by a die when said claw (6) is in the position of collecting parts, where the clamps (7) to be activated they are determined based on the die used and the arrangement of the clamps (7) in the claw (6).
    [16]
    16. The method according to claim 15, characterized in that it comprises moving the claw (6) to the position for collecting parts.
    [17]
    17. Method according to any of claims 15 to 16, characterized in that it comprises detecting the placement of the claw (6) in the position of collecting parts.
    [18]
    18. Method according to any of claims 15 to 17, characterized in that it comprises:
    obtain the die-claw assembly (Tx-Gx) that is in production; determine the clamps (7) to be activated corresponding to said die-claw assembly (Tx-Gx) by consulting a database.
    [19]
    19. Method according to any of claims 15 to 17, characterized in that it comprises a previous configuration step comprising:
    obtain an image (20) of a claw (Gx) including the arrangement of the bases
    (14) of the tweezers (7);
    obtain an image (21) of a die (Tx) including one or more pieces (21a, 21b, 21c, 21d) to be shattered;
    superimpose both images (20, 21); analyze the superimposed image (22);
    determine the clamps (7) to be activated for said die-claw assembly (Tx-Gx) based on said analysis, and
    Store the results in a database.
    image 1
    Fig. 1
    image2
    6
    5
    image3
    6
    Fig. 2A
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    ES2686149B2|2019-08-20|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    ES2035622T3|1988-06-24|1993-04-16|Centre Technique Cuir Chaussure Maroquinerie|DEVICE FOR THE PRESSURE OF ISOLATED OR ADJACENT FLEXIBLE PARTS, THEIR HANDLING AND DEPOSIT, IN PARTICULAR OF LEATHER AND SIMILAR PARTS.|
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