Method for replacing a component in an automatic machine

Patent metadata

Field	Value
Publication number	US-12350831-B2
Application number	US-202218275633-A
Country	US
Kind code	B2
Filing date	Feb 15, 2022
Priority date	Feb 15, 2021
Publication date	Jul 8, 2025
Grant date	Jul 8, 2025

Abstract

A method for replacing a working component in an automatic machine has a mapping phase and a working phase. The mapping phase involves defining a first reference point fixed relative to the automatic machine and a position in machine of the working component. The working phase involves: stopping the automatic machine ( 2 ); starting a procedure of configuration change preparing the automatic machine for a withdrawal of the working component; detecting the first reference point; determining the position in machine of the working component; picking up the working component from the position in machine by means of a gripping device; releasing the working component in a storing position; picking up a replacement working component from a stocking position by means of the gripping device; positioning the gripping device at the position in machine; and inserting and fixing the replacement working component in the position in machine.

First claim

The invention claimed is:

1. A method for replacing a working component (A) with a replacement working component (B) in an automatic machine ( 2 ); the method comprising a mapping phase and a working phase, said mapping phase including: defining a first reference point ( 25 ) fixed relative to said automatic machine ( 2 ); defining a position in machine ( 21 ) of said working component (A) relative to said first reference point ( 25 ) by means of a machine coordinate system; and said working phase including: stopping the automatic machine ( 2 ); starting, by means of a control unit ( 22 ), a procedure of configuration change in said automatic machine ( 2 ) which procedure prepares said stopped automatic machine ( 2 ) for a withdrawal of said working component (A) from said position in machine ( 21 ); detecting said first reference point ( 25 ) by means of a detecting system ( 11 ); determining said position in machine ( 21 ) as a function of said machine coordinate system by means of an electronic processor ( 13 ); positioning a gripping device ( 9 ) at said position in machine ( 21 ); picking up said working component (A) by means of said gripping device ( 9 ); releasing said working component (A) in a storing position ( 51 ) by means of said gripping device ( 9 ); picking up the replacement working component (B) from a stocking position ( 52 ) by means of said gripping device ( 9 ); positioning said gripping device ( 9 ) at said position in machine ( 21 ); and inserting and fixing said replacement working component (B) in said position in machine ( 21 ) while the automatic machine ( 2 ) is still stopped.

2. The method according to claim 1 , further comprising starting a second procedure of configuration change in said automatic machine ( 2 ) by means of said control unit ( 22 ), which procedure prepares said automatic machine ( 2 ) for working with said replacement working component (B).

3. The method according to claim 1 , wherein said mapping phase comprises storing at least said first reference point ( 25 ) and said machine coordinate system by means of said electronic processor ( 13 ).

4. The method according to claim 1 , wherein said detection of said first reference point ( 25 ) comprises the steps of scanning at least a surface portion of said automatic machine ( 2 ), identifying a first marker in a point of said surface portion of the automatic machine ( 2 ), associating said first reference point ( 25 ) with said point of said surface portion of the automatic machine ( 2 ).

5. The method according to claim 1 , wherein at least one of said positionings is carried out by means of said electronic processor ( 13 ) and comprises the steps of calculating an optimal path and moving said gripping device ( 9 ) along said optimal path.

6. The method according to claim 1 , wherein said storing position ( 51 ) and said stocking position ( 52 ) are located in a storage area ( 50 ), and said mapping phase includes defining a second reference point fixed relative to said storage area ( 50 ), at least said storing position ( 51 ) relative to said second reference point by means of a storage coordinate system and at least said stocking position ( 52 ) relative to said second reference point by means of a stock coordinate system.

7. The method according to claim 6 , wherein said working phase includes detecting by means of said detecting system ( 11 ) said second reference point.

8. The method according to claim 7 , wherein said detection of said second reference point comprises the steps of scanning at least a surface portion of said storage area ( 50 ), identifying a second marker in a point of said surface portion of the storage area ( 50 ), associating said second reference point with said point of said surface portion of the storage area ( 50 ).

9. The method according to claim 1 , wherein at least one step of positioning comprises detecting a distance of said gripping device ( 9 ) from at least one of said positions in machine ( 21 ), storing position ( 51 ) and stocking position ( 52 ), said at least one step of positioning being also controlled as a function of said detected distance.

10. The method according to claim 9 , wherein said starting is carried out when said distance of the gripping device ( 9 ) from said position in machine ( 21 ) is less than a threshold value.

11. The method according to claim 1 , wherein said procedure of configuration change comprises moving one or more further components of said automatic machine ( 2 ) that prevent said gripping device ( 9 ) from picking up said working component (A).

12. The method according to claim 1 , wherein said working phase comprises the step of transmitting a replacement request to said electronic processor ( 13 ), said replacement request being univocally associated with an information set comprising at least one of a first reference code of said working component (A) being replaced and a second reference code of said replacement working component (B).

13. The method according to claim 12 , wherein said working phase comprises the steps of acquiring at least one of a first identification code of said working component (A) and a second identification code of said replacement working component (B) and carrying out at least one of a comparison of said first reference code and said first identification code and a comparison of said second reference code and said second identification code.

14. The method according to claim 1 , wherein the replacement of said working component (A) with said replacement working component (B) is part of a format change operation for the conversion of the automatic machine ( 2 ) from manufacturing products of a first type to manufacturing products of a second type other than the first type.

Assignees

• G D Soc Azioni
• Gd Spa

Inventors

• Mengoli Fausto
• Dattilo Giancarlo
• Tirelli Emilio
• Gamberini Giuliano

Classifications

• B65H19/305

  Inserting core · CPC title

• B23P19/105

  using sensing means · CPC title

• Y10T29/4978

  Assisting assembly or disassembly · CPC title

• B25J13/089

  Determining the position of the robot with reference to its environment · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title