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Title:
ASSEMBLY AND METHOD TO HANDLE A WEB OR WIRE BOBBIN
Document Type and Number:
WIPO Patent Application WO/2019/102414
Kind Code:
A1
Abstract:
An object of the present invention is an assembly (22) comprising: - at least one bobbin support device (9); - said at least one bobbin support device 9 comprising at least one bobbin support pole (10) to support at least one bobbin of web and/or wire material (16); - said bobbin (16) comprising a support element for supporting the web or wire material, or bobbin core (17), internally hollow and delimited by an inner core surface ( 19 ). - said bobbin (16) being suitable to be fitted on said at least one bobbin support pole (9); wherein said assembly further comprises - a pick and place device (8); - said pick and place device (8) comprising a pick and place device wrist (15), defining a wrist axis (7 or D); - said assembly further comprises at least one pick and place gripper (6) supported by said wrist (15); - said at least one pick and place gripper (6) comprises at least two pick and place fingers (14), movable away from each other or approaching a pick and place axis (20) to grip said inner core surface (19) and pick up at least one bobbin (16); wherein - said pick and place axis (20) is spaced from said wrist axis (7 or D) by a predefined gripper distance (21).

Inventors:
GIANNINI ANTONELLA (IT)
MONZONI ALBERTO (IT)
MALOSSI STEFANO (IT)
Application Number:
PCT/IB2018/059262
Publication Date:
May 31, 2019
Filing Date:
November 23, 2018
Export Citation:
Click for automatic bibliography generation   Help
Assignee:
MONTRADE S P A (IT)
International Classes:
B65H16/02; B65H16/04; B65H19/12; B65H67/06
Foreign References:
EP3127660A12017-02-08
GB2145046A1985-03-20
EP1900665A12008-03-19
Attorney, Agent or Firm:
CRIPPA, Paolo Ernesto et al. (IT)
Download PDF:
Claims:
CLAIMS

1. Assembly (22), comprising:

- at least one bobbin support device (9);

- at least one bobbin (16);

- said bobbin (16), comprising at least one inner cavity;

said bobbin (16) being suitable to be supported by said bobbin support (9);

wherein said assembly further comprises

- at least one pick and place device (8);

- said pick and place device (8) comprising a pick and place device wrist (15), defining a wrist axis (7 or D) ;

- said assembly further comprises at least one pick and place gripper (6) supported by said wrist (15);

characterized in that

- said at least one pick and place gripper (6) comprises at least two pick and place fingers (14) movable away from each other or approaching a pick and place axis (20) to grip said bobbin (16) in said at least one cavity;

- said pick and place axis (20) is spaced from said wrist axis (7 or D) by a predefined gripper distance (21) .

2 . An assembly (22) according to claim 1, wherein

- said at least one bobbin support device (9) is a pallet;

and/or wherein

- said at least one bobbin support device 9 comprises at least one bobbin support pole (10) to support at least one bobbin of web and/or wire material (16);

and/or wherein

- said at least one bobbin 16 is fitted onto said at least one bobbin support pole (9);

and/or wherein

- said at least two pick and place fingers (14) grip said bobbin (16) in said inner core surface (19) and pick up at least one bobbin (16); and/or wherein

- said pick and place device (8) is substantially placed centrally to said at least one bobbin support device (9);

and/or wherein

- said at least one bobbin support device (9) comprises at least two bobbin support poles (10) and said two poles (10) are arranged parallel to each other;

and/or wherein

- the extension of said pick and place axis (20) avoids intersecting at least the part of the pick and place device (8) close to the pick and place device wrist (15);

and/or wherein

- the extension of said pick and place axis (20) avoids intersecting any part of the pick and place device (8) that could interfere with at least one bobbin support pole (10) during the manipulation operations of a bobbin (16).

3 . An assembly (22) according to claim 1 or 2, wherein

- said at least one bobbin support device (9) comprises at least four bobbin support poles (10) and said poles (10) are arranged parallel to each other;

and wherein

- said poles (10) are arranged on a circumference having a radius equal to said predefined gripper distance (21) .

4 . An assembly (22) according to any one of the preceding claims, wherein

- said at least one bobbin support device (9) comprises at least six bobbin support poles (10) arranged parallel to each other;

and wherein

- said poles (10) are arranged aligned in two parallel rows;

and wherein

- said two rows are arranged at a distance from each other that is twice the predefined gripper distance (21) .

5 . An assembly (22) according to any of claims 2 to 4, wherein

- said poles (10) are arranged horizontally, or transversely to the action of terrestrial gravity.

6. An assembly (22) according to any one of the preceding claims, wherein

- said pick and place axis (20) is aligned and/or coaxial to at least one bobbin support pole (10) .

7 . An assembly (22) according to any one of the preceding claims, wherein

- each bobbin support pole (10) defines a pole axis (32); and wherein

- said pick and place axis (20) is aligned to at least one pole axis (32) .

8. An assembly (22) according to any one of the preceding claims, wherein

said bobbin core (17) comprises a core body with a hollow cylindrical shape.

9 . An assembly (22) according to any one of the preceding claims, wherein

- said pick and place device (8) is a manipulator;

and/or wherein

- said pick and place device (8) is an anthropomorphic robot;

and/or wherein - said pick and place device (8) comprises at least five degrees of freedom (DOF) ;

and/or wherein

- said pick and place device (8) comprises a robot base (24) whereon is connected a rotating robot platform (25) , to which is rotatingly connected a first robot arm (26) , to which is rotatingly connected a second robot arm (27) at the end of which is comprised a robot wrist (15) :

and/or wherein

- said robot wrist (15) supports at least one pick and place gripper (6) and wherein said robot wrist (15) allows at least one rotation of the pick and place grippers (6) relative to the second arm (27);

and/or wherein

- said robot wrist (15) supports at least one pick and place gripper (6) and wherein said robot wrist (15) allows at least two rotations of the pick and place grippers (6) relative to the second arm (27);

and/or wherein

- said rotation is a pitch rotation and a roll rotation relative to the second arm (27);

and/or wherein

- said rotation is a yaw rotation relative to the second arm (27) .

10. An assembly (22) according to any one of the preceding claims, wherein

said pick and place gripper (6) comprises a gripper body (23) comprising a footprint, or gripper body extension, relative to the pick and place extension axis (20) less than twice the predefined gripper distance (22) .

11. An assembly (22) according to any one of the preceding claims, wherein

- said pick and place gripper (6) comprises at least one bobbin pick and place gripper vertical positioning distance control sensor (A) to detect the vertical distance (or the distance in the direction transverse to the pole and according to the terrestrial gravitational action) of the gripper (6) relative to the bobbin support pole (10); and/or wherein

- said sensors (A) are a pair of micrometer sensors.

12. An assembly (22) according to any one of the preceding claims, wherein

- said pick and place gripper (6) comprises at least one bobbin pick and place gripper horizontal positioning distance control sensor (B) to detect the horizontal distance (or the distance in the direction transverse to the pole and transverse to the terrestrial gravitational action) of the gripper (6) relative to the bobbin support pole (10); and/or wherein

- said sensors (B) are a pair of micrometer sensors.

13. An assembly (22) according to any one of the preceding claims, wherein

- said pick and place gripper (6) comprises at least one core presence and/or distance sensor (C) to detect the presence and/or distance of the bobbin core (17) from said pick and place fingers (14) :

and/or wherein

- said sensor (C) comprises a potentiometer.

14. An assembly (22) according to any one of the preceding claims, wherein

- said pick and place grippers (6) comprise at least one video camera (E) ;

and/or wherein

- said video camera (E) allows the center position of a bobbin (16) and/or of a core (17) and/or of a bobbin support pole position (10) to be detected.

15. An assembly (22) according to any one of the preceding claims, wherein

- said bobbin support device (9) is arranged in such a way that at least one bobbin support pole (10) is arranged parallel to a second arm (27) of a pick and place device (8) and/or is arranged parallel to the wrist axis (7 or D) ;

and/or wherein

- said bobbin support device (9) is arranged in such a way that at least one pole axis (32) is arranged parallel to a second arm (27) of a pick and place device (8) and/or is arranged parallel to the wrist axis (7 or D) .

16. An assembly (22) according to any one of the preceding claims, wherein

- said pick and place device (8) is arranged relative to said bobbin support device (9) so that said second arm (27) is placed between at least two bobbin support poles (10);

and/or wherein

- said pick and place device (8) is arranged relative to said bobbin support device (9) so that said wrist axis (7 or D) is placed between at least two bobbin support poles (10);

and/or wherein

- said pick and place device (8) is arranged relative to said bobbin support device (9) so that said second arm (27) is arranged between at least two bobbin support poles (10) so that said pick and place device wrist (15), rotating without substantially moving said second arm (27), may pick up bobbins (16) placed on both parallel poles (10);

and/or wherein

- said pick and place device (8) is arranged relative to said bobbin support device (9) so that said wrist axis (7 or D) is placed between at least two bobbin support poles (10) so that said pick and place device wrist (15), rotating without substantially moving said second arm (27), may pick up bobbins (16) placed on both parallel poles (10); and/or wherein

- said pick and place device (8) is arranged relative to said bobbin support device (9) so that said second arm (27) or said wrist axis (7, D) is placed between four bobbin support poles (10) .

17. An assembly (22) according to any one of the preceding claims, wherein

- said pick and place device (8) is arranged relative to said bobbin support device (9) so that a robot base (24) is arranged substantially on the extension of a mean axis of at least two bobbin support poles (10) placed parallel to each other.

18. An assembly (22) according to any one of the preceding claims, wherein

- said assembly comprises a carriage locking device (33) suitable to receive and lock in a predefined position said bobbin support device (9) relative to said pick and place device (8) .

19. An assembly (22) according to any one of the preceding claims, wherein

- said bobbin support device (9) and said pick and place device (8) form a work island, or pick and place island (12), which may be associated with a user machine, or a web or stand material processing machine (13), or a part thereof, to feed at least one bobbin of web or wire material (16) to a loading/unloading device or machine feed (1) of a user machine (13) or of a part thereof.

20. An assembly (22) according to any one of the preceding claims, wherein

- said pick and place fingers (14) are operatively connected to a gripper opening and closing device (28) for a movement thereof away from and approaching said pick and place axis (20) .

21. An assembly (22) according to any one of the preceding claims, wherein

- each pick and place finger (14) comprises a pick and place finger body (29) having an outer finger surface (30) shaped in a cylindrical sector suitable to rest on said inner core surface (19) .

22. An assembly (22) according to any one of the preceding claims, wherein

said assembly (22) comprises at least a temporary magazine, or buffer (3) having at least one bobbin support pole (10) suitable to receive bobbins (16) or cores (17) waiting to be loaded into a loading/unloading device of a machine (1), or a part thereof, or into a bobbin support device (9);

and/or wherein

- said pick and place device (8), provide an operation of preparing the bobbin (16), for example of web removal.

23. Machine for processing tobacco-based material (31), or part of said machine, comprising an assembly (22) as defined in any one of the claims 1 to 22.

24. A machine (31) according to claim 23, wherein said machine (31) comprises a device for loading/unloading bobbins or cores (1) for feeding material in web or wire to the machine (31) .

25. A machine (31) according to claim 23 or 24, wherein said machine (31) comprises cylinders for processing material in web or wire.

26. A machine (31) according to claim 23 or 24 or 25, wherein said machine (31) comprises a beam for forming material in web or wire for making smoking components or filters.

27. A pick and place method of at least one bobbin comprising the steps of:

- providing an assembly (22) wherein a bobbin support device (9) comprises at least one bobbin support pole (10) whereon is fitted at least one bobbin of web or wire material (16) comprising a support element for the support of the web or wire material, or bobbin core (17), internally hollow and delimited by an inner core surface (19), said assembly (22) also comprising a pick and place device (8) comprising a pick and place device wrist (15) defining a wrist axis (7 or D) and comprising a pick and place device (6), said gripper comprising at least two pick and place fingers (14) moving away from or approaching a pick and place axis (20) to grip said inner core surface (19) and to pick up at least one bobbin (16);

- arranging said pick and place device (8) with the wrist axis (7or D) thereof offset relative to said at least one bobbin support pole (10); so that

- said pick and place gripper (6) brings the pick and place axis (20) thereof to a predefined gripper distance (21) from said wrist axis (7 or D) .

28. A method according to claim 27, which comprises the further steps of

- arranging said pick and place device (8) with the wrist axis (7 or D) thereof offset relative to a pair of bobbin support poles (10);

so that

- by rotating said wrist axis (7 or D) , but avoiding translating said wrist axis (7 or D) , it is possible to bring said pick and place axis (20) selectively in alignment with a first bobbin support pole (10) or a second bobbin support pole (10), to allow said pick and place fingers (14) to grip the inner core surface (19) and to grip at least one bobbin (16) and to extract said bobbin (16) from said pole (10) .

29. A method according to claim 27 or 28, which comprises the further steps of

- arranging said pick and place device (8) with the wrist axis (7 or D) thereof offset relative to four bobbin support poles (10);

so that

- by rotating said wrist axis (7 or D) , but avoiding translating said wrist axis (7 or D) , it is possible to bring said pick and place axis (20) selectively in alignment with any of said four bobbin support poles (10) to allow said pick and place fingers (14) to grip the inner core surface (19) and to grip at least one bobbin (16) and to extract said bobbin (16) from said pole (10) .

30. A method according to any of claims 27 to 29, which comprises the further steps of

- aligning said pick and place axis (20) with at least one bobbin support pole (10) of a temporary magazine or buffer (3) to place or remove a bobbin (16) on said pole (10) of the buffer (3) .

31. A method according any of claims 27 to 30, which comprises the further steps of

- arranging the bobbin support poles (10) horizontally or transverse to the action of terrestrial gravity.

32. A method according to any of claims 27 to 31, which comprises the further steps of

- detecting the position of bobbin support poles (10) with a video camera (E) ;

and/or

- arranging the wrist axis (7 or D) in such a way that the pick and place axis (20) is aligned or, due to the roll rotation of the wrist axis (7 or D) , alignable with at least one, preferably at least two pole axes ( 32 ) ;

and/or

- detecting the pole position (10) while moving the gripper (6) by means of vertical and/or horizontal distance control sensors (A and/or B) ;

and/or

- detecting the presence and/or position of a core (17) such as by means of a core presence/distance detection sensor (C) ;

and/or

- centering the pick and place fingers (14) relative to the inner core surface (19) ;

and/or - gripping the core (17);

and/or

- extracting the bobbin (16) from the pole (10) .

Description:
"ASSEMBLY AND METHOD TO HANDLE A WEB OR WIRE BOBBIN"

DESCRIPTION

[0001] . Field of the invention

[0002] . The object of the present invention is an assembly or island for picking up bobbins of material in web or wire and feeding a user machine.

[0003] . For example, the present invention provides for the use of a robot (supported on the ground or possibly also hanging from above, i.e. from a ceiling of a factory) positioned in processing lines of bobbins of web or wire materials preferably for the tobacco industry or the like, for example bobbins of a tobacco-based material.

[0004]. State of the art

[0005] . In this sector it is known that tobacco bobbins are placed on carriages and, more precisely, the bobbins are fitted by their core on horizontal support poles to preserve the material of the bobbins, which could otherwise be damaged if, for example, the bobbins were stacked one on top of the other.

[0006] . Naturally, this system of storing bobbins on carriages involves difficulties in manipulating the same bobbins when they have to be picked up to be fed to the machine using the same bobbins to avoid directly gripping the web or wire material to be processed.

[0007] . For example, from the document US5605432 by HAUNI MASCHINENBAU AG a manipulator robot is known having an arm with a head mounted thereon to move vertically, along a first horizontal path, along a second horizontal path perpendicular to the first path, around a vertical axis and around a horizontal axis so that it may reach all parts of a bobbin magazine, stacked crude products and/or other products that are to be fed to one or more tobacco processing machines. The head has a j aw spindle that can hold a cylindrical inner surface of a bobbin or the cylindrical inner surface of a tool that is used for transporting stacks of paper blanks or the like. The head further has a vertically movable annular pusher that can pull out a bobbin from the spindle or that may activate one or more rotating supports that are part of the tool and that serve to support one or more stacks from below.

[0008] . This known solution is extremely cumbersome and permits a manipulation of the bobbins if they are stacked with their core in vertical position, forcing the arrangement of the material in web or wire to be in contact with a support surface or against other bobbins, at least on the edge portion of the web or wire, in any event risking a deterioration of the delicate material of the web. In particular, this known solution does not allow the bobbins to be manipulated if fitted on poles, whether horizontal or vertical.

[0009] . Other similar solutions, although many for different applications, are known from US6666803, US5544677, US4486928, US4620362, US4723353, US4781519, US4911608, US5050919, US5102292, EP0396210, DE3432262, DE3740995, US6558108.

[0010] . All these solutions show devices for externally gripping objects to be manipulated that present no contraindication to their manipulation and storage in positions that bring them into contact with each other and are more or less strained, which would be absolutely impossible to apply to bobbins that wrap material in web or wire for applications in the tobacco industry.

[0011]. Solution

[0012] . The object of the present invention is to provide a method and a device that allows individual bobbins to be precisely picked up from the support carriage while ensuring the integrity of the material of the same bobbin.

[0013] . The present invention also ensures a simplicity of the layout and architecture of the work island.

[0014] . These and other objects are achieved by means of an assembly according to claim 1, as well as a machine according to claim 23 and a method according to claim 27.

[0015] . Some advantageous embodiments are the subject of the dependent claims.

[0016] . This object is achieved by using a robot characterized by a position almost central to the carriage and equipped with a bobbin pick and place gripper able to perform a linear movement without collisions between the rows of bobbins aligned on the same carriage (on poles as described above) .

[0017] . This is made possible by the fact that the robot gripper (n.6 in the figure) is arranged in an offset position relative to the rotation axis of the robot wrist (n.7 in the figure) so that, by rotating the robot wrist around its axis of rotation (7), the gripper (6) is correctly positioned with respect to the position for picking up the bobbins, whether the bobbins are positioned right or left with respect to the robot wrist whether above or below.

[0018] . In this way, by way of example, the 180° (DEG) rotation of the wrist allows the gripper to reach the bobbins arranged on the right and/or the left (by way of example, a carriage containing bobbins as shown in the figure arranged on two rows of poles on the right and left in the carriage) . The offset arrangement of the gripper with respect to the rotation of the wrist and the position of the wrist in the area almost central relative to the carriage allows the gripper to reach all the bobbin pick and place positions both on the right and the left without having collisions due to misalignment during the travel of the wrist while approaching and/or extracting the bobbins. Otherwise it would be necessary to have an additional movement of the robot such as a slide to shift the position of the wrist to the right and/or left; instead, the solution presented minimizes the movements of the same robot and optimizes the layout and the speed of execution and quality of bobbin manipulation.

[0019] . According to a preferred embodiment, the robot is positioned almost centrally to the pick and place carriage.

[0020] . The carriage may be replaced by pallets with vertical or horizontal bobbin axis arrangement.

[0021] . Figures

[0022] . Further features and advantages of the invention will become apparent from the following description of preferred examples of embodiment thereof, given by way of non-limiting example, with reference to the accompanying figures wherein:

[0023] . - figure 1 illustrates, in axonometric view, the diagram of a user machine of material in web or wire, initially loaded in bobbins; in this example, the reception station of a carriage is closed, and the robot is waiting to receive the carriage with the bobbins ;

[0024]. - figure 2 represents schematically and in a side view a work island or assembly or work assembly, wherein the robot is not represented in order to show the machine feeder, the receiving station of the carriage with a carriage and a buffer;

[0025] . - figure 3 illustrates in a view from above the work island in figure 2, which also represents the robot with the arm extended and the gripper in the position of picking up a bobbin still threaded on a pole of the carriage;

[0026] . - figure 4 illustrates an axonometric view of a pick and place gripper or robotic gripper wherein the pick and place fingers are separated from each other relative to a pick and place axis;

[0027] . - figure 5 represents the front view of the gripper of figure 4;

[0028] . - figure 6 illustrates the gripper of figure 4 in a view from behind;

[0029] . figure 7 illustrates schematically in front view a carriage loaded with bobbins and with a pick and place gripper represented in different working positions, wherein the carriage is represented centrally and laterally both to the right and left of the figure of the carriage, and four different positions of the pick and place gripper are represented in enlarged figures;

[0030] . - figure 8 represents from above two steps of the operations of a manipulator or robot while picking up two bobbins placed on side-by-side poles of a carriage, wherein the robot and the carriage are represented centrally, and a first right pole is represented in the enlargement on the right and a second left pole in the enlargement on the left;

[0031] . - figure 9 shows in axonometry a portion of a robot arm in a working stage of picking up a bobbin placed on a pole of a bobbin support device or carriage having six poles including four poles centrally supporting bobbins;

[0032] . - figure 10 shows in axonometric view and from behind the single carriage of figure 9 wherein is highlighted the carriage locking device for locking the carriage in a precise position relative to the robot;

[0033] . - figures 11 and 12 show the carriage in figure 10 empty of bobbins and loaded with bobbins.

[0034] . Description of some of the preferred embodiments

[0035] . According to a general embodiment, an assembly 22 comprises at least one bobbin support device 9.

[0036] . Said at least one bobbin support device 9 comprises at least one bobbin support pole 10 to support at least one bobbin of web and/or wire material 16, or bobbins 16.

[0037] . Said bobbin 16 comprises a support element for supporting the web or wire material, or bobbin core 17, which is internally hollow and delimited by an inner core surface 19. For example, said bobbin core, or core 17, has a cylindrical body and an inner cylindrical core surface 19.

[0038] . Said bobbin 16 is suitable to be fitted on said at least one bobbin support pole 9.

[0039] . Said assembly further comprises a pick and place device 8, for example a manipulator, for example a manipulator robot, for example an anthropomorphic robot.

[0040] . Said pick and place device 8 comprises a pick and place device wrist 15, defining a wrist axis 7, in the figures also indicated at the reference D.

[0041] . Said assembly further comprises at least one pick and place gripper 6, or gripper 6, movably supported by said wrist 15.

[0042] . Said at least one pick and place gripper 6 comprises at least two pick and place fingers 14, or fingers 14, movable away from each other or approaching a pick and place axis 20 to grip said inner core surface 19 and pick up at least one bobbin 16.

[0043] . Advantageously, said pick and place axis 20 is spaced from said wrist axis 7 or D by a predefined gripper distance 21.

[0044]. According to an embodiment, said at least one bobbin support device 9 comprises at least two bobbin support poles 10 and said two poles 10 are arranged parallel to each other.

[0045] . Said two poles 10 are arranged from each other at a distance equal to twice the predefined gripper distance 21.

[0046] . In this way, it is possible to position the gripper 6, supported by the pick and place device 8, between said poles without any of said poles 10 interfering with the structure of the pick and place device 8.

[0047] . The extension of said pick and place axis 20 avoids intersecting at least the part of the pick and place device 8 near the pick and place device wrist 15.

[0048] . By virtue of this solution, the predefined distance between the poles 10, with the rotation of the gripper 6 around the wrist 15, allows bobbins 16 to be picked up without distinction from one of the two poles 10.

[0049] . According to one embodiment, the extension of said pick and place axis 20 avoids intersecting any part of the pick and place device 8 that could interfere with at least one bobbin support pole 10 during the manipulation operations of a bobbin 16.

[0050] . According to one embodiment, said at least one bobbin support device 9 comprises at least four bobbin support poles 10 and said poles 10 are arranged parallel to each other.

[0051] . Said poles 10 are arranged on a circumference having a radius equal to said predefined gripper distance 21.

[0052] . According to one embodiment, said at least one bobbin support device 9 comprises at least six bobbin support poles 10 arranged parallel to each other.

[0053] . Said poles 10 are arranged aligned in two parallel rows.

[0054] . Said two rows are arranged at a distance from each other that is twice the predefined gripper distance 21.

[0055] . According to one embodiment, said poles 10 are arranged horizontally, or transversely, "horizontal" meaning a direction substantially transverse to the action of terrestrial gravity.

[0056] . According to one embodiment, said pick and place axis 20 is aligned and/or coaxial to at least one bobbin support pole 10.

[0057] . According to one embodiment, each bobbin support pole 10 defines a pole axis 32. During the operations of moving the bobbin from or to said support device, or carriage 9, said pick and place axis 20 is aligned with at least one pole axis 32.

[0058] . According to one embodiment, said bobbin core 17 comprises a core body with a hollow cylindrical shape.

[0059] . According to one embodiment, said pick and place device 8 is a manipulator.

[0060] . According to one embodiment, said pick and place device 8 is an anthropomorphic robot.

[0061] . According to one embodiment, said pick and place device 8 comprises at least five degrees of freedom, or DOF.

[0062] . According to one embodiment, said pick and place device 8 comprises a robot base 24 whereon is connected a rotating robot platform 25, to which is rotatingly connected a first robot arm 26, to which is rotatingly connected a second robot arm 27 at the end of which is comprised a robot wrist 15.

[0063] . According to one embodiment, said robot wrist 15 supports at least one pick and place gripper 6 and wherein said robot wrist 15 allows at least one rotation of the pick and place grippers 6 relative to the second arm 27.

[0064]. According to one embodiment, said robot wrist 15 supports at least one pick and place gripper 6 and wherein said robot wrist 15 allows at least two rotations of the pick and place gripper 6 relative to the second arm 27. [0065] . According to one embodiment, said rotation is a pitch rotation and a roll rotation relative to the second arm 27.

[0066] . According to one embodiment, said rotation is a yaw rotation relative to the second arm 27.

[0067] . According to one embodiment, said pick and place gripper 6 comprises a gripper body 23 comprising a footprint, or gripper body extension, relative to the pick and place axis of extension 20 of less than twice the predefined gripper distance 22.

[0068] . According to one embodiment, said pick and place gripper 6 comprises at least one bobbin pick and place gripper vertical positioning distance control sensor A to detect the vertical distance, or the distance in the direction transverse to the pole and according to the terrestrial gravitational action, of the gripper 6 relative to the bobbin support pole 10.

[0069] . According to one embodiment, said sensor A is a pair of micrometer sensors.

[0070] . According to one embodiment, said pick and place gripper 6 comprises at least one bobbin pick and place gripper horizontal positioning distance control sensor B to detect the horizontal distance, or the distance in the direction transverse to the pole and transverse to the terrestrial gravitational action, of the gripper 6 relative to the bobbin support pole 10.

[0071] . According to one embodiment, said sensor B is a pair of micrometer sensors.

[0072] . According to one embodiment, said pick and place gripper 6 comprises at least one core presence and/or distance sensor C to detect the presence and/or distance of the bobbin core 17 from said pick and place fingers 14.

[0073] . According to one embodiment, said sensor C comprises a potentiometer .

[0074]. According to one embodiment, said gripper 6 comprises at least one video camera E.

[0075] . According to one embodiment, said video camera E allows the center position of a bobbin 16 and/or of a core 17 and/or of a bobbin support pole position 10 to be detected.

[0076] . According to one embodiment, said bobbin support device 9 is arranged in such a way that at least one bobbin support pole 10 is arranged parallel to a second arm 27 of a pick and place device 8 and/or is arranged parallel to the wrist axis 7 or D.

[0077] . In accordance with one embodiment, said bobbin support device 9 is arranged in such a way that at least one pole axis 32 is arranged parallel to a second arm 27 of a pick and place device 8 and/or is arranged parallel to the wrist axis 7 or D.

[0078] . According to one embodiment, said pick and place device 8 is arranged relative to said bobbin support device 9 so that said second arm 27 is placed between at least two bobbin support poles 10.

[0079] . According to one embodiment, said pick and place device 8 is arranged relative to said bobbin support device 9 so that said wrist axis 7 or D is placed between at least two bobbin support poles

10.

[0080] . According to one embodiment, said pick and place device 8 is arranged relative to said bobbin support device 9 so that said second arm 27 is placed between at least two bobbin support poles 10 so that said pick and place device wrist 15, rotating without substantially moving said second arm 27, may pick up bobbins 16 placed on both of the parallel poles 10.

[0081] . According to one embodiment, said pick and place device 8 is arranged relative to said bobbin support device 9 so that said wrist axis 7 or D is placed between at least two bobbin support poles 10 so that said pick and place device wrist 15, rotating without substantially moving said second arm 27, may pick up bobbins 16 placed on both of the parallel poles 10.

[0082] . According to one embodiment, said pick and place device 8 is arranged relative to said bobbin support device 9 so that said second arm 27 or said wrist axis 7, D is placed between at least four bobbin support poles 10.

[0083] . According to one embodiment, said pick and place device 8 is arranged relative to said bobbin support device 9 so that a robot base 24 is arranged substantially on the extension of a mean axis of at least two bobbin support poles 10 placed parallel to each other.

[0084]. According to one embodiment, said assembly comprises a carriage locking device 33 suitable to receive and lock in a predefined position said bobbin support device 9 relative to said pick and place device 8.

[0085] . According to one embodiment, said bobbin support device 9 and said pick and place device 8 form a work island, or pick and place island 12, which may be associated with a user machine, or a web or stand material processing machine 13, to feed at least one bobbin of web or wire material 16 to a loading/unloading device or machine feed 1 of a user machine 13.

[0086] . According to one embodiment, said pick and place fingers 14 are operatively connected to a gripper opening and closing device 28 for a movement thereof away from and approaching said pick and place axis 20.

[0087] . According to one embodiment, each pick and place finger 14 comprises a pick and place finger body 29 having an outer finger surface 30 shaped in a cylindrical sector suitable to rest on said inner core surface 19.

[0088] . According to one embodiment, said assembly 22 comprises a temporary magazine, or buffer 3, having at least one bobbin support pole 10 suitable to receive bobbins 16 or cores 17 waiting to be loaded into a loading/unloading device of a machine 1 or into a bobbin support device 9.

[0089] . The present invention also refers to a machine for processing tobacco-based material 31 comprising an assembly 22 as defined in any of the embodiments described above. [0090] . According to one embodiment, said machine 31 comprises a device for loading/unloading bobbins or cores 1 for feeding material in web or wire to the machine 31.

[0091] . According to one embodiment, said machine 31 comprises cylinders for processing material in web or wire.

[0092] . According to one embodiment, said machine 31 comprises a beam for forming the material in web or wire for the manufacture of smoking components or filters.

[0093] . The following describes a processing method also according to the invention.

[0094] . A pick and place method of at least one bobbin comprising the steps of:

[0095] . - providing an assembly 22 wherein a bobbin support device

9 comprises at least one bobbin support pole 10 whereon is fitted at least one bobbin of web or wire material 16 comprising a support element for supporting the web or wire material, or bobbin core 17, internally hollow and delimited by an inner core surface 19, said assembly 22 further comprising a pick and place device 8 comprising a pick and place device wrist 15 defining a wrist axis 7 or D and comprising a pick and place device 6, said gripper comprising at least two pick and place fingers 14 moving away from or approaching a pick and place axis 20 to grip said inner core surface 19 and pick up at least one bobbin 16;

[0096] . - arranging said pick and place device 8 with its wrist axis 7 or D offset relative to said at least one bobbin support pole 10;

[0097] . so that

[0098] . - said pick and place gripper 6 brings its pick and place axis 20 to a predefined gripper distance 21 from said wrist axis 7 or

D.

[0099] . A further operative variant of the method comprises the further steps of:

[00100] . - arranging said pick and place device 8 with its wrist axis 7 or D offset relative to a pair of bobbin support poles 10;

[00101] . so that

[00102] . - by rotating said wrist axis 7 or D, but avoiding translating said wrist axis 7 or D, it is possible to bring said pick and place axis 20 selectively into alignment with a first bobbin support pole 10 or a second bobbin support pole 10, to allow said pick and place fingers 14 to grip the inner core surface 19 and to grip at least one bobbin 16 and extract said bobbin 16 from said pole 10.

[00103] . A further operative variant of the method comprises the further steps of:

[00104] . - arranging said pick and place device 8 with its wrist axis 7 or D offset relative to four bobbin support poles 10;

[00105] . so that

[00106] . - by rotating said wrist axis 7 or D, but avoiding translating said wrist axis 7 or D, it is possible to bring said pick and place axis 20 selectively in alignment with any of said four bobbin support poles 10 to allow said pick and place fingers 14 to grip the inner core surface 19 and to grip at least one bobbin 16 and extract said bobbin 16 from said pole 10.

[00107] . A further operative variant of the method comprises the further steps of:

[00108] . - aligning said pick and place axis 20 with at least one bobbin support pole 10 of a temporary magazine or buffer 3 to place or remove a bobbin 16 on said pole 10 of the buffer 3.

[00109] . A further operative variant of the method comprises the further steps of:

[00110] . arranging the bobbin support poles 10 horizontal or transverse to the action of terrestrial gravity.

[00111] . A further operative variant of the method comprises the further steps of:

[00112] . - detecting the position of bobbin support poles 10 by video camera E;

[00113] . and/or

[00114] . - arranging the wrist axis 7 or D in such a way that the pick and place axis 20 is aligned or, due to the roll rotation of the wrist axis 7 or D, alignable with at least one, preferably at least two pole axes 32;

[00115] . and/or

[00116] . - detecting the pole position 10 while moving the gripper 6 by means of vertical and/or horizontal distance control sensors A and/or B;

[00117] . and/or

[00118] . - detecting the presence and/or position of a core 17 such as by means of a core presence/distance detection sensor C;

[00119] . and/or

[00120] . - centering the pick and place fingers 14 relative to the inner core surface 19;

[00121] . and/or

[00122] . - gripping the core 17;

[00123] . and/or

[00124]. - extracting the bobbin 16 from the pole 10.

[00125] . To the embodiments described above, one skilled in the art may, to satisfy contingent and specific needs, make numerous modifications, adaptations and replacements of elements with others that are functionally equivalent, without however departing from the scope of the following claims.

[00126] . Hereinafter will be described some further embodiments, according to an example of embodiment.

[00127] . AUTOMATION ISLAND BOBBIN DELIVERY

[00128] . The bobbins are delivered within the automation island by means of a carriage provided with horizontal poles, able to carry an adequate number of bobbins. Since the bobbins have a variable external diameter (e.g. from a minimum diameter to a MAX diameter), the configuration of this carriage is based on the aforesaid diameter.

[00129] . The aforesaid carriage is manually brought inside the island, which, by means of safety barriers and sensors, detects the entry, presence and correct position of the same carriage. The carriage is locked by means of a pneumatic mechanism that fixes it in a precise position, ideal for the bobbins to be picked up by the robot .

[00130] . The carriage, once emptied and filled with defective bobbins or consumed bobbins or cores, is removed from the island and replaced with a full carriage.

[00131] . PICKING UP BOBBINS FROM THE CARRIAGE

[00132] . For example, an anthropomorphic arm (hereinafter also referred to as a "robot") performs all the handling functions of the individual bobbin. The functions thereof are as follows (although not always in this specific order) :

[00133] - pick up full bobbin from the carriage;

[00134] - deliver full bobbin onto the accumulation pole (which will be called the "buffer");

[00135] . - pick up full bobbin from the buffer;

[00136] . - deliver full bobbin to the machine;

[00137] . - pick up consumed bobbin (which will be called core from the machine;

[00138] . - deliver core to the buffer;

[00139] . - pick up core from the buffer;

[00140] . - deliver core to the carriage;

[00141] . - pick up defective bobbins from the machine;

[00142] . - deliver defective bobbins to the buffer;

[00143] . - pick up defective bobbins from the buffer;

[00144] . - deliver defective bobbins to the carriage.

[00145] . ROBOT CYCLE OPERATION LOGIC

[00146] . In the following, one assumes the use of a carriage with six poles

[00147] . With regard to the carriage, the numbering of the poles is indicated below Each pole contains 7 bobbins.

[00148] The first bobbin that may be inserted is defined es CN[1], where N represents the number of the pole; CN[7] is the last bobbin that may be inserted, equivalent to the first one that will be extracted .

[00149] . For example, Cl [ 1 ] , C2[l], C5 [ 1 ] and C6 [ 1 ] contain bobbin .

[00150] . BUFFER

[00151] . With regard to the BUFFER, the numbering is indicated hereinafter. In this case, B3[l] and B4 [ 1 ] contain, in this example, a bobbin .

[00152] . Since the machine is able to measure the diameter of the removed bobbin, a core is considered to be the processed bobbin with a diameter less than a defined dimension, an incomplete bobbin is considered to be a bobbin with a diameter greater than the expected dimension .

[00153] . OPERATION PRINCIPLE

[00154] . In the management of the 6-pole carriage, one proceeds, in the initial stage, with picking a bobbin alternately from Cl and one from C2. Once the bobbins Cl and C2 are consumed, bobbins are picked up alternately from C5 and C6. The pick and place alternation, left pole/right pole, is preferable, but not necessary, due to the size of the robot arm.

[00155] . Until C3/C4 are full, a core (from the machine) is inserted alternately in such stations.

[00156] . Until Cl and C2 contain new bobbins, an incomplete bobbin (from the machine) is temporarily inserted into the BUFFER (pole Bl) .

[00157] . When the bobbins of Cl and C2 are consumed, these poles are used to store cores and incomplete bobbins, both from the machine and from the buffer (relating to the previous carriage) .

[00158] . Also in this step, one proceeds by alternately loading the left pole and the right pole. At the same time as loading the machine, new bobbins must be picked up and transferred to the buffer. To do this, the B3 and B4 poles are used.

[00159] . At the same time as loading the machine, any incomplete bobbins, related to the carriage being processed and temporarily present in the BUFFER, must be removed and loaded in C1-C2.

[00160] . When B3 and B4 are engaged by new bobbins, Bl and B2 are empty, and the new bobbins present in the cart are finished, the cart may be removed.

[00161] . In this step, the bobbins are taken from B3/B4, and any incomplete bobbins are loaded onto Bl, cores onto B2 and then onto B3.

[00162] . Example of Processing 1

[00163] . First processing. The machine is completely empty, the buffer is empty, new carriage (poles Cl, C2, C5 and C6 complete, poles C3 and C4 empty) .

[00164] . Robot picks up a bobbin from Cl and places it in the machine station called LOAD. The machine rotates the table. Robot picks up a bobbin from C2 and places it in LOAD. This is done a second time, until, for example, 4 machine stations are loaded. Robot picks up 2 bobbins from C1-C2 and places them in B4. At the end, Cl and C2 have 4 bobbins each. B4 contains 2 bobbins. No cores have been removed .

[00165] . The working cycle envisages for example 3 steps: core pick and place and loading on the carriage, new bobbin pick and place and loading on the machine, new bobbin pick and place and loading in the buffer .

[00166] . When the buffer is full, the cycle provides for only using the same buffer for the machine in the following steps:

[00167] . Core pickup and delivery in the buffer, loading from the buffer to the LOAD station. The cores are stored on the pole B2 and then on B3, leaving pole Bl available to accommodate any incomplete bobbins . [00168] . If in the highlighted cycle, an incomplete bobbin is present, this bobbin is placed on the pole B1.

[00169] . Example of Processing 2

[00170] . The machine is in the processing step, the buffer is loaded with the cores of the previous carriage, new carriage (poles Cl, C2, C5 and C6 full, poles C3 and C4 empty) . The working cycle envisages 4 steps: core pick and place and loading on the carriage, new bobbin pick and place and loading in the machine, new bobbin pick and place and loading in the buffer, pick and place of the core from the buffer and loading on the carriage.

[00171] . Example of Processing 3

[00172] . New carriage, the buffer has 1 incomplete bobbin on the pole Bl, 13 cores on poles B2+B3. Since the incomplete bobbin cannot be placed on C3-C4, one expects the poles C1-C2 to have been freed of the correct bobbins for inserting the incomplete bobbin.

[00173] . "RFID" PRESENCE READER VARIANT

[00174] . If RFID technology is used in the bobbins (for example inside the cores) , within the aforesaid cycles one must provide for an intermediate cycle of reading of the bobbin at the station in charge of reading the RFID card, allowing the machine to identify the features of the manipulated bobbin.

[00175] . ROBOT POSITIONING DIAGNOSTICS

[00176] . To detect the exact position of the carriage, the robot carries, at the end thereof, a camera that photographs the tip of the poles of the carriage: by analyzing the image, the robot stores the position of the carriage and begins to approach the first pole. Once the hand is placed on the pole, two micrometers mounted on the edge of the "gripping hand" record the position of the pole moment by moment and correct the trajectory of the robot.

[00177] . A potentiometer, still mounted on the gripper hand, detects if the same is in contact with the bobbin and in position to expand the grippers .

[00178] . To determine the exact position of the buffer poles, the robot, every morning and/or at the request of the operator, photographs the tip of the buffer poles and stores the position thereof .

[00179] . According to one embodiment, said assembly 22 comprises at least a temporary magazine, or buffer 3, having at least one bobbin support pole 10 suitable to receive bobbins 16 or cores 17 waiting for them to be loaded into a loading/unloading device of a machine 1, or a part thereof, or into a bobbin support device 9.

[00180] . According to one embodiment, said pick and place device 8, provides an operation of preparing the bobbin 16, for example, the web removal .

[00181] . According to a general embodiment, an assembly 22 comprises :

[00182] . at least one bobbin support device 9;

[00183] . at least one bobbin 16; [00184] . - said bobbin 16, comprising at least one inner cavity;

[00185] . - said bobbin 16 being suitable to be supported by said bobbin support 9;

[00186] . wherein said assembly further comprises

[00187] . - at least one pick and place device 8;

[00188] . - said pick and place device 8 comprising a pick and place device wrist 15, defining a wrist axis 7 or D;

[00189] . - said assembly further comprises at least one pick and place gripper 6 supported by said wrist 15;

[00190] . wherein

[00191] . - said at least one pick and place gripper 6 comprises at least two pick and place fingers 14 movable away from each other or approaching a pick and place axis 20 to grip said bobbin 16 in said at least one cavity;

[00192] . - said pick and place axis 20 is spaced from said wrist axis 7 or D by a predefined gripper distance 21.

REFERENCE LIST

1 bobbin/core loading/unloading axis or device or feed of the user machine

2 door separating carriage arrival zone from work area

3 buffer zone

4 work area

5 bobbin carriage loading/unloading zone

6 robot gripper or bobbin pick and place gripper or robot hand

7 robot wrist rotation axis or wrist axis

8 robot or anthropomorphic arm or anthropomorphic robot or manipulator or pick and place device

9 carriage - bobbin support device

10 bobbin support pole

11 support pole axis

12 work island or work assembly or assembly

13 user machine

14 gripper finger or robot hand or pick and place finger

15 robot wrist or pick and place device wrist

16 bobbin of web or wire material

17 bobbin core

18 material of the bobbin or web or wire material

19 inner core surface

20 pick and place axis

21 predefined gripper distance

22 assembly

23 gripper body

24 robot base

25 rotating robot platform

26 first robot arm

27 second robot arm

28 gripper opening and closing device

29 pick and place finger body

30 finger outer surface

31 machine or machine for processing a material in web or wire

32 pole axis

33 carriage locking device

A bobbin pick and place gripper vertical distance positioning control sensor

B bobbin pick and place gripper horizontal distance positioning control sensor

C core presence/distance sensor

D robot wrist rotation axis, also reference 7

E bobbin center position or pole position video camera