WO2004028939A3 - Greifeinrichtung mit mitteln zum detektieren von doppelzufuhr und ihr betriebsverfahren - Google Patents

Greifeinrichtung mit mitteln zum detektieren von doppelzufuhr und ihr betriebsverfahren Download PDF

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Publication number
WO2004028939A3
WO2004028939A3 PCT/AT2003/000282 AT0300282W WO2004028939A3 WO 2004028939 A3 WO2004028939 A3 WO 2004028939A3 AT 0300282 W AT0300282 W AT 0300282W WO 2004028939 A3 WO2004028939 A3 WO 2004028939A3
Authority
WO
WIPO (PCT)
Prior art keywords
gripping device
workpiece
gripping
double feeding
gripper head
Prior art date
Application number
PCT/AT2003/000282
Other languages
English (en)
French (fr)
Other versions
WO2004028939A2 (de
Inventor
Hagen Strasser
Gerhard Sperrer
Original Assignee
Trumpf Maschinen Austria Gmbh
Hagen Strasser
Gerhard Sperrer
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Trumpf Maschinen Austria Gmbh, Hagen Strasser, Gerhard Sperrer filed Critical Trumpf Maschinen Austria Gmbh
Priority to EP03797971.3A priority Critical patent/EP1542918B1/de
Priority to AU2003265707A priority patent/AU2003265707A1/en
Priority to US10/529,262 priority patent/US7792609B2/en
Publication of WO2004028939A2 publication Critical patent/WO2004028939A2/de
Publication of WO2004028939A3 publication Critical patent/WO2004028939A3/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
    • B65H7/02—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
    • B65H7/06—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed
    • B65H7/12—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed responsive to double feed or separation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/20—Storage arrangements; Piling or unpiling
    • B21D43/24—Devices for removing sheets from a stack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/30—Numbers, e.g. of windings or rotations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/20—Acceleration or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/50—Vibrations; Oscillations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00—Sensing or detecting means
    • B65H2553/20—Sensing or detecting means using electric elements
    • B65H2553/26—Piezoelectric sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00—Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/10—Means for control not provided for in groups B65H2551/00 - B65H2555/00 for signal transmission
    • B65H2557/11—Means for control not provided for in groups B65H2551/00 - B65H2555/00 for signal transmission wireless
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/17—Nature of material
    • B65H2701/173—Metal
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40537—Detect if robot has picked up more than one piece from bin; interlocked parts

Abstract

Die Erfindung betrifft eine Greifeinrichtung (1) für eine Handhabungseinrichtung (5), insbesondere für einen Roboter, für die Teileaufnahme und Beschickung einer Fertigungseinrichtung, z.B. Blechbiegemaschine, Stanzpresse, Schweisseinrichtung, etc., mit einem Werkteil (2) von einem bereitgestellten Stapel (3) der Werkteile (2) mit einem mit Greifmitteln (7), z.B. Saugnäpfen (9), Magneten, Zangen etc., bestückten Greiferkopf (6) und mit einer Detektiereinrichtung (17) für den von den Greifmitteln aufgenommenen Werkteil (2). Am Greiferkopf (6) sind die Detektiereinrichtung (12) und zumindest ein den Werkteil (2) beaufschlagender Impulsgeber (13) als Schwingungserreger ausgebildet und zumindest ein Schwingungsfühler (15) angeordnet. Die Erfindung betrifft weiters ein Verfahren zum Betrieb einer solchen Greifeinrichtung (1).
PCT/AT2003/000282 2002-09-26 2003-09-25 Greifeinrichtung mit mitteln zum detektieren von doppelzufuhr und ihr betriebsverfahren WO2004028939A2 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP03797971.3A EP1542918B1 (de) 2002-09-26 2003-09-25 Greifeinrichtung mit mitteln zum detektieren von doppelzufuhr und ihr betriebsverfahren
AU2003265707A AU2003265707A1 (en) 2002-09-26 2003-09-25 Gripping device comprising means for detecting double feeding and method for the operation thereof
US10/529,262 US7792609B2 (en) 2002-09-26 2003-09-25 Gripping device for manipulating device and method for operation thereof

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT14562002 2002-09-26
ATA1456/2002 2002-09-26

Publications (2)

Publication Number Publication Date
WO2004028939A2 WO2004028939A2 (de) 2004-04-08
WO2004028939A3 true WO2004028939A3 (de) 2004-05-27

Family

ID=32034599

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AT2003/000282 WO2004028939A2 (de) 2002-09-26 2003-09-25 Greifeinrichtung mit mitteln zum detektieren von doppelzufuhr und ihr betriebsverfahren

Country Status (4)

Country Link
US (1) US7792609B2 (de)
EP (1) EP1542918B1 (de)
AU (1) AU2003265707A1 (de)
WO (1) WO2004028939A2 (de)

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JP4565023B2 (ja) * 2008-07-04 2010-10-20 ファナック株式会社 物品取り出し装置
WO2010024795A1 (en) * 2008-08-29 2010-03-04 Abb Research Ltd. Robotic picking of parts from a bin using force feedback
EP2470333A2 (de) 2009-08-27 2012-07-04 ABB Research Ltd. Robotisches aufgreifen von teilen aus einem teilebehälter
JP5085749B2 (ja) * 2011-02-21 2012-11-28 ファナック株式会社 棒状部材の搬送装置
JP5717503B2 (ja) * 2011-03-30 2015-05-13 富士重工業株式会社 プレス品検査装置
US8826787B2 (en) * 2012-08-22 2014-09-09 Xerox Corporation Cutting machine media feeder system with fixed in-feed and out-feed trays
SE537072C2 (sv) * 2013-06-05 2014-12-30 Mizelda Ab Vikanordning och användning av vikanordning för vikning av ett ämne
CN103708713A (zh) * 2013-12-26 2014-04-09 深圳市华星光电技术有限公司 夹持机构、液晶面板切割机以及液晶面板切割工艺
KR101641164B1 (ko) * 2014-11-25 2016-07-20 유도스타자동화 주식회사 중량측정장치를 갖춘 다관절 로봇
MX369224B (es) * 2014-12-17 2019-10-31 Norgren Automation Solutions Llc Aparato y método para detectar múltiples piezas de trabajo.
CN104972008B (zh) * 2015-06-10 2017-03-15 南京邮电大学 一种应用于自动化生产线的板材定位抓取系统及定位抓取方法
JP6616170B2 (ja) * 2015-12-07 2019-12-04 ファナック株式会社 コアシートの積層動作を学習する機械学習器、積層コア製造装置、積層コア製造システムおよび機械学習方法
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EP3311950A1 (de) * 2016-10-19 2018-04-25 Bystronic Laser AG Transportvorrichtung, verfahren und computerprogrammprodukt zum beladen und entladen zumindest einer materialbearbeitungsmaschine
EP3311963A1 (de) * 2016-10-21 2018-04-25 Bystronic Laser AG Positionierbare roboterzelle, fertigungseinrichtung mit einer fertigungsvorrichtung und mit positionierbare roboterzelle sowie verfahren zum betrieb einer solchen positionierbaren roboterzelle
TWI636246B (zh) * 2017-03-21 2018-09-21 中國鋼鐵股份有限公司 自粘電磁鋼片及衝切油之相容性的量測系統及其量測方法
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JP7078321B2 (ja) * 2018-03-23 2022-05-31 株式会社Ｓｃｒｅｅｎホールディングス 合紙除去装置および合紙除去方法
US11820026B2 (en) 2018-04-23 2023-11-21 Dynamic Concept Robot and automated guided vehicle combination for aluminum furnace operations
EP3816128B1 (de) * 2018-06-28 2022-03-09 Panasonic Intellectual Property Management Co., Ltd. Säulenzuführverfahren, verfahren zur herstellung einer glasplatteneinheit und säulenzuführvorrichtung
TWI796524B (zh) * 2018-10-19 2023-03-21 日商Ｔｈｋ股份有限公司 致動器系統
US11224975B2 (en) 2018-10-23 2022-01-18 Ford Global Technologies, Llc Impulse electrically generated force separation of blanks for the automated destacking of metal sheet
DE102020116626A1 (de) * 2020-06-24 2021-12-30 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zur Entnahme eines Werkstückteils in einer Bearbeitungsmaschine, Datenverarbeitungsprogramm, Sicherungseinrichtung sowie Bearbeitungsmaschine
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Also Published As

Publication number Publication date
US20060184282A1 (en) 2006-08-17
AU2003265707A1 (en) 2004-04-19
WO2004028939A2 (de) 2004-04-08
EP1542918B1 (de) 2016-11-16
US7792609B2 (en) 2010-09-07
AU2003265707A8 (en) 2004-04-19
EP1542918A2 (de) 2005-06-22

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