ATE465851T1 - Verfahren und vorrichtung zur handhabung von teilen - Google Patents

Verfahren und vorrichtung zur handhabung von teilen

Info

Publication number
ATE465851T1
ATE465851T1 AT07857853T AT07857853T ATE465851T1 AT E465851 T1 ATE465851 T1 AT E465851T1 AT 07857853 T AT07857853 T AT 07857853T AT 07857853 T AT07857853 T AT 07857853T AT E465851 T1 ATE465851 T1 AT E465851T1
Authority
AT
Austria
Prior art keywords
robots
rigid arm
robot
arm
relation
Prior art date
Application number
AT07857853T
Other languages
English (en)
Inventor
Ramon Casanelles
Grau Francesc Cortes
Original Assignee
Abb Research Ltd
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 Abb Research Ltd filed Critical Abb Research Ltd
Application granted granted Critical
Publication of ATE465851T1 publication Critical patent/ATE465851T1/de

Links

Classifications

    • 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
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • 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
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • 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
    • G05B2219/40519—Motion, trajectory planning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist
AT07857853T 2006-12-19 2007-12-19 Verfahren und vorrichtung zur handhabung von teilen ATE465851T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US87554506P 2006-12-19 2006-12-19
PCT/EP2007/064232 WO2008074836A1 (en) 2006-12-19 2007-12-19 Parts handling device, system and method

Publications (1)

Publication Number Publication Date
ATE465851T1 true ATE465851T1 (de) 2010-05-15

Family

ID=39267780

Family Applications (1)

Application Number Title Priority Date Filing Date
AT07857853T ATE465851T1 (de) 2006-12-19 2007-12-19 Verfahren und vorrichtung zur handhabung von teilen

Country Status (9)

Country Link
US (1) US8855817B2 (de)
EP (1) EP2101962B1 (de)
JP (2) JP2010513040A (de)
KR (1) KR101488540B1 (de)
CN (1) CN101578162B (de)
AT (1) ATE465851T1 (de)
DE (1) DE602007006236D1 (de)
ES (1) ES2343386T3 (de)
WO (1) WO2008074836A1 (de)

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US8965580B2 (en) 2012-06-21 2015-02-24 Rethink Robotics, Inc. Training and operating industrial robots
US9579806B2 (en) 2012-08-23 2017-02-28 Rethink Robotics, Inc. Robotic power and signal distribution using laminated cable with separator webs
WO2014060021A1 (en) * 2012-10-16 2014-04-24 Abb Technology Ag A system for handling workpieces in a press line
MX351773B (es) 2012-11-23 2017-10-27 Transf Engineering Inc Ensamble de control numérico por computadora o procesamiento de componentes.
CN103418705B (zh) * 2013-08-15 2015-08-19 浙江安统汽车部件有限公司 摆臂式板件转位机构
US10589973B2 (en) 2013-10-25 2020-03-17 Ats Automation Tooling Systems Inc. Flexible feeding and closing machine for hinged caps
JP6001024B2 (ja) 2014-08-29 2016-10-05 アイダエンジニアリング株式会社 プレス機械のワーク搬送装置
KR101655623B1 (ko) 2014-12-22 2016-09-07 현대자동차주식회사 프로젝션 다타점 용접 방법 및 이를 이용한 차체부품 로딩 동시 접합 시스템
CN113565445A (zh) * 2015-05-04 2021-10-29 卡斯淘Msc有限公司 钻井装置、搬运系统、用于独立作业的方法
JP6267157B2 (ja) * 2015-05-29 2018-01-24 ファナック株式会社 位置補正機能を有するロボットを備えた生産システム
GB201512964D0 (en) * 2015-07-22 2015-09-02 Cambridge Medical Robotics Ltd Communication paths for robot arms
DE102015014485A1 (de) * 2015-11-10 2017-05-24 Kuka Roboter Gmbh Kalibrieren eines Systems mit einem Fördermittel und wenigstens einem Roboter
CN109562516A (zh) * 2016-06-30 2019-04-02 Abb瑞士股份有限公司 在冲压线中处理部件
DE112017004812T5 (de) 2016-09-26 2019-06-06 Fanuc America Corporation Automatische synchronisierung von pressmaschinen und robotern
IT201700015422A1 (it) * 2017-02-13 2018-08-13 Intermecc Eng S R L Macchina e metodo per l'accoppiamento di una tallonetta ad un soletto
US10888385B2 (en) * 2018-07-09 2021-01-12 Point Robotics Medtech Inc. Calibration device and calibration method for surgical instrument
ES2934802T3 (es) * 2018-09-18 2023-02-27 Siemens Ag Planificación de movimiento para un sistema de transporte de una instalación de servoprensas

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Also Published As

Publication number Publication date
EP2101962A1 (de) 2009-09-23
KR101488540B1 (ko) 2015-02-02
US8855817B2 (en) 2014-10-07
EP2101962B1 (de) 2010-04-28
US20100036525A1 (en) 2010-02-11
KR20090091240A (ko) 2009-08-26
JP2010513040A (ja) 2010-04-30
JP2012148401A (ja) 2012-08-09
CN101578162B (zh) 2012-04-04
DE602007006236D1 (de) 2010-06-10
CN101578162A (zh) 2009-11-11
ES2343386T3 (es) 2010-07-29
WO2008074836A1 (en) 2008-06-26
JP5836843B2 (ja) 2015-12-24

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Legal Events

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RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties