BRPI0819221A2 - Dispositivo e método para alinhar a posição de peças em forma de placas. - Google Patents

Dispositivo e método para alinhar a posição de peças em forma de placas.

Info

Publication number
BRPI0819221A2
BRPI0819221A2 BRPI0819221A BRPI0819221A2 BR PI0819221 A2 BRPI0819221 A2 BR PI0819221A2 BR PI0819221 A BRPI0819221 A BR PI0819221A BR PI0819221 A2 BRPI0819221 A2 BR PI0819221A2
Authority
BR
Brazil
Prior art keywords
plate
shaped parts
set position
conveying equipment
continuous conveying
Prior art date
Application number
Other languages
English (en)
Inventor
Reiner Dörner
Joachim Pottiez
Original Assignee
Schuler Automation Gmbh & Co
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=40445754&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=BRPI0819221(A2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Schuler Automation Gmbh & Co filed Critical Schuler Automation Gmbh & Co
Publication of BRPI0819221A2 publication Critical patent/BRPI0819221A2/pt
Publication of BRPI0819221B1 publication Critical patent/BRPI0819221B1/pt

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
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material
    • 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
    • B21D43/003—Positioning devices
    • 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
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/16—Loading work on to conveyors; Arranging work on conveyors, e.g. varying spacing between individual workpieces
    • B23Q7/18—Orienting work on conveyors
    • 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
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • 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
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2240/00—Machine tools specially suited for a specific kind of workpiece
    • B23Q2240/002—Flat workpieces
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/06—Communication with another machine
    • Y10S901/07—Conveyor

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Registering Or Overturning Sheets (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Diaphragms For Electromechanical Transducers (AREA)
BRPI0819221-9A 2008-03-12 2008-03-12 Dispositivo e método para a orientação posicional de peças em forma de placas BRPI0819221B1 (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/001944 WO2009112051A1 (de) 2008-03-12 2008-03-12 Vorrichtung und verfahren zur lageausrichtung von plattenförmigen teilen

Publications (2)

Publication Number Publication Date
BRPI0819221A2 true BRPI0819221A2 (pt) 2015-05-05
BRPI0819221B1 BRPI0819221B1 (pt) 2020-02-18

Family

ID=40445754

Family Applications (1)

Application Number Title Priority Date Filing Date
BRPI0819221-9A BRPI0819221B1 (pt) 2008-03-12 2008-03-12 Dispositivo e método para a orientação posicional de peças em forma de placas

Country Status (11)

Country Link
US (1) US8790064B2 (pt)
EP (1) EP2190604B1 (pt)
CN (1) CN101909778B (pt)
AT (1) ATE496711T1 (pt)
BR (1) BRPI0819221B1 (pt)
DE (1) DE502008002504D1 (pt)
ES (1) ES2360386T3 (pt)
PL (1) PL2190604T3 (pt)
PT (1) PT2190604E (pt)
SI (1) SI2190604T1 (pt)
WO (1) WO2009112051A1 (pt)

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009048442A1 (de) * 2009-10-07 2011-04-14 Homag Holzbearbeitungssysteme Ag Vorrichtung und Verfahren zum Ausrichten von Werkstücken
JP5755038B2 (ja) * 2010-06-28 2015-07-29 キヤノン株式会社 組立装置及び生産システム
JP2012101317A (ja) * 2010-11-10 2012-05-31 Amada Co Ltd 長尺材曲げ加工用のロボットハンドおよび長尺材曲げ加工システム
FI125692B (fi) * 2011-06-15 2016-01-15 Raute Oyj Laitteisto kuljetinelimillä syötettävien viilujen vastaanottamiseksi ja paikoittamiseksi haluttuun kohtaan
DE102012019841B4 (de) * 2012-10-09 2022-01-05 Grenzebach Maschinenbau Gmbh Verfahren und Vorrichtung für das Umsetzen großflächiger Platten in extremer Übergröße
JP5604496B2 (ja) * 2012-10-24 2014-10-08 本田技研工業株式会社 板状ワーク用センターリング装置
CN103770477B (zh) * 2014-01-17 2015-09-30 北京京东方显示技术有限公司 打码机和打码方法
JP6715565B2 (ja) * 2014-09-18 2020-07-01 株式会社安川電機 ロボットシステムおよびワークピッキング方法
DE102014221877A1 (de) * 2014-10-28 2016-04-28 Bayerische Motoren Werke Aktiengesellschaft System und Verfahren zum lagegenauen Platzieren eines zu bearbeitenden Objekts an einer Fertigungsvorrichtung
DE102014223910A1 (de) * 2014-11-24 2016-05-25 Homag Holzbearbeitungssysteme Gmbh Werkstückzuführvorrichtung
DE102015200734A1 (de) * 2015-01-19 2016-07-21 Krones Aktiengesellschaft Verfahren und Vorrichtung zum Umgang mit einzelnen Zwischenlagen
WO2016116362A1 (de) * 2015-01-19 2016-07-28 Krones Aktiengesellschaft Verfahren und vorrichtung zum umgang mit einzelnen zwischenlagen
DE102015203221B3 (de) * 2015-02-23 2016-06-09 Schuler Automation Gmbh & Co. Kg Verfahren zur Korrektur eines vorgegebenen Schneidwegs zum Schneiden einer Blechplatine
MX2016004689A (es) * 2015-04-15 2017-04-25 Magna Int Inc Horno de multiples aberturas de formacion de aluminio en caliente y linea de produccion.
DE102015208618A1 (de) * 2015-05-08 2016-11-10 Homag Gmbh Werkstückzuführvorrichtung bzw. Werkstückabführvorrichtung
DE102015108966A1 (de) * 2015-06-08 2016-12-08 Krones Aktiengesellschaft Verfahren und Vorrichtung zum Umgang mit einzelnen Zwischenlagen
KR101752801B1 (ko) * 2015-09-10 2017-06-30 주식회사 포스코 치수측정장치 및 방법
CN105083998B (zh) * 2015-09-11 2017-09-29 福耀集团（上海）汽车玻璃有限公司 一种汽车玻璃成型前的阵列高速定位装置
CN107030687A (zh) * 2016-02-04 2017-08-11 上海晨兴希姆通电子科技有限公司 位置偏移检测方法及模块、抓取位置校准方法、抓取系统
CN106078803B (zh) * 2016-06-15 2018-07-06 北京小米移动软件有限公司 零件检测方法及装置
JP2018034242A (ja) * 2016-08-31 2018-03-08 セイコーエプソン株式会社 ロボット制御装置、ロボット、及びロボットシステム
KR102488727B1 (ko) * 2017-03-16 2023-01-13 귀델 아게 센터링 장치
NL2018907B1 (nl) 2017-05-12 2018-11-15 Buhrs Packaging Solutions B V Inrichting voor het automatisch ontstapelen van een pallet waarop zich ten minste twee stapels plano’s zijn opgesteld
DE102017111800A1 (de) * 2017-05-30 2018-12-06 Wisco Lasertechnik Gmbh Verfahren zur Ausrichtung zweier Werkstücke zur Ausbildung einer Fügeverbindung und Manipulator
CN107571263B (zh) * 2017-07-19 2019-07-23 江汉大学 一种具有寻物捡捞功能的机器人
DE102017121557B4 (de) 2017-09-18 2022-03-24 Strothmann Machines & Handling GmbH Verfahren und Vorrichtung zur Förderung und Positionierung von Werkstücken
CN107639173A (zh) * 2017-11-09 2018-01-30 济南二机床集团有限公司 一种用于冲压线板形零件移动抓取对中装置和方法
CN110733034B (zh) * 2018-07-20 2022-10-21 台达电子工业股份有限公司 机械手臂校正方法、机械手臂校正系统以及输送系统
CN109186457B (zh) * 2018-09-14 2021-02-12 天津玛特检测设备有限公司 一种双目的零件识别方法和装置及使用该装置的生产线
CN109877637B (zh) * 2019-03-20 2020-12-08 阳信东泰精密金属有限公司 一种自动化零部件加工装置
CN112390014A (zh) * 2019-08-19 2021-02-23 张家港爱丽家居科技股份有限公司 一种物料整合设备
DE102020108037B4 (de) 2020-03-24 2022-01-20 Strothmann Machines & Handling GmbH Positionierungseinrichtung und Verfahren zur Positionierung von Werkstücken
US11318517B2 (en) * 2020-09-30 2022-05-03 Ford Global Technologies, Llc System and method for heating metal blanks
DE102021100214B4 (de) 2021-01-08 2022-10-13 Nsm Magnettechnik Gmbh Vorrichtung und Verfahren zur Handhabung von plattenförmigen Teilen
CN117279761A (zh) * 2021-05-05 2023-12-22 迪芬巴赫机器制造有限公司 在胶合板生产过程中用于将贴面板放置和对齐成贴面板堆叠的设备和方法
WO2023217636A1 (en) * 2022-05-10 2023-11-16 Fagor Arrasate, S.Coop. Production line for processing flat format parts to shape final parts
US12103063B2 (en) 2022-05-10 2024-10-01 Fagor Arrasate, S.Coop. Apparatus for centering and loading flat format parts in a press

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4105925A (en) * 1977-03-14 1978-08-08 General Motors Corporation Optical object locator
US4228886A (en) * 1978-12-26 1980-10-21 Ppg Industries, Inc. Position sensor
US4435837A (en) * 1981-03-05 1984-03-06 President And Fellows Of Harvard College Pattern recognition and orientation system
US5040056A (en) * 1990-01-29 1991-08-13 Technistar Corporation Automated system for locating and transferring objects on a conveyor belt
US5910894A (en) * 1994-01-11 1999-06-08 Sensor Adaptive Machines, Inc. Sensor based assembly tooling improvements
US5950484A (en) * 1996-09-26 1999-09-14 Reinhardt Maschinenbau Gmbh Bending center
DE19809184C2 (de) * 1998-03-04 2001-07-19 Schuler Automation Gmbh & Co In Zusammenhang mit einer Presse verwendbare Platinen-Positioniervorrichtung
BE1013005A3 (nl) 1998-08-24 2001-07-03 Boucherie Nv G B Werkwijze en inrichting voor het ordenen van tandenborstellichamen en machine die met zulke inrichting is uitgerust.
DE19856151A1 (de) * 1998-10-02 2000-04-13 Mueller Weingarten Maschf Entstapel- und Beschickungsanlage
AU742980B2 (en) * 1999-10-13 2002-01-17 Kawasaki Jukogyo Kabushiki Kaisha Random work arranging device
DE10000469C2 (de) * 2000-01-07 2003-07-03 Schott Spezialglas Gmbh Verfahren zum fortlaufenden Ablängen von Zuschnitten aus einem kontinuierlich bewegten Endlosmaterial und zugehörige Vorrichtung
DE10059312C2 (de) 2000-11-29 2002-10-24 Strothmann Gmbh & Co Kg Maschb Zentriervorrichtung für Fördergut
US6644080B2 (en) * 2001-01-12 2003-11-11 Finn-Power International, Inc. Press brake worksheet positioning system
US6817829B2 (en) * 2001-12-25 2004-11-16 Komatsu Ltd. Work loading method for automatic palletizer, work loading method, work loading apparatus and attachment replacing method thereof
DE10216174A1 (de) 2002-04-12 2003-10-30 Imt Robot Ag Verfahren zur automatisierten Gruppierung von Objekten
JP2003312901A (ja) * 2002-04-25 2003-11-06 Sintokogio Ltd 長方形板状材料の成形機への送り込み方法およびその設備
US6876897B2 (en) * 2002-08-27 2005-04-05 Pilkington North America, Inc. Positioning device and method for operation
GB0304225D0 (en) 2003-02-25 2003-03-26 Colmarque Engineering Ltd Device for re-aligning items on a conveyor belt
US20040240981A1 (en) * 2003-05-29 2004-12-02 I-Scan Robotics Robot stacking system for flat glass
AT502501B1 (de) * 2004-03-05 2007-04-15 Trumpf Maschinen Austria Gmbh Durchlichteinheit
US7266422B1 (en) * 2004-04-09 2007-09-04 Fanuc Robotics America, Inc. Automated palletizing cases having mixed sizes and shapes
DE102004048036A1 (de) * 2004-09-28 2006-04-06 Ras Reinhardt Maschinenbau Gmbh Biegeeinrichtung
DE102004051994B4 (de) 2004-10-25 2006-08-17 Müller Weingarten AG Vorrichtung zur lagegerechten Positionierung von Platinen
DE102004051977B4 (de) 2004-10-25 2007-11-22 Müller Weingarten AG Vorrichtung zum Transport und zur Lageveränderung von Werkstücken
US20060099064A1 (en) * 2004-11-08 2006-05-11 Yaron Anaki On-the-fly robotic stacking system for flat glass
JP2006326655A (ja) * 2005-05-27 2006-12-07 Yamaha Fine Technologies Co Ltd パンチング装置
WO2006128393A1 (de) 2005-06-03 2006-12-07 Müller Weingarten AG Platinenzuführung
JP4841295B2 (ja) * 2006-04-07 2011-12-21 理想科学工業株式会社 画像形成装置

Also Published As

Publication number Publication date
BRPI0819221B1 (pt) 2020-02-18
ATE496711T1 (de) 2011-02-15
CN101909778A (zh) 2010-12-08
SI2190604T1 (sl) 2011-05-31
PT2190604E (pt) 2011-02-03
CN101909778B (zh) 2012-09-05
EP2190604B1 (de) 2011-01-26
US20100232923A1 (en) 2010-09-16
WO2009112051A1 (de) 2009-09-17
US8790064B2 (en) 2014-07-29
EP2190604A1 (de) 2010-06-02
ES2360386T3 (es) 2011-06-03
PL2190604T3 (pl) 2011-06-30
DE502008002504D1 (de) 2011-03-10

Similar Documents

Publication Publication Date Title
BRPI0819221A2 (pt) Dispositivo e método para alinhar a posição de peças em forma de placas.
EP2497611A3 (en) Image processing apparatus and image processing system, and conveyor apparatus therefor
WO2007123249A3 (en) Alignment method, imprint method, alignment apparatus, and position measurement method
FR2932163B1 (fr) Procede de commande d'attitude de satellite et satellite commande en attitude
EP2172781A3 (en) Specimen processing device, specimen conveyance device, and specimen conveyance method
WO2009001627A1 (ja) 部品移載装置
EP2182670A4 (en) METHOD AND DEVICE FOR TRACKING A CLOCK SOURCE
FR2972952B1 (fr) Procede de commande d'un dispositif d'arrosage pour machine d'usinage.
WO2009041233A1 (ja) 型締装置及び型締制御方法
EP3706401A4 (en) METHOD OF DETERMINING AND CONTROLLING THE CONDITION OF BATTERIES USING A SENSOR AND ELECTRONIC DEVICE THEREOF
FR2958196B1 (fr) Procede et systeme d'aide au positionnement d'une piece sur un element de structure.
FR2917201B1 (fr) Procede et dispositif de gestion,de traitement et de controle de parametres utilises a bord d'aeronefs
FR2987889B1 (fr) Procede de commande automatique destine au degivrage d'une pompe a chaleur pour vehicule
PH12015500483A1 (en) Method of dispensing material based on edge detection
JP2011066090A5 (ja) 基板接合装置、基板接合方法およびデバイスの製造方法
FR2905437B1 (fr) Procede de pilotage d'un dispositif d'accouplement controle de deux crabots.
FR2971291B1 (fr) Unite de commande et procede de pilotage de jeu en sommet d'aubes
FR2947929B1 (fr) Procede de controle d'un systeme de regulation a controle de distance, et systeme de regulation associe
MY150392A (en) Method and device for transporting a method object
FR2949514B1 (fr) Procede de commande d'un systeme micro-hybride
TWI370638B (en) Method for determining the confidence index of the estimated position for a target device in a wireless system
FR3057968B1 (fr) Procede de gestion d'un systeme automatise controle par un operateur et un automate, systeme automatise associe
FR2978933B1 (fr) Procede de commande d'un automate a actionnement parallele redondant, dispositif de commande associe et automate.
WO2008152236A3 (fr) Actionneur alternatif a asservissement en boucle fermée
FR2905438B1 (fr) Procede de pilotage d'un dispositif d'accouplement de deux crabots, a temps de crabotage reduit.

Legal Events

Date Code Title Description
B06F Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]
B06T Formal requirements before examination [chapter 6.20 patent gazette]
B06A Patent application procedure suspended [chapter 6.1 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 10 (DEZ) ANOS CONTADOS A PARTIR DE 18/02/2020, OBSERVADAS AS CONDICOES LEGAIS.