DE20102446U1 - Device for gripping metallic objects - Google Patents

Device for gripping metallic objects

Info

Publication number
DE20102446U1
DE20102446U1 DE20102446U DE20102446U DE20102446U1 DE 20102446 U1 DE20102446 U1 DE 20102446U1 DE 20102446 U DE20102446 U DE 20102446U DE 20102446 U DE20102446 U DE 20102446U DE 20102446 U1 DE20102446 U1 DE 20102446U1
Authority
DE
Germany
Prior art keywords
gripping
base
metallic objects
metallic
axis
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
DE20102446U
Other languages
German (de)
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
WECKENMANN ANLAGENTECHNIK GmbH
Original Assignee
WECKENMANN ANLAGENTECHNIK GmbH
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 WECKENMANN ANLAGENTECHNIK GmbH filed Critical WECKENMANN ANLAGENTECHNIK GmbH
Priority to DE20102446U priority Critical patent/DE20102446U1/en
Publication of DE20102446U1 publication Critical patent/DE20102446U1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/344—Sorting according to other particular properties according to electric or electromagnetic properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/027—Electromagnetic sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
    • B28B17/0063—Control arrangements
    • B28B17/0081—Process control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37599—Presence of metal

Description

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßtThe description text was not recorded electronically

Claims (14)

1. Vorrichtung zum Ergreifen metallischer Gegenstände, die in beliebiger Lage auf einer Unterlage liegen, dadurch ge­ kennzeichnet, dass die Vorrichtung aus einer Erkennungs­ vorrichtung (10) zur Erkennung der Lage der metallischen Gegenstände (40) auf der Unterlage (50), einer Greifvor­ richtung (20) zum Ergreifen der erkannten metallischen Gegenstände (40) und einer Steuervorrichtung (30) zur Steuerung der Erkennungsvorrichtung (10) und der Greifvor­ richtung (20) besteht.1. Device for gripping metallic objects that are in any position on a base, characterized in that the device from a detection device ( 10 ) for detecting the position of the metallic objects ( 40 ) on the base ( 50 ), a gripping device direction ( 20 ) for gripping the detected metallic objects ( 40 ) and a control device ( 30 ) for controlling the detection device ( 10 ) and the Greifvor direction ( 20 ). 2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Erkennungsvorrichtung (10) und die Greifvorrich­ tung (20) über die auf der Unterlage (50) liegenden metal­ lischen Gegenstände (40) hinwegbewegt werden.2. Device according to claim 1, characterized in that the detection device ( 10 ) and the Greifvorrich device ( 20 ) over the lying on the base ( 50 ) metallic objects ( 40 ) are moved away. 3. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, dass sich bei der Bewegung der Erkennungsvorrichtung (10) und der Greifvorrichtung (20) über die auf der Unterlage (50) liegenden metallischen Gegenstände (40), die Erkennungs­ vorrichtung (10) in Bewegungsrichtung vor der Greifvor­ richtung (20) befindet.3. Apparatus according to claim 2, characterized in that during the movement of the detection device ( 10 ) and the gripping device ( 20 ) over the lying on the base ( 50 ) metallic objects ( 40 ), the detection device ( 10 ) in the direction of movement the Greifvor direction ( 20 ) is. 4. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Erkennungsvorrichtung (10) aus einer induktiven Sen­ soranordnung besteht. 4. The device according to claim 1, characterized in that the detection device ( 10 ) consists of an inductive sensor arrangement. 5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass die induktive Sensoranordnung aus einer über die Unter­ lage (50) beweglichen Sensorleiste (12) mit entlang der Leiste angeordneten einzelnen induktiven Sensoren (14) besteht.5. The device according to claim 4, characterized in that the inductive sensor arrangement consists of a movable over the base ( 50 ) sensor bar ( 12 ) with arranged along the bar individual inductive sensors ( 14 ). 6. Vorrichtung nach einem der vorhergehenden Ansprüche, da­ durch gekennzeichnet, dass die Greifvorrichtung (20) einen um mehrere Achsen beweglichen Greifarm (22) umfasst.6. Device according to one of the preceding claims, characterized in that the gripping device ( 20 ) comprises a gripping arm ( 22 ) movable about several axes. 7. Vorrichtung nach Anspruch 6, dadurch gekennzeichnet, dass die Greifvorrichtung (20) um vier Achsen, nämlich eine x- Achse, eine y-Achse, eine z-Achse und eine Drehachse, drehbar ist.7. The device according to claim 6, characterized in that the gripping device ( 20 ) about four axes, namely an x-axis, a y-axis, a z-axis and an axis of rotation, is rotatable. 8. Vorrichtung nach Anspruch 6 oder 7, dadurch gekennzeich­ net, dass die Greifvorrichtung (20) so ausgebildet ist, dass sie den ergriffenen Gegenstand (40) auch kippen kann.8. The device according to claim 6 or 7, characterized in that the gripping device ( 20 ) is designed such that it can also tilt the gripped object ( 40 ). 9. Vorrichtung nach einem der Ansprüche 6 bis 8, dadurch gekennzeichnet, dass es sich bei der Greifvorrichtung (20) um einen Linearroboter handelt.9. Device according to one of claims 6 to 8, characterized in that the gripping device ( 20 ) is a linear robot. 10. Vorrichtung nach einem der vorangehenden Ansprüche, da­ durch gekennzeichnet, dass die Steuervorrichtung (30) so ausgebildet ist, dass sie aus der durch die Erkennungsvor­ richtung (10) ermittelten Lage der metallischen Gegenstän­ de (40) die Greifvorrichtung (20) so steuert, dass diese die einzelnen Gegenstände (40) in einer Zeit- und wegopti­ mierten Weise nacheinander aufgreift und sie an einer definierten Stelle außerhalb der Unterlage (50) wieder ablegt. 10. Device according to one of the preceding claims, by in that the control device (30) is designed so that the gripping device (20) controls from the through Erkennungsvor device (10) location determined the metallic Gegenstän de (40) so that it picks up the individual objects ( 40 ) one after the other in a time and path-optimized manner and stores them again at a defined location outside the base ( 50 ). 11. Vorrichtung nach Anspruch 10, dadurch gekennzeichnet, dass an der Stelle, wo die metallischen Gegenstände (40) von der Greifvorrichtung (20) abgelegt werden, eine Transport­ vorrichtung, wie beispielsweise ein Transportband angeord­ net ist.11. The device according to claim 10, characterized in that at the point where the metallic objects ( 40 ) from the gripping device ( 20 ) are deposited, a transport device, such as a conveyor belt is angeord net. 12. Vorrichtung nach Anspruch 10 oder 11, dadurch gekennzeich­ net, dass die Steuervorrichtung (30) ein Alarmsignal aus­ gibt, wenn sie aufgrund der Lage des metallischen Gegen­ stands (40) auf der Unterlage (50) erkennt, dass dieser mit der Greifvorrichtung (20) nicht ergriffen werden kann.12. The device according to claim 10 or 11, characterized in that the control device ( 30 ) outputs an alarm signal when it detects due to the position of the metallic object ( 40 ) on the base ( 50 ) that this with the gripping device ( 20 ) cannot be taken. 13. Vorrichtung nach einem der vorhergehenden Ansprüche, da­ durch gekennzeichnet, dass die metallischen Gegenstän­ de (40) zusätzlich magnetisch sind und dass die Unter­ lage (50) aus einem Metall hergestellt ist.13. Device according to one of the preceding claims, characterized in that the metallic objects de ( 40 ) are additionally magnetic and that the underlayer ( 50 ) is made of a metal. 14. Vorrichtung nach einem der vorhergehenden Ansprüche, da­ durch gekennzeichnet, dass es sich bei der Unterlage (50) um einen Schalungstisch und bei den metallischen Gegen­ ständen (40) um Haftmagnete, die zum Halten von Schalungs­ elementen verwendet werden, handelt.14. Device according to one of the preceding claims, characterized in that it is in the base ( 50 ) to a formwork table and the metallic objects ( 40 ) to holding magnets that are used to hold formwork elements.
DE20102446U 2001-02-13 2001-02-13 Device for gripping metallic objects Expired - Lifetime DE20102446U1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE20102446U DE20102446U1 (en) 2001-02-13 2001-02-13 Device for gripping metallic objects

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE20102446U DE20102446U1 (en) 2001-02-13 2001-02-13 Device for gripping metallic objects

Publications (1)

Publication Number Publication Date
DE20102446U1 true DE20102446U1 (en) 2001-06-28

Family

ID=7952873

Family Applications (1)

Application Number Title Priority Date Filing Date
DE20102446U Expired - Lifetime DE20102446U1 (en) 2001-02-13 2001-02-13 Device for gripping metallic objects

Country Status (1)

Country Link
DE (1) DE20102446U1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108405346A (en) * 2018-03-19 2018-08-17 卢勇军 A kind of metal is classified retracting device automatically

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19616204A1 (en) * 1995-07-13 1997-01-16 Mitsubishi Electric Corp Lifting device
DE19518329C2 (en) * 1995-05-18 1997-07-24 Premark Feg Corp Method and device for identifying different, elongated metallic objects, in particular cutlery items

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19518329C2 (en) * 1995-05-18 1997-07-24 Premark Feg Corp Method and device for identifying different, elongated metallic objects, in particular cutlery items
DE19616204A1 (en) * 1995-07-13 1997-01-16 Mitsubishi Electric Corp Lifting device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108405346A (en) * 2018-03-19 2018-08-17 卢勇军 A kind of metal is classified retracting device automatically

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Legal Events

Date Code Title Description
R163 Identified publications notified
R207 Utility model specification

Effective date: 20010802

R079 Amendment of ipc main class

Free format text: PREVIOUS MAIN CLASS: B65G0047920000

Ipc: B65G0047900000

Effective date: 20010611

R156 Lapse of ip right after 3 years

Effective date: 20040901