DE60201228D1 - Werkstück Entladegerät und Methode - Google Patents

Werkstück Entladegerät und Methode

Info

Publication number
DE60201228D1
DE60201228D1 DE60201228T DE60201228T DE60201228D1 DE 60201228 D1 DE60201228 D1 DE 60201228D1 DE 60201228 T DE60201228 T DE 60201228T DE 60201228 T DE60201228 T DE 60201228T DE 60201228 D1 DE60201228 D1 DE 60201228D1
Authority
DE
Germany
Prior art keywords
workpiece unloader
unloader
workpiece
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
DE60201228T
Other languages
English (en)
Other versions
DE60201228T2 (de
Inventor
Atsushi Watanabe
Katsutoshi Takizawa
Kazunori Ban
Ichiro Kanno
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Publication of DE60201228D1 publication Critical patent/DE60201228D1/de
Application granted granted Critical
Publication of DE60201228T2 publication Critical patent/DE60201228T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • B23Q7/10—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 by means of magazines
    • 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
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • 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
    • B23Q7/04—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 by means of grippers
    • 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
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
DE60201228T 2001-07-19 2002-07-12 Werkstück Entladegerät und Methode Expired - Lifetime DE60201228T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001220242 2001-07-19
JP2001220242A JP3703411B2 (ja) 2001-07-19 2001-07-19 ワーク取り出し装置

Publications (2)

Publication Number Publication Date
DE60201228D1 true DE60201228D1 (de) 2004-10-21
DE60201228T2 DE60201228T2 (de) 2005-01-27

Family

ID=19054095

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60201228T Expired - Lifetime DE60201228T2 (de) 2001-07-19 2002-07-12 Werkstück Entladegerät und Methode

Country Status (4)

Country Link
US (1) US6665588B2 (de)
EP (1) EP1277542B1 (de)
JP (1) JP3703411B2 (de)
DE (1) DE60201228T2 (de)

Families Citing this family (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4011818B2 (ja) * 2000-02-29 2007-11-21 キヤノン株式会社 半導体固体撮像装置
JP2003148914A (ja) * 2001-11-08 2003-05-21 Fanuc Ltd 位置検出装置及び位置検出を利用した取出し装置
US20040071539A1 (en) * 2002-07-03 2004-04-15 Anater Raymond J. Automated container management system
EP1535706A1 (de) * 2002-07-18 2005-06-01 Kabushiki Kaisha Yaskawa Denki Robotersteuerung und robotersystem
US7036350B2 (en) * 2002-09-04 2006-05-02 Schuler Pressen Gmbh & Co. Arrangement for production of cut out and/or unformed workpieces
CA2535828C (en) * 2003-08-15 2011-02-08 Scape A/S Computer-vision system for classification and spatial localization of bounded 3d-objects
JP4220920B2 (ja) 2004-03-08 2009-02-04 ファナック株式会社 視覚センサ
AT505565B1 (de) * 2004-04-15 2009-05-15 Bmc Metal Consulting Gmbh Verfahren und vorrichtung zum handhaben von teilen
NZ533533A (en) * 2004-06-11 2006-11-30 Avalon Engineering Ltd Deployment method and apparatus for moving stacked articles in varying orientations
JP3977369B2 (ja) 2004-10-01 2007-09-19 ファナック株式会社 ロボットプログラム生成装置及び解析装置
US20070299556A1 (en) * 2005-11-10 2007-12-27 Hugo Salamanca Robot system and method for scrap bundling in metal smelting and refining processes
US7746018B2 (en) 2005-11-10 2010-06-29 MI Robotic Solutions Robot system and method for reposition and/or removal of base plates from cathode stripping machines in electrometallurgical processes
JP4087874B2 (ja) 2006-02-01 2008-05-21 ファナック株式会社 ワーク取り出し装置
JP5648674B2 (ja) * 2006-03-23 2015-01-07 日産自動車株式会社 ワーク位置検出システム
JP4199264B2 (ja) 2006-05-29 2008-12-17 ファナック株式会社 ワーク取り出し装置及び方法
ATE483558T1 (de) 2007-03-08 2010-10-15 Smv S R L Verfahren und vorrichtung zum erkennen, sammeln und neupositionieren von objekten
DE102008005034A1 (de) * 2008-01-18 2009-07-23 Andreas Maier Gmbh & Co. Kg Überwachungsvorrichtung
AT506365B1 (de) * 2008-02-06 2011-04-15 Siemens Vai Metals Tech Gmbh Kuppeleinrichtung und verfahren zum automatisierten ankuppeln eines werkzeughalters an einen werkzeugaufnehmer auf einer handhabungseinrichtung
ATE552943T1 (de) * 2008-02-15 2012-04-15 Me C Al S P A Vorrichtung zum bewegen von zu bearbeitenden profilen
WO2009128104A1 (en) * 2008-04-18 2009-10-22 Sea Vision S.R.L. Manipulator and related operation
FR2957905B1 (fr) * 2010-03-29 2012-04-06 Otor Sa Procede et dispositif de transfert de decoupes pour boites d'emballage
JP5767464B2 (ja) * 2010-12-15 2015-08-19 キヤノン株式会社 情報処理装置、情報処理装置の制御方法、およびプログラム
DE102011084353B4 (de) 2011-10-12 2015-05-07 Trumpf Laser- Und Systemtechnik Gmbh Verfahren und Computerprogramm zum Einrichten eines Greifroboters, sowie Greifroboter
JP5854815B2 (ja) * 2011-12-20 2016-02-09 キヤノン株式会社 情報処理装置、情報処理装置の制御方法、およびプログラム
JP5848173B2 (ja) * 2012-03-16 2016-01-27 日本発條株式会社 ハンガ・ラインのワーク引掛け制御装置及び方法
US10099365B2 (en) * 2012-08-02 2018-10-16 Fuji Corporation Work machine provided with articulated robot and electric component mounting machine
JP6355121B2 (ja) * 2012-12-06 2018-07-11 株式会社古川製作所 大容量袋供給装置
JP5893719B1 (ja) * 2014-12-25 2016-03-23 ファナック株式会社 異物の有無を確認する視覚センサを備えたワーク着脱手段付加工装置
EP3311950A1 (de) * 2016-10-19 2018-04-25 Bystronic Laser AG Transportvorrichtung, verfahren und computerprogrammprodukt zum beladen und entladen zumindest einer materialbearbeitungsmaschine
JP2018161700A (ja) * 2017-03-24 2018-10-18 キヤノン株式会社 情報処理装置、システム、情報処理方法、製造方法
JP2019058993A (ja) * 2017-09-27 2019-04-18 セイコーエプソン株式会社 ロボットシステム
JP6881268B2 (ja) 2017-12-05 2021-06-02 トヨタ自動車株式会社 把持装置、把持判定方法および把持判定プログラム
JP6859967B2 (ja) * 2018-02-16 2021-04-14 オムロン株式会社 コンベアトラッキングシステムおよびキャリブレーション方法
JP6964534B2 (ja) 2018-02-19 2021-11-10 日本碍子株式会社 収容棚を構築又は解体する方法、セラミックス焼成体の製造方法、及び搬送システム
US11040452B2 (en) * 2018-05-29 2021-06-22 Abb Schweiz Ag Depth sensing robotic hand-eye camera using structured light
CN108709621B (zh) * 2018-08-02 2024-04-26 河北工业大学 一种基于超声阵列的异形工件检测抓取装置
CN109297433A (zh) * 2018-11-15 2019-02-01 青岛星晖昌达智能自动化装备有限公司 3d视觉引导拆垛测量系统及其控制方法
CN109227205B (zh) * 2018-11-27 2021-01-01 上海交通大学 一种用于双工位机器人机床上下料的控制方法及系统
DE102019201471A1 (de) * 2019-02-05 2020-08-06 Faurecia Innenraum Systeme Gmbh Automatisiertes Verfahren zum Vorformen von Verkleidungsteilschalen
DE102019118917B4 (de) * 2019-07-12 2023-11-30 Hans Weber Maschinenfabrik Gmbh Verfahren zur Steuerung des Betriebs einer Umsetzeinrichtung, Umsetzeinrichtung zum automatisierbaren oder automatisierten Umsetzen eines Werkstücks und Fertigungseinrichtung, umfassend eine entsprechende Umsetzeinrichtung
CN110331408A (zh) * 2019-08-02 2019-10-15 安吉八塔机器人有限公司 一种浸搪机器人系统
IT202000019570A1 (it) 2020-08-06 2022-02-06 Univ Degli Studi Di Siena Sistema di presa con accoppiamento magnetico per la manipolazione robotica

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6227234A (ja) * 1985-07-27 1987-02-05 Murata Mach Ltd 産業用ロボツトの制御方法および装置
JPH0716839B2 (ja) * 1989-09-05 1995-03-01 本田技研工業株式会社 ワーク取出し装置
JPH05285800A (ja) 1992-04-13 1993-11-02 Yamazaki Mazak Corp 自動加工装置
JP2974111B2 (ja) * 1993-12-27 1999-11-08 株式会社ダイフク 物品移載方法
JP2661543B2 (ja) * 1994-04-13 1997-10-08 村田機械株式会社 物品の位置ずれ補正装置
US5987591A (en) * 1995-12-27 1999-11-16 Fanuc Limited Multiple-sensor robot system for obtaining two-dimensional image and three-dimensional position information
JPH1068759A (ja) * 1996-05-31 1998-03-10 Advantest Corp 吸着物検知装置、該装置を用いた吸着物検知方法、該装置を用いた位置ずれ検知方法、および該装置を用いた清掃方法
JPH10118976A (ja) * 1996-10-18 1998-05-12 Komatsu Ltd 画像取込み位置設定方法および設定装置
JP3602309B2 (ja) * 1997-10-01 2004-12-15 株式会社マキ製作所 積層トレイパックの分離装置
US6556992B1 (en) * 1999-09-14 2003-04-29 Patent Ratings, Llc Method and system for rating patents and other intangible assets
JP2001105361A (ja) * 1999-10-07 2001-04-17 Meidensha Corp ピッキングシステム
JP2001129776A (ja) * 1999-11-05 2001-05-15 Fanuc Ltd センサを使った検出線に対する追従装置
JP2001171841A (ja) * 1999-12-16 2001-06-26 Murata Mach Ltd ピックアップ装置

Also Published As

Publication number Publication date
EP1277542B1 (de) 2004-09-15
JP2003034430A (ja) 2003-02-07
DE60201228T2 (de) 2005-01-27
US20030018414A1 (en) 2003-01-23
US6665588B2 (en) 2003-12-16
JP3703411B2 (ja) 2005-10-05
EP1277542A1 (de) 2003-01-22

Similar Documents

Publication Publication Date Title
DE60201228D1 (de) Werkstück Entladegerät und Methode
DE60319810D1 (de) Anschwemmfiltermedien und herstellungs- und verwendungsverfahren
DE60310339D1 (de) Querträger und Herstellungsverfahren
IS2878B (is) Arípíprazól-samsett lyfjaform og aðferð
DE60311063D1 (de) Ausziehleiter und zugehörige herstellungsverfahren
NO20041975D0 (no) Bicyklisk oksopyridin og oksopyrimidinderivater
DE60233444D1 (de) Teileanbringvorrichtung und teileanbringverfahren
DE60311088D1 (de) Filterapparat und methode
DE60227777D1 (de) Handgriffstruktur und herstellungsverfahren dafür
DE60326702D1 (de) Polierverfahren und poliervorrichtung
DE60231538D1 (de) Sputtertarget und herstellungsverfahren dafür
DE60220486D1 (de) Zurückschaltungseinrichtung und Zurückschaltungsverfahren
DE60225184D1 (de) Polyetherketon und herstellungsverfahren dafür
DE60220762D1 (de) Halbleiterbauelement und zugehöriges Herstellungsverfahren
DE60210535D1 (de) Vibrator und Herstellungsverfahren desselben
DE60208700D1 (de) Schälgerät und zugehörige verfahren
DE60210834D1 (de) Halbleiterbauelement und zugehöriges Herstellungsverfahren
DE60208383D1 (de) Perrückenaufkleber und herstellungsverfahren
DE60316564D1 (de) Metalloxidnanoröhren und herstellungsverfahren dafür
DE60221576D1 (de) Lötlegierung und lötverbindung
ATE445542T1 (de) Flaschenkasten und herstellverfahren
DE60227451D1 (de) Halbleiterbauelement und dessen Herstellungsverfahren
DK1441746T3 (da) Sammens tning og fremgangsmode
DE50101414D1 (de) Medizinisches Werkzeug
DE60219903D1 (de) Wärmebehandlungseinrichtung

Legal Events

Date Code Title Description
8364 No opposition during term of opposition