DK2698234T3 - Indretning og fremgangsmåde til automatiseret udtagning af emner, der er anbragt i en beholder - Google Patents

Indretning og fremgangsmåde til automatiseret udtagning af emner, der er anbragt i en beholder Download PDF

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Publication number
DK2698234T3
DK2698234T3 DK13004082.7T DK13004082T DK2698234T3 DK 2698234 T3 DK2698234 T3 DK 2698234T3 DK 13004082 T DK13004082 T DK 13004082T DK 2698234 T3 DK2698234 T3 DK 2698234T3
Authority
DK
Denmark
Prior art keywords
container
arrangement
items placed
automated removal
automated
Prior art date
Application number
DK13004082.7T
Other languages
English (en)
Inventor
Thomas Mattern
Bernhard Riedmiller
Alois Mundt
David Hänschke
Original Assignee
Liebherr Verzahntech 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 Liebherr Verzahntech Gmbh filed Critical Liebherr Verzahntech Gmbh
Application granted granted Critical
Publication of DK2698234T3 publication Critical patent/DK2698234T3/da

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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
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • 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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/1015—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using additional, e.g. microadjustment of the end effector
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • B25J9/1697—Vision controlled systems
    • 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
    • G05B2219/37567—3-D vision, stereo vision, with two cameras
    • 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
DK13004082.7T 2012-08-17 2013-08-16 Indretning og fremgangsmåde til automatiseret udtagning af emner, der er anbragt i en beholder DK2698234T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012016537 2012-08-17
DE102013013114.6A DE102013013114A1 (de) 2012-08-17 2013-08-06 Vorrichtung zum automatisierten Entnehmen von in einem Behälter angeordneten Werkstücken

Publications (1)

Publication Number Publication Date
DK2698234T3 true DK2698234T3 (da) 2023-03-27

Family

ID=49003626

Family Applications (2)

Application Number Title Priority Date Filing Date
DK13004082.7T DK2698234T3 (da) 2012-08-17 2013-08-16 Indretning og fremgangsmåde til automatiseret udtagning af emner, der er anbragt i en beholder
DK22167762.8T DK4046755T3 (da) 2012-08-17 2013-08-16 Indretning og fremgangsmåde til automatisk fjernelse af emner, der er anbragt i en beholder

Family Applications After (1)

Application Number Title Priority Date Filing Date
DK22167762.8T DK4046755T3 (da) 2012-08-17 2013-08-16 Indretning og fremgangsmåde til automatisk fjernelse af emner, der er anbragt i en beholder

Country Status (6)

Country Link
US (1) US9902066B2 (da)
EP (2) EP2698234B1 (da)
KR (1) KR102115983B1 (da)
CN (1) CN103586865B (da)
DE (1) DE102013013114A1 (da)
DK (2) DK2698234T3 (da)

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Also Published As

Publication number Publication date
EP2698234B1 (de) 2023-02-15
EP2698234A3 (de) 2018-08-08
CN103586865B (zh) 2018-04-10
EP2698234A2 (de) 2014-02-19
KR20140023240A (ko) 2014-02-26
US9902066B2 (en) 2018-02-27
DK4046755T3 (da) 2024-03-11
KR102115983B1 (ko) 2020-06-05
CN103586865A (zh) 2014-02-19
EP4046755A1 (de) 2022-08-24
DE102013013114A1 (de) 2014-02-20
US20140052297A1 (en) 2014-02-20
EP4046755B1 (de) 2024-02-28

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