EP3227062A1 - Handhabungseinrichtung zum öffnen einer klappe und entsprechendes verfahren - Google Patents
Handhabungseinrichtung zum öffnen einer klappe und entsprechendes verfahrenInfo
- Publication number
- EP3227062A1 EP3227062A1 EP15804678.9A EP15804678A EP3227062A1 EP 3227062 A1 EP3227062 A1 EP 3227062A1 EP 15804678 A EP15804678 A EP 15804678A EP 3227062 A1 EP3227062 A1 EP 3227062A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- gripper
- sensor
- flap
- door
- robot
- 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.)
- Withdrawn
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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0292—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work devices for holding several workpieces to be sprayed in a spaced relationship, e.g. vehicle doors spacers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- 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
- B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
-
- 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
-
- 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
- B25J19/026—Acoustical sensing devices
-
- 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
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0447—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles
- B05B13/0452—Installation or apparatus for applying liquid or other fluent material to conveyed separate articles the conveyed articles being vehicle bodies
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014017855.2A DE102014017855A1 (de) | 2014-12-03 | 2014-12-03 | Handhabungseinrichtung zum Öffnen einer Klappe und entsprechendes Verfahren |
PCT/EP2015/002419 WO2016087042A1 (de) | 2014-12-03 | 2015-12-02 | Handhabungseinrichtung zum öffnen einer klappe und entsprechendes verfahren |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3227062A1 true EP3227062A1 (de) | 2017-10-11 |
Family
ID=54782658
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15804678.9A Withdrawn EP3227062A1 (de) | 2014-12-03 | 2015-12-02 | Handhabungseinrichtung zum öffnen einer klappe und entsprechendes verfahren |
Country Status (7)
Country | Link |
---|---|
US (1) | US20170266808A1 (de) |
EP (1) | EP3227062A1 (de) |
KR (1) | KR20170091630A (de) |
CN (1) | CN107000211A (de) |
DE (1) | DE102014017855A1 (de) |
MX (1) | MX2017007056A (de) |
WO (1) | WO2016087042A1 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20170006790A (ko) * | 2015-07-09 | 2017-01-18 | 현대자동차주식회사 | 로봇의 그리퍼 변형 측정 장치 및 방법 |
DE102018105041A1 (de) | 2018-03-06 | 2019-09-12 | Dürr Systems Ag | Schwenkeinheit für einen Handhabungsroboter und zugehöriges Verfahren |
IT201800003462A1 (it) * | 2018-03-12 | 2019-09-12 | Cover Sistemi S R L | Un robot |
CN112423897B (zh) * | 2018-11-09 | 2022-04-12 | 川崎重工业株式会社 | 汽车车体的门开闭方法以及门开闭用机器人 |
CN113967552A (zh) * | 2021-10-28 | 2022-01-25 | 南京市同亮科技有限公司 | 手机屏幕制造用自动化喷涂机器人及其喷涂方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06142607A (ja) * | 1992-11-05 | 1994-05-24 | Honda Motor Co Ltd | 自動車のドア回りの塗装方法 |
DE102006050114A1 (de) * | 2005-10-28 | 2007-05-31 | Abb Inc., Auburn Hills | Positionierungsvorrichtung für beweglichen Teil eines Werkstücks |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5895558A (ja) * | 1981-11-30 | 1983-06-07 | Mazda Motor Corp | 自動車ボデイ塗装用ロボツト |
JP2512766B2 (ja) * | 1987-09-30 | 1996-07-03 | マツダ株式会社 | 自動車ドア開閉装置 |
US4826391A (en) * | 1988-02-23 | 1989-05-02 | The University Of British Columbia | Manipulator arm position sensing |
JP3092433B2 (ja) | 1994-02-21 | 2000-09-25 | トヨタ自動車株式会社 | 被塗装物のドア開き装置および塗装方法 |
US5484219A (en) * | 1994-02-22 | 1996-01-16 | The Babcock & Wilcox Company | Six-degree-of-freedom compliancy/breakaway device |
SE509707C2 (sv) * | 1997-05-28 | 1999-03-01 | Autofill Patent Ab | Anordning vid automattankning av fordon |
KR100368143B1 (ko) * | 1999-12-17 | 2003-01-24 | 현대자동차주식회사 | 자동차용 상도 부스의 무인화 장치 |
JP3782679B2 (ja) * | 2001-05-09 | 2006-06-07 | ファナック株式会社 | 干渉回避装置 |
JP3929383B2 (ja) * | 2002-10-15 | 2007-06-13 | ファナック株式会社 | 産業用ロボットのカメラ及び力センサケーブル処理構造 |
ATE472392T1 (de) * | 2004-09-30 | 2010-07-15 | Abb As | Türöffnungsanordnung zur verwendung mit einem industrieroboter |
WO2006056255A2 (de) * | 2004-11-19 | 2006-06-01 | Richard Bergner Verbindungstechnik Gmbh & Co. Kg | Roboterhand mit einer hydraulikeinheit, deren speicherraum ein variierbares ausgleichsvolumen hat |
EP2359939B1 (de) * | 2007-03-08 | 2014-02-26 | Kabushiki Kaisha Yaskawa Denki | Lackieranlage |
JP4967903B2 (ja) * | 2007-07-31 | 2012-07-04 | トヨタ自動車株式会社 | 静電塗装装置及び静電塗装方法 |
WO2013018213A1 (ja) * | 2011-08-03 | 2013-02-07 | 株式会社安川電機 | 位置ずれ検出器、ロボットハンド及びロボットシステム |
JP2014100743A (ja) * | 2012-11-16 | 2014-06-05 | Fanuc Ltd | 多関節ロボットのケーブル処理構造 |
JP6193816B2 (ja) * | 2014-06-20 | 2017-09-06 | ファナック株式会社 | アームの退避機能を有する多関節ロボット |
DE102015200355B3 (de) * | 2015-01-02 | 2016-01-28 | Siemens Aktiengesellschaft | Medizinische roboterartige Vorrichtung mit Kollisionsdetektion und Verfahren zur Kollisionsdetektion einer medizinischen roboterartigen Vorrichtung |
-
2014
- 2014-12-03 DE DE102014017855.2A patent/DE102014017855A1/de not_active Withdrawn
-
2015
- 2015-12-02 US US15/532,122 patent/US20170266808A1/en not_active Abandoned
- 2015-12-02 WO PCT/EP2015/002419 patent/WO2016087042A1/de active Application Filing
- 2015-12-02 MX MX2017007056A patent/MX2017007056A/es unknown
- 2015-12-02 KR KR1020177015780A patent/KR20170091630A/ko not_active Application Discontinuation
- 2015-12-02 CN CN201580065818.4A patent/CN107000211A/zh active Pending
- 2015-12-02 EP EP15804678.9A patent/EP3227062A1/de not_active Withdrawn
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06142607A (ja) * | 1992-11-05 | 1994-05-24 | Honda Motor Co Ltd | 自動車のドア回りの塗装方法 |
DE102006050114A1 (de) * | 2005-10-28 | 2007-05-31 | Abb Inc., Auburn Hills | Positionierungsvorrichtung für beweglichen Teil eines Werkstücks |
Non-Patent Citations (1)
Title |
---|
See also references of WO2016087042A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2016087042A1 (de) | 2016-06-09 |
KR20170091630A (ko) | 2017-08-09 |
DE102014017855A1 (de) | 2016-06-09 |
MX2017007056A (es) | 2017-11-08 |
US20170266808A1 (en) | 2017-09-21 |
CN107000211A (zh) | 2017-08-01 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
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17P | Request for examination filed |
Effective date: 20170426 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: IMLE, MATTHIAS Inventor name: BITZER, SVEN Inventor name: LIPPISCH, STEFANIE Inventor name: POPPE, SIEGFRIED Inventor name: ALONSO, GERHARD |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20181016 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN |
|
18W | Application withdrawn |
Effective date: 20190201 |
|
P01 | Opt-out of the competence of the unified patent court (upc) registered |
Effective date: 20230512 |