EP3996880A1 - Verfahren zur steuerung des betriebs einer umsetzeinrichtung - Google Patents
Verfahren zur steuerung des betriebs einer umsetzeinrichtungInfo
- Publication number
- EP3996880A1 EP3996880A1 EP20742196.7A EP20742196A EP3996880A1 EP 3996880 A1 EP3996880 A1 EP 3996880A1 EP 20742196 A EP20742196 A EP 20742196A EP 3996880 A1 EP3996880 A1 EP 3996880A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- workpiece
- information
- transferred
- attack
- carrier element
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 202
- 238000012546 transfer Methods 0.000 title claims abstract description 101
- 238000004519 manufacturing process Methods 0.000 claims abstract description 85
- 238000006243 chemical reaction Methods 0.000 claims description 37
- 238000000151 deposition Methods 0.000 claims description 34
- 238000001514 detection method Methods 0.000 claims description 30
- 238000003860 storage Methods 0.000 claims description 18
- 239000000126 substance Substances 0.000 claims description 16
- 230000003287 optical effect Effects 0.000 claims description 8
- 239000008186 active pharmaceutical agent Substances 0.000 abstract description 30
- 230000000875 corresponding effect Effects 0.000 description 141
- 230000001276 controlling effect Effects 0.000 description 12
- 230000006870 function Effects 0.000 description 7
- 230000002596 correlated effect Effects 0.000 description 6
- 238000013500 data storage Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 239000000969 carrier Substances 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000000704 physical effect Effects 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
- B23Q15/22—Control or regulation of position of tool or workpiece
-
- 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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
-
- 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
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31304—Identification of workpiece and data for control, inspection, safety, calibration
-
- 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
- G05B2219/32—Operator till task planning
- G05B2219/32055—Identify workpiece, read status centrally, machine, adapt status centrally
-
- 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
- G05B2219/40013—Kitting, place parts from belt into tray, place tray on conveyor belt
-
- 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
- G05B2219/45—Nc applications
- G05B2219/45063—Pick and place manipulator
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50151—Orient, translate, align workpiece to fit position assumed in program
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the invention relates to a method for controlling the operation of a relocating device which is used for the automatable or automated relocation of at least one workpiece for carrying out a loading process of a manufacturing device, in which a workpiece to be processed by means of the manufacturing device is transferred from a support element defining a depositing surface to a carrier element that can be assigned to the manufacturing device or assigned conveying element defining a conveying path is implemented, or is set up to carry out an unloading process of a production facility in which a workpiece processed by means of the production facility is transferred from a conveying element which is assigned to the production facility and which defines a conveying path to a carrier element defining a depositing area.
- Corresponding methods should enable the most efficient (fully) automatable or (fully) automated conversion of workpieces in the context of corresponding loading and / or unloading processes of a manufacturing facility to control the operation of a corresponding relocating facility.
- Control methods known to date are in need of improvement or further development, especially against the background of such an efficient (fully) automatable or (fully) automatically controllable implementation of workpieces in the context of corresponding loading and / or unloading processes of a manufacturing facility.
- the invention is therefore based on the object of specifying a method for controlling the operation of a conversion device which is improved over the prior art.
- the object is achieved by a method for controlling the operation of a conversion device according to claim 1.
- the dependent claims relate to possible embodiments of the method.
- a first aspect of the invention described herein relates to a method for controlling the operation of a conversion device.
- the relocating device which is controllable or controlled according to the method, is for the automatable or automated relocation (relocation) of at least one workpiece for carrying out a loading process of a manufacturing device, in which at least one workpiece to be processed by means of the manufacturing device is from a support element defining a depositing area to at least one of the manufacturing device or assignable assigned at least one Conveyor element defining conveyor line is implemented, or to carry out an unloading process of a manufacturing facility in which at least one workpiece machined by means of the manufacturing facility is transferred from at least one conveyor element assigned to the manufacturing facility and defining a conveyor line to at least one support element defining a depositing area.
- the method can therefore also be used as a method for carrying out a loading process of a production facility, in which at least one workpiece to be processed by means of the production facility is transferred from a support element defining a depositing surface to at least one conveyor element that can be assigned to or assigned to the production facility and defines at least one conveying path, and / or as a A method for carrying out an unloading process of a manufacturing facility in which at least one workpiece processed by the manufacturing facility is transferred from at least one conveyor element assigned to the manufacturing facility and defining a conveying path to at least one support element defining a depositing area.
- a corresponding manufacturing device is in particular a grinding device or a grinding machine, i.e. a grinding machine. H. in particular a metal or wood grinding machine, which is set up for grinding a workpiece, can act.
- a workpiece that can be implemented or implemented according to the method can therefore be a workpiece to be subjected to a grinding process by means of a corresponding grinding device or a workpiece that is subjected to a grinding process by means of a corresponding grinding device.
- a workpiece can be a workpiece that is still to be subjected to a grinding process, or it can be a workpiece that has already been subjected to a grinding process.
- the or a process-controllable relocating device is generally set up for the (fully) automatable or (fully) automated relocation of at least one workpiece from a first position and / or orientation to a second position and / or orientation.
- the first position and / or orientation is typically on a first surface
- the second position and / or orientation is typically on a different from the first surface, i.e. H. in particular spatially separated, second area.
- the first position and / or orientation and the second position and / or orientation are on the same surface.
- a surface is to be understood as meaning, in particular, a conveying element or a support surface defined on the conveyor element side or a carrier element or a support surface defined on the carrier element side.
- the method can be used as a transfer device, in particular a floor or handling device that can be mounted on the ceiling or mounted, multi-axis robots are used.
- the relocating device that is controllable or controlled according to the method, it can therefore be a handling device that can be operated, in particular, (fully) automated or (fully) automated, which is used for handling workpieces in the context of corresponding relocating processes, ie in particular corresponding loading and / or or unloading processes.
- a corresponding handling device can be designed as a multi-axis robot, in particular a robot that can be mounted or mounted on the floor or ceiling, or it can comprise at least one such.
- a corresponding handling device typically comprises at least one relocating or handling element which, for. B. designed as a gripper or suction element or may include at least one such.
- the process comprises the following steps:
- a corresponding conversion device is provided in a learning mode, ie. H. a transfer device which is set up for the automatable or automated transfer of at least one workpiece to carry out a corresponding loading process or unloading process.
- the data record can e.g. B. be provided via a hardware and / or software implemented data storage device.
- a data storage device can also be understood as a cloud storage device.
- workpiece-related information and / or transfer device-related information are linked or correlated to certain deposit positions and / or orientations of a workpiece to be deposited on a conveying element or a carrier element on a conveying element or a carrier element.
- the data set provided according to the method therefore contains workpiece-related information and / or transfer device-related information which links to certain depositing positions and / or orientations of a workpiece to be deposited on a conveying element or a carrier element in the context of a loading and / or unloading process or are correlated.
- the data set provided according to the method therefore contains data-linked data assignments of workpiece and / or transfer device-related information and certain depositing positions and / or orientations of a workpiece on a conveying element or a carrier element, according to which assignments certain workpiece and / or transfer device-related information with certain depositing positions and / or orientations of a workpiece to be placed on a conveyor element or a carrier element on the respective conveyor element or the respective carrier element are linked and thus correlated.
- the data set provided according to the method therefore contains assignments of workpiece and / or transfer device-related information on specific depositing positions and / or orientations of a workpiece to be deposited on a conveying element or a carrier element on a conveying element or a carrier element.
- a workpiece to be deposited on a conveyor element or a carrier element with one or more property (s) described by corresponding workpiece and / or transfer device-related information can be assigned to a specific deposit position and / or orientation on a conveyor element or a carrier element.
- a workpiece to be loaded can be removed from a carrier element in the course of a loading process of a manufacturing facility based on the information related to the workpiece and / or transferring device and placed in a specific placement position or in a specific placement orientation on a conveyor element of the respective manufacturing facility.
- a workpiece to be unloaded in the context of an unloading process of a manufacturing facility can be removed from a conveying element of the respective manufacturing facility based on the information provided by the workpiece and / or transferring facility and placed in a specific placement position or in a specific placement orientation on a carrier element.
- the assignments are or have been, in particular, with regard to the fulfillment or achievement of certain criteria that may be specified or specified individually by the user, ie. H. in particular, certain loading and / or unloading criteria of a manufacturing facility are defined. For example, certain loading and / or unloading times, certain minimum or maximum accelerations or speeds of workpieces to be moved, certain minimum or maximum distances from a reference area of a conveyor or carrier element, i.e. H. For example, for an edge area of a conveyor or carrier element, certain minimum or maximum load limits of a conveyor or carrier element, etc. can be defined and used accordingly.
- a data record can be inserted or used in which corresponding workpiece-related information and / or corresponding transfer device-related information are specified individually for the user in the context of the learning mode of a transfer device.
- a data record can therefore be used in which, within the framework of the learning mode, user-individually specifiable or specified workpiece-related and / or transfer device-related default information is contained.
- Corresponding default information can describe the symmetry of the workpiece, for example, so that it can be specified by the user that it is symmetrical or not is symmetrical workpieces.
- the computational effort to determine a suitable attack position of a relocating element on a workpiece can be reduced when the relocating device “knows” that it is a symmetrical workpiece, such as B. a disk, and thus no search for certain geometrical design features which z. B. could be present in a non-symmetrical workpiece, makes.
- a workpiece thickness and / or a maximum stack height of a workpiece stack to be formed can be specified by the user. On the basis of a workpiece thickness specified by the user, it is also possible to determine the maximum number of workpiece per workpiece stack to be formed.
- the data record or the assignments are or were, as mentioned, defined in a learning mode or mode (“teaching mode or mode”) of a corresponding conversion device.
- a corresponding learning operation or mode is to be understood as an operating mode or mode of a corresponding conversion device in which the operation of the conversion device can be or is configured with regard to a later (actual) operating situation.
- individual, several or all of the operating parameters on which the later (actual) operation of the conversion device is based such as B. positive or negative accelerations, trajectories, attack surfaces, attack forces, etc. at least one relocating element movable in at least one degree of freedom of movement of a corresponding relocating device - this can, as indicated above, be a, z.
- B. act mechanical, hydraulic or pneumatic, gripper or suction element - can be configured individually for the user.
- the learning operation can be static or dynamic. This means in particular that the workpieces are "taught in” in the context of the learning operation of the transfer device in a static (immobile) state or in a dynamic (moving) state.
- a second step of the method depending on whether a loading or unloading process of a manufacturing facility is being carried out, the operation of the relocating facility for carrying out a corresponding loading process is controlled on the basis of the data set or the operation of the or a Transfer device for carrying out a corresponding unloading process on the basis of the data set.
- a control of the operation of a relocating device for carrying out a loading process of a manufacturing device takes place, in which a workpiece to be processed by means of the manufacturing device is transferred from a carrier element to one that can be assigned to the manufacturing device or assigned conveyor element defining a conveyor line is implemented, based on the data set, or a control of the operation of a relocating device for carrying out an unloading process of a manufacturing facility in which a workpiece processed by means of the manufacturing facility is transferred from a conveyor element defining a conveyor line to a Support element is implemented.
- corresponding depositing positions or depositing orientations are not necessary of a workpiece on a conveying element or a carrier element (always new), which, especially with short loading and / or unloading times and thus high transfer cycle times, can be associated with considerable computing effort, since the corresponding storage position or storage orientation is already in the The data record is stored and can be taken from it in terms of data processing.
- any workpiece to be relocated according to the method is assigned to a specific deposit position and / or orientation on a conveyor element or a carrier element solely on the basis of corresponding workpiece and / or transfer device-related information, so that no (additional) computational effort to determine a certain deposit position and / or alignment of the workpiece on a conveyor element or a carrier element is required.
- the method thus enables a particularly efficient implementation of the corresponding loading and unloading processes. There is thus an improved method for controlling the operation of a conversion device.
- the method can comprise the following (additional) steps:
- the method can comprise the following (additional) steps:
- the detection device z. B. an optical detection device can be used or used.
- a corresponding optical detection device can, for. B. as a photo or video camera device, d. H. generally be designed as an optical sensor device or at least comprise one such. It is of course conceivable to employ or use several detection devices.
- detection devices can be arranged and / or aligned in different arrangements and / or orientations relative to a conveying element or a carrier element.
- certain workpiece features relevant to a respective relocation process i.e. H. in particular geometrical-constructive workpiece features, possibly more clearly determined.
- the detection information supplied by one or more detection devices is ensured by means of suitable image processing algorithms, such as e.g. B. edge detection algorithms can be examined for the presence of certain geometrical-constructive workpiece features. Corresponding geometrical-constructive workpiece features can then be mapped in terms of data in corresponding actual information.
- suitable image processing algorithms such as e.g. B. edge detection algorithms can be examined for the presence of certain geometrical-constructive workpiece features. Corresponding geometrical-constructive workpiece features can then be mapped in terms of data in corresponding actual information.
- a data record can be provided in which, as workpiece-related information, at least one geometrical-constructive parameter, in particular all geometrical-constructive parameters, a workpiece to be transferred to a conveying element during a corresponding loading process or a workpiece to be transferred to a carrier element during a corresponding unloading process (workpiece geometry information).
- Corresponding workpiece information can therefore describe one or more geometrical-constructive parameters and thus geometrical-constructive properties of a workpiece to be converted. Only by way of example is dimensional parameters such as B. the length, the width, the height, the outer contour, the inner contour of a workpiece or a certain workpiece section, such. B.
- volume parameters such as. B. the volume of space of a workpiece, referenced.
- ratios of corresponding dimensional and / or volume parameters of a workpiece such as B. a length-width ratio, writable.
- the spatial and physical design or the three-dimensional shape of a workpiece can also be described by corresponding workpiece information.
- variables which can be derived or derived from corresponding geometrical-constructive parameters of a workpiece such as e.g. B. the center of gravity (center of mass) of a workpiece can be described.
- a data record can be provided in which at least one functional parameter, in particular all functional parameters, of a workpiece to be transferred to a conveying element in the context of a corresponding loading process or of a workpiece to be transferred to a carrier element in the course of a corresponding unloading process (workpiece function information ) is included.
- Corresponding workpiece information can therefore describe one or more functional parameters and thus functional properties of a workpiece to be converted.
- a data set can be provided in which, as workpiece-related information, at least one chemical and / or physical parameter, in particular all chemical and / or physical parameters, a workpiece to be transferred to a conveying element in the context of a corresponding loading process or a workpiece in the context of a corresponding unloading process on a carrier element to be relocated workpiece descriptive workpiece information is included.
- Corresponding workpiece information can therefore describe one or more chemical and / or physical parameters and thus chemical and / or physical properties of a workpiece to be converted.
- Chemical parameters such as the chemical composition (materiality) of the workpiece (material) or physical parameters such as density, weight, temperature, and surface properties are merely exemplary (Roughness, porosity, etc.) of a workpiece.
- a data record can be provided in which, as workpiece-related information, at least one deposit position parameter, in particular all deposit position parameters, a target deposit position of a workpiece to be transferred to a conveying element in the context of a corresponding loading process or of a workpiece to be transferred to a carrier element in the course of a corresponding unloading process Workpiece descriptive storage position information is included.
- Corresponding deposit position information can therefore describe one or more deposit position parameters and thus absolute or relative properties of a deposit position of a workpiece to be transferred on a conveying element or a carrier element.
- position parameters such as coordinates of a deposit position of a workpiece on a base or on a workpiece that has already been deposited.
- storage positions of a workpiece can also be described in the vertical direction (z-direction), so that storage position information z.
- B. describes in which (vertical) position a workpiece is to be deposited in a workpiece stack formed by several stacked workpieces.
- attack positions can also be specified manually in exceptional cases
- a data record can be provided in which, as workpiece-related information, at least one depositing orientation parameter, in particular all target depositing alignment parameters, a target depositing orientation of a workpiece to be transferred to a conveying element in the context of a corresponding loading process or a workpiece to be transferred to a conveying element in the context of a corresponding unloading process Support element to be transferred workpiece descriptive placement orientation information is included.
- Corresponding placement orientation information can therefore describe one or more placement orientation parameters and thus absolute or relative properties of a placement orientation of a workpiece to be transferred on a conveying element or a carrier element.
- deposit orientation parameters such as coordinates of a deposit orientation or to deposit orientation parameters of a workpiece which define depositing of a workpiece on an upper or lower side (“prone or supine position”) of the workpiece.
- a data set can be provided in which the transfer device-related information contains at least one attack position parameter, in particular all attack position parameters, an attack position of a transfer element of a transfer device on a workpiece to be transferred by means of the transfer device (transfer element position information).
- Corresponding position information can therefore include one or more position parameters and thus absolute or relative properties of a position of a conversion element on a Describe conveying element or a carrier element or relative to a workpiece to be transferred.
- position parameters such as coordinates of an attack position of a transfer element on a workpiece.
- a workpiece to be transferred to a conveyor element in the context of a corresponding loading process or a workpiece to be transferred to a carrier element in the context of a corresponding unloading process workpiece information describing the workpiece to be converted (workpiece geometry information) can be determined or calculated.
- workpiece geometry information can therefore form the basis for determining corresponding position information or corresponding position information can be determined or calculated from corresponding workpiece geometry information.
- corresponding workpiece geometry information which describes a focus of a workpiece to be moved.
- Corresponding position information can then be determined or calculated on the basis of corresponding workpiece geometry information.
- B. can mean that the center of gravity of the workpiece can equally serve as the attack position of a relocating element of a relocating device on a workpiece to be relocated by means of the relocating device.
- a data record can be provided in which at least one data record is provided as conversion device-related information
- Attack alignment parameters in particular all attack alignment parameters, an attack alignment of a relocating element of a relocating device relative to a workpiece to be relocated by means of the relocating device describing alignment information (relocating element alignment information).
- Corresponding alignment information can therefore describe one or more alignment parameters and thus absolute or relative properties of an alignment of a relocation element relative to a workpiece to be relocated.
- Alignment parameters such as coordinates of an alignment of a conversion element are referred to merely by way of example.
- a data record can be provided in which at least one data record is provided as conversion device-related information
- Attack surface parameters in particular all attack surface parameters, an attack surface of a relocating element of a relocating device describing attack surface information is contained.
- Corresponding contact surface information can therefore describe one or more contact surface parameters and thus absolute or relative properties of an attack surface of a transfer element on a workpiece to be transferred.
- attack surface parameters such as maximum attack surface, minimum attack surface, effective attack surface of a transfer element.
- a data set can be provided in which the transfer device-related information contains at least one attack force parameter, in particular all attack force parameters, of attack force information that can be exerted or is to be exerted on a workpiece to be transferred by means of a transfer element of a transfer device.
- Corresponding attack force information can therefore describe one or more attack force parameters and thus absolute or relative properties of an attack force of a transfer element on or on a workpiece to be transferred.
- Attack force parameters such as maximum attack force, minimum attack force, effective attack force of a transfer element are referred to merely as examples.
- a workpiece to be relocated or relocated according to the method can in all embodiments be relocated to a position on and / or next to an already relocated workpiece on a conveying element or a carrier element.
- workpieces can be arranged in rows and / or in stacks, i.e. H. in rows and / or stacks of workpieces.
- a conveyor belt or a conveyor chain can be used or used.
- a carrier element z. B. a, in particular pallet-like or pallet-shaped, workpiece carrier inserted or used.
- workpiece carriers come with standardized dimensions, such as. B Euro pallets, into consideration.
- a second aspect of the invention described herein relates to a transfer device for transferring a workpiece from a first deposit position and / or orientation, in particular a deposit position and / or orientation on a conveyor element, into a second deposit position and / or orientation, in particular a deposit position and / or orientation / or - alignment on a carrier element, or vice versa, comprising a control unit implemented in hardware and / or software for controlling the operation of the conversion device.
- the conversion device is characterized in that control information for controlling the operation of the conversion device according to a method according to the first aspect of the invention described herein is stored in the control unit.
- the conversion device is therefore set up to carry out a method according to the first aspect of the invention described herein. All statements in connection with the method according to the first aspect of the invention described herein apply analogously to the conversion device.
- a third aspect of the invention described herein relates to a manufacturing device at least one conversion device according to the second aspect of the invention. All statements in connection with the method according to the first aspect of the invention described herein apply analogously to the production facility.
- a fourth aspect of the invention described herein relates to a method for generating a data record, in particular a data record for use in a method according to the first aspect of the invention described herein.
- the method according to the fourth aspect of the invention described herein comprises the following steps:
- Detecting and / or presetting - the presetting can take place individually for the user - of workpiece-related information and / or transfer device-related information, in particular in a learning mode of a transfer device which is set up for the automatable or automated transfer of at least one workpiece,
- the method can optionally include a step of storing the data record on a central or decentralized hardware and / or software implemented data storage device.
- All statements in connection with the method according to the first aspect of the invention described herein apply analogously to the method according to the fourth aspect of the invention described herein; this applies in particular to the recordable or recorded or specifiable or specified workpiece-related information and / or transfer device-related information.
- workpiece-related information a z. B. alphanumeric, designation of the workpiece, z. B. in the form of an article name or number, recorded or specified.
- the method according to the fourth aspect of the invention described herein can be carried out by means of a hardware and / or software implemented learning algorithm, which is used to link workpiece-related information and / or transfer device-related information with certain storage positions and / or orientations of a workpiece on a conveyor element or a Carrier element is set up to generate the data record.
- FIG. 1 shows a basic illustration of a flow chart of a method for generating a data record according to an exemplary embodiment
- FIG. 2 shows a basic illustration of a flow chart of a method for controlling the Operation of a conversion device according to an embodiment
- FIG 3 shows a basic illustration of a production device with a transfer device according to an exemplary embodiment.
- FIG. 1 shows, in the form of a flowchart, a basic illustration of a flowchart of a method for generating a data set according to an exemplary embodiment.
- the method comprises a first step S1, in which a recording and / or specification - the specification can be made individually for the user - of workpiece-related information and / or transfer device-related information takes place.
- the first step takes place in a learning mode of a relocation device 1 (cf. FIG. 3), which is set up for the automatable or automated relocation of at least one workpiece 2.
- At least one geometrically-constructive parameter in particular all geometrically-constructive parameters, one in the context of a loading process of a manufacturing facility 3 (see FIG. 3) onto a conveying element 4 (see FIG. 3) can be used ) workpiece 2 to be relocated or workpiece information describing workpiece 2 to be relocated to a carrier element 5 in the course of an unloading process of a manufacturing facility 3
- Workpiece information describing workpiece 2 can be recorded or specified.
- At least one chemical and / or physical parameter, in particular all chemical and / or physical parameters, of a workpiece 2 to be transferred to a conveying element 4 in the context of a corresponding loading process, or of a workpiece 2 in the framework workpiece information describing a corresponding unloading process onto a workpiece 2 to be transferred onto a carrier element 5 can be recorded or specified.
- At least one deposit position parameter in particular all deposit position parameters, a target deposit position of a workpiece 2 to be transferred to a conveyor element 4 in the context of a corresponding loading process, or a workpiece in the frame of a corresponding unloading process onto a workpiece 2 to be transferred onto a carrier element 5 are recorded or specified.
- At least one depositing orientation parameter in particular all target depositing alignment parameters, a desired depositing orientation of a workpiece 2 to be transferred to a conveying element 4 in the context of a corresponding loading process or a workpiece 2 to be transferred in the context of a corresponding unloading process a support element 5 to be relocated workpiece 2 describing placement orientation information can be detected or specified.
- At least one attack position parameter in particular all attack position parameters, an attack position of a transfer element 6 of a transfer device 1 on a workpiece 2 to be transferred using the transfer device 1, can be recorded or specified.
- Corresponding position information can - as can be seen from the optional step ST - also based on at least one geometrical-constructive parameter, in particular all geometrical-constructive parameters, a workpiece 2 to be transferred to a conveyor element 4 in the context of a corresponding loading process or a workpiece 2 in the context of a corresponding one Unloading process on a carrier element 5 to be transferred workpiece 2 descriptive workpiece information (workpiece geometry information) can be determined or calculated.
- Corresponding workpiece geometry information can therefore form the basis for determining corresponding position information or corresponding position information can be determined or calculated from corresponding workpiece geometry information.
- the optional step S1 ′′ shows that, on the basis of corresponding position information, a, in particular computational, transfer of a position or alignment of a workpiece 2 into a coordinate system of a conversion device 1 can take place.
- This can be done in particular by converting the respective coordinates (source coordinates) of a workpiece-related coordinate system (source coordinate system) defined by axes Xi, yi into coordinates (target coordinates) of a conversion device-related coordinate system (target coordinate system) defined by X2, y2.
- an attack alignment parameter in particular all attack alignment parameters, an attack alignment of a relocating element 6 of a relocating device 1 relative to a workpiece 2 to be relocated by means of the relocating device 1 describing alignment information can be recorded or specified.
- At least one attack surface parameter, in particular all attack surface parameters, of an attack surface of a transfer element 6 of a transfer device 1 on a workpiece 2 to be transferred by means of the transfer device 1 can be recorded or specified.
- At least one attack force parameter, in particular all attack force parameters, of attack force information which can be exerted or to be exerted on a workpiece 2 to be transferred by means of a transfer element 6 of a transfer device 1 can be recorded or specified as transfer device-related information in the first step S1 of the method.
- the acquisition of corresponding workpiece and / or transfer device-related information can take place by means of at least one acquisition device 7 which is directed at a workpiece 2 located on a conveyor element 4 or a carrier element 5.
- an optical detection device 7, such as, for. B. a photo or video camera device into consideration.
- the workpiece-related information and / or the transfer device-related information are linked with certain depositing positions and / or orientations of the workpiece 2 on a conveyor element 4 or a carrier element 5, generating the data record DS.
- the data record DS therefore contains deposit positions and / or alignments of the workpiece 2 on a conveyor element 4 or a carrier element 5 linked to certain deposit positions and / or orientations of the workpiece 2 on a conveyor element 4 or a carrier element 5.
- the method can optionally include a step of storing the data record DS on a central or decentralized hardware and / or software implemented data storage device 8 (cf. FIG. 3).
- the method can be carried out by means of a learning algorithm implemented in hardware and / or software, which is used to link workpiece-related information and / or transfer device-related Information with certain deposit positions and / or orientations of a workpiece 2 is set up on a conveyor element 4 or a carrier element 5 with the generation of the data record DS
- FIG. 2 shows a basic illustration of a flow chart of a method for controlling the operation of a conversion device 1 according to an exemplary embodiment.
- the process-controlled relocating device 1 (see. Fig. 3) is for automatable or automated relocating (relocating) at least one workpiece 2 for carrying out a loading process of a manufacturing device 3, in which at least one workpiece 2 to be processed by means of the manufacturing device 3 from a , a support element 5 defining a depositing area is transferred to at least one conveyor element 4 which can be assigned to or assigned to at least one conveyor line and defines at least one conveyor line, or to carry out an unloading process of a production unit 3 in which at least one workpiece 2 processed by means of the production unit 3 is from at least one of the production unit 3 assigned conveying element 4 defining a conveying path is transferred to at least one carrier element 5 defining a depositing area.
- the method can therefore also be referred to or viewed as a method for carrying out a loading process of a production facility 3 and / or as a method for carrying out an unloading process for a production facility 3.
- a corresponding manufacturing device 3 is, for example, a grinding device or a grinding machine, i.e. a grinding machine. H. in particular a metal or wood grinding machine, which is set up for grinding a workpiece 2, can act.
- a workpiece that can be implemented or converted according to the method can therefore be a workpiece 2 to be subjected to a grinding process by means of a corresponding grinding device or a workpiece 2 that is subjected to a grinding process by means of a corresponding grinding device.
- the relocating device 1 that can be controlled or controlled according to the method is generally set up for the (fully) automatable or (fully) automated relocation of a workpiece 2 from a first position and / or orientation to a second position and / or orientation.
- the first position and / or orientation is located on a first surface
- the second position and / or orientation is typically on a second surface that is different from the first surface, ie, in particular spatially separated.
- a surface is to be understood in particular as a conveying element 4 or a supporting surface defined on the conveying element side or a carrier element 5 or a supporting surface defined on the carrier element side.
- a handling device comprising a multi-axis robot, in particular a multi-axis robot that can be mounted or mounted on the floor or ceiling side, can be used as the transfer device 1.
- the transfer device 1 which can be controlled or controlled according to the method can therefore be a handling device which can be operated, in particular, (fully) automated or (fully) automated, which is used for handling workpieces 2 in the context of corresponding transfer processes, ie in particular corresponding loading and / or Unloading operations, is set up, act.
- a corresponding handling device typically comprises at least one relocating element 6 or handling element, which z. B. designed as a gripper or suction element or may include at least one such.
- the process comprises the following steps:
- a data set DS generated in a learning mode of a corresponding conversion device 1 is provided.
- the data record DS can e.g. B. be provided via a hardware and / or software implemented data storage device 8.
- a data storage device 8 can also be understood as a cloud storage device.
- workpiece-related information and / or transfer device-related information are linked or correlated with specific deposit positions and / or orientations of a workpiece 2 to be deposited on a conveyor element 4 or a carrier element 5 on the respective conveyor element 4 or the respective carrier element 5.
- the data record DS therefore contains workpiece-related information and / or transfer device-related information, which with certain depositing positions and / or orientations of a workpiece 2 to be deposited on a conveyor element 4 or a carrier element 5 in the context of a loading and / or unloading process on the respective conveyor element or the respective Carrier element 5 are linked or correlated.
- the data record DS therefore contains data-linked data assignments of workpiece and / or transfer device-related information and certain deposit positions and / or orientations of a workpiece 2 on a conveyor element 4 or a carrier element 5, according to which assignments certain workpiece and / or transfer device-related information with certain deposit positions and / or orientations of a workpiece 2 to be deposited on a respective conveyor element 4 or a respective carrier element 5 on the respective conveyor element 4 or the respective carrier element 5 are linked and thus correlated.
- the data record DS therefore contains assignments of workpiece and / or transfer device-related information to specific deposit positions and / or orientations of a workpiece 2 to be deposited on a conveyor element 4 or a carrier element 5 on the respective conveyor element 4 or the respective carrier element 5 one on the conveyor element 4 or the Carrier element 5 workpiece 2 to be deposited with one or more property (s) described by corresponding workpiece and / or transfer device-related information are assigned to a specific deposit position and / or alignment on conveyor element 4 or carrier element 5.
- a workpiece 2 can be used as part of a loading process
- Production device 3 can be removed from a carrier element 5 on the basis of the information relating to the workpiece and / or transfer device and deposited in a specific deposit position or in a specific deposit orientation on a conveyor element 4 of the production device 3.
- a workpiece 2 can be removed from a conveyor element 4 of the production facility 3 in the course of an unloading process of a production facility 3 based on the information relating to the workpiece and / or the transfer facility and placed on a carrier element 5 in a specific placement position or in a specific placement orientation.
- the assignments are or have been, in particular, with regard to the fulfillment or achievement of certain criteria that may be specified or specified individually by the user, ie. H. in particular certain loading and / or unloading criteria of a manufacturing facility 3 are defined. For example, certain loading and / or unloading times, certain minimum or maximum accelerations or speeds of workpieces to be moved, certain minimum or maximum distances to a reference area of a conveyor or carrier element 4, 5, i.e. H. For example, for an edge region of a conveyor or carrier element 4, 5, certain minimum or maximum load limits of a conveyor or carrier element 4, 5, etc. can be defined and used accordingly.
- a data record DS can therefore be used or used, in which corresponding workpiece-related information and / or corresponding transfer device-related information are specified individually for each user in the context of the learning mode of a transfer device 1.
- a data record DS can therefore be used, in which, within the framework of the learning mode, user-individually specifiable or specified workpiece-related and / or transfer device-related default information is contained.
- Corresponding specification information can describe the symmetry of the workpiece 2, for example, so that it can be specified by the user that the workpieces 2 are symmetrical or non-symmetrical.
- the computational effort for determining a suitable attack position of a relocating element 6 on a workpiece 2 can be reduced when the relocating device 1 “knows” that it is a symmetrical workpiece 2, such as B. a disk, and thus no search for certain geometric-constructive features, which z. B. could be present in a non-symmetrical workpiece 2, makes.
- a workpiece thickness and / or a maximum stack height of a workpiece stack to be formed can be specified by the user. On the basis of a workpiece thickness specified by the user, it is also possible to determine the maximum number of workpiece per workpiece stack to be formed.
- the data record DS or the assignments are or were, as mentioned, defined in a learning operation or mode (“teaching operation or mode”) of a corresponding conversion device 1.
- a corresponding learning operation or mode is to be understood as an operating mode or mode of a corresponding conversion device in which the operation of the conversion device 1 can be or will be configured with regard to a later (actual) operating situation.
- individual, several or all of the operating parameters on which the later (actual) operation of the conversion device 1 is based such as B. positive or negative accelerations, trajectories, attack surfaces, attack forces, etc. at least one relocating element 9 of a relocating device 1 movable in at least one degree of freedom of movement can be configured individually for the user.
- the learning operation can be static or dynamic. This means in particular that the workpieces 2 are “taught in” in the context of the learning mode of the relocating device 1 in a static (stationary) state or in a dynamic (moving) state.
- a second step S2 of the method depending on whether a loading or unloading process of a manufacturing facility is being carried out, the operation of the relocating device 1 is controlled to carry out a corresponding loading process on the basis of the data set DS or the operation of the relocating device 1 is controlled Carrying out a corresponding unloading process on the basis of the data record DS.
- any workpiece 2 to be relocated according to the method is assigned to a specific deposit position and / or alignment on a conveyor element 4 or a carrier element 5 solely on the basis of corresponding workpiece and / or relocating device-related information, so that no (additional) computational effort to determine a specific one Deposit positions and / or alignment of the workpiece 2 on the respective conveyor element 4 or the respective carrier element 5 is required.
- the method can comprise the following (additional) steps:
- step ST a workpiece 2 deposited on a carrier element 5 and to be transferred to a conveyor element 4 assigned to a manufacturing device 3 by means of a recording device 7 and generating workpiece-related actual information, in particular on the basis of the recording information (s) recorded by means of the recording device 7 ),
- the method can comprise the following (additional) steps:
- step ST a workpiece 2 deposited on a conveyor element 4 assigned to a manufacturing device 3 and to be transferred onto a carrier element 5 by means of a detection device 7 and generating workpiece-related actual information, in particular on the basis of the detection information (s) detected by means of the detection device 7 ),
- An optical detection device can be used as the detection device 7.
- a corresponding optical detection device can, for. B. be designed as a photo or video camera device, ie generally as an optical sensor device, or at least include one such. If several detection devices 7 are used or used, they can be arranged and / or aligned in different arrangements and / or orientations relative to a respective conveying element 4 or a respective carrier element 5.
- the detection information supplied by the respective detection devices 7 can be processed by means of suitable image processing algorithms, such as. B. edge detection algorithms can be examined for the presence of certain geometrical-constructive workpiece features. Corresponding geometrical-constructive workpiece features can then be mapped in terms of data in corresponding actual information.
- suitable image processing algorithms such as. B. edge detection algorithms can be examined for the presence of certain geometrical-constructive workpiece features. Corresponding geometrical-constructive workpiece features can then be mapped in terms of data in corresponding actual information.
- Workpiece information (workpiece geometry information) describing at least one geometrical-constructive parameter, in particular all geometrical-constructive parameters, of a workpiece 2 to be converted can be contained as workpiece-related information in the data record DS.
- Corresponding workpiece information can therefore describe one or more geometrically-constructive parameters and thus geometrically constructive properties of a workpiece 2.
- dimensional parameters such as B. the length, the width, the height, the outer contour, the inner contour of a workpiece 2 or a specific workpiece section, such.
- corresponding workpiece information ratios of corresponding dimension and / or volume parameters of a workpiece 2, such as e.g. B. a length-width ratio, writable.
- the spatial and physical design or the three-dimensional shape of a workpiece 2 can also be described by corresponding workpiece information.
- a corresponding workpiece information item variables which can be derived or derived from corresponding geometrical-constructive parameters of a workpiece 2, such as e.g. B. the focus of a workpiece 2 can be described.
- workpiece information describing at least one functional parameter, in particular all functional parameters, of a workpiece 2 to be converted can be used as workpiece-related information in the data record DS
- Corresponding workpiece information can therefore contain one or more functional parameters and thus functional properties of a Describe workpiece 2.
- workpiece information describing at least one chemical and / or physical parameter, in particular all chemical and / or physical parameters, of a workpiece 2 to be converted can be contained in the data record DS as workpiece-related information.
- Corresponding workpiece information can therefore describe one or more chemical and / or physical parameters and thus chemical and / or physical properties of a workpiece 2.
- chemical parameters such as the chemical composition (materiality) of the workpiece (material) or physical parameters such as the density, weight, temperature, surface properties (roughness, porosity, etc.) of a workpiece 2.
- the data record DS can contain, as workpiece-related information, at least one storage position parameter, in particular all storage position parameters, of a target storage position of a workpiece 2 to be transferred.
- Corresponding deposit position information can therefore describe one or more deposit position parameters and thus absolute or relative properties of a deposit position of a workpiece 2 on a conveying element 4 or a carrier element 5.
- deposit position parameters such as coordinates of a deposit position of a workpiece 2 on a base or a workpiece 2 that has already been deposited.
- storage positions of a workpiece 2 can also be described in the vertical direction (z direction).
- attack positions can also be specified manually in exceptional cases.
- the data record DS can contain, as workpiece-related information, at least one placement orientation parameter, in particular all target placement orientation parameters, a set placement orientation of a workpiece 2 to be transferred.
- Corresponding placement orientation information can therefore describe one or more placement orientation parameters and thus absolute or relative properties of a placement orientation of a workpiece 2 on a conveying element 4 or a carrier element 5.
- the placement orientation parameters such as coordinates of a placement orientation of a workpiece 2 or placement orientation parameters of a workpiece 2, which allow placement of a workpiece 2 on an upper or lower side (“prone or supine position”) of workpiece 2 define, referenced.
- the data record DS can contain at least one attack position parameter, in particular all attack position parameters, of an attack position of a transfer element 9 of transfer device 2 on a workpiece 2 to be transferred by means of transfer device 1.
- Corresponding position information can therefore describe one or more position parameters and thus absolute or relative properties of a position of a transfer element 9 on a conveying element 4 or a carrier element 5 or relative to a workpiece 2.
- position parameters such as coordinates of an attack position of a transfer element 9 on a workpiece 2.
- corresponding position information In connection with corresponding position information, it should be mentioned that this can be determined or calculated in particular on the basis of at least one geometrical-constructive parameter, in particular all geometrical-constructive parameters, of a workpiece 2 to be converted (workpiece geometry information).
- Corresponding workpiece geometry information can therefore form the basis for determining corresponding position information or corresponding position information can be determined or calculated from corresponding workpiece geometry information.
- step S1 ′′ it is possible, on the basis of a, in particular arithmetic, transfer of a position or alignment of a workpiece 2 to a coordinate system of a conversion device 1.
- This can be done in particular by converting the respective coordinates (source coordinates) of a workpiece-related coordinate system (source coordinate system) defined by axes x1, y1 into coordinates (target coordinates) of a conversion device-related coordinate system (target coordinate system) defined by x2, y2.
- alignment information describing at least one attack alignment parameter, in particular all attack alignment parameters, an attack alignment of a relocation element 9 of the relocation device 1 relative to a workpiece 2 to be relocated can be contained in the data record DS as relocating device-related information.
- Corresponding alignment information can therefore describe one or more alignment parameters and thus absolute or relative properties of an alignment of a relocation element 9 relative to a workpiece 2 to be relocated.
- Alignment parameters such as coordinates of an alignment of a relocating element 9 are referred to by way of example only.
- attack surface parameters can be used as transfer device-related information in the data record DS
- attack surface parameters an attack surface of a relocating element 9 of the relocating device 1 descriptive attack surface information can be included.
- Corresponding contact surface information can therefore describe one or more contact surface parameters and thus absolute or relative properties of an attack surface of a transfer element 9 on a workpiece 2 to be transferred. Only by way of example, reference is made to attack surface parameters such as maximum attack surface, minimum attack surface, effective attack surface of a transfer element 9.
- the data set DS can contain as transfer device-related information at least one attack force parameter, in particular all attack force parameters, an attack force information that can be exerted or be exerted on a workpiece 2 to be transferred by means of a transfer element 9 of the transfer device 1.
- Corresponding attack force information can therefore describe one or more attack force parameters and thus absolute or relative properties of an attack force of a transfer element 9 on or on a workpiece 2 to be transferred.
- Attack force parameters such as maximum attack force, minimum attack force, and effective attack force of a transfer element 9 are referred to merely as examples.
- a workpiece to be relocated or relocated according to the method can in all embodiments be relocated to a position on and / or next to an already relocated workpiece on a conveying element or a carrier element.
- workpieces can be arranged in rows and / or in stacks, i.e. H. in rows and / or stacks of workpieces.
- the manufacturing device 3 comprises a relocating device 1 for the automatable or automated relocation of at least one workpiece 2 to carry out a loading process of the manufacturing device 3, in which a workpiece 2 to be processed by means of the manufacturing device 3 is transferred from a carrier element 5 defining a depositing area to one of the manufacturing device 3 assignable or assigned conveying element 4 defining a conveying path is implemented, or to carry out an unloading process of the production facility 3, in which a workpiece 2 processed by means of the production facility 3 is transferred from a conveying element 4, which is assigned to the production facility 3 and which defines a conveying path, to a support element 5 defining a depositing area is implemented, is set up.
- a corresponding conveying element 4 it can be, for. B. be a conveyor belt or a conveyor chain.
- a carrier element 5 it can be, for. B. be a, in particular pallet-like or pallet-shaped workpiece carrier.
- a workpiece carrier with standardized dimensions, such as B Euro pallets, into consideration.
- the conversion device 3 comprises a control unit 10 implemented in hardware and / or software to control the operation of the conversion device 1. Control information for controlling the operation of the conversion device 1 is stored in the control unit 10 in accordance with the method described in connection with FIG. The conversion device 1 is therefore set up to carry out the method described in connection with FIG. 2.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Factory Administration (AREA)
- Automatic Assembly (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019118917.9A DE102019118917B4 (de) | 2019-07-12 | 2019-07-12 | Verfahren zur Steuerung des Betriebs einer Umsetzeinrichtung, Umsetzeinrichtung zum automatisierbaren oder automatisierten Umsetzen eines Werkstücks und Fertigungseinrichtung, umfassend eine entsprechende Umsetzeinrichtung |
PCT/EP2020/069578 WO2021009054A1 (de) | 2019-07-12 | 2020-07-10 | Verfahren zur steuerung des betriebs einer umsetzeinrichtung |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3996880A1 true EP3996880A1 (de) | 2022-05-18 |
Family
ID=71661828
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20742196.7A Pending EP3996880A1 (de) | 2019-07-12 | 2020-07-10 | Verfahren zur steuerung des betriebs einer umsetzeinrichtung |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3996880A1 (de) |
DE (1) | DE102019118917B4 (de) |
WO (1) | WO2021009054A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022118970A1 (de) | 2022-07-28 | 2024-02-08 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zum Bereitstellen und Greifen von Bauteilen durch einen Industrieroboter |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3703411B2 (ja) | 2001-07-19 | 2005-10-05 | ファナック株式会社 | ワーク取り出し装置 |
US7313464B1 (en) * | 2006-09-05 | 2007-12-25 | Adept Technology Inc. | Bin-picking system for randomly positioned objects |
DE102008009995A1 (de) | 2008-02-19 | 2009-08-20 | Kuka Systems Gmbh | Verfahren und Vorrichtung zum Transportieren von Werkstücken |
AT509927B1 (de) | 2010-06-08 | 2015-05-15 | Keba Ag | Verfahren zum programmieren oder vorgeben von bewegungen oder abläufen eines industrieroboters |
JP6387760B2 (ja) * | 2014-09-18 | 2018-09-12 | 株式会社安川電機 | ロボットシステム、ロボット装置およびワークピッキング方法 |
JP6581049B2 (ja) * | 2016-08-15 | 2019-09-25 | ファナック株式会社 | ロボットシステム |
JP6734402B2 (ja) * | 2017-01-12 | 2020-08-05 | 株式会社Fuji | 作業機 |
DE102017000524A1 (de) | 2017-01-20 | 2018-07-26 | Liebherr-Verzahntechnik Gmbh | Vorrichtung zum automatisierten Entnehmen von in einem Behälter angeordneten Werkstücken |
JP6568163B2 (ja) * | 2017-08-09 | 2019-08-28 | ファナック株式会社 | ロボットシステム |
DE102017121557B4 (de) | 2017-09-18 | 2022-03-24 | Strothmann Machines & Handling GmbH | Verfahren und Vorrichtung zur Förderung und Positionierung von Werkstücken |
-
2019
- 2019-07-12 DE DE102019118917.9A patent/DE102019118917B4/de active Active
-
2020
- 2020-07-10 EP EP20742196.7A patent/EP3996880A1/de active Pending
- 2020-07-10 WO PCT/EP2020/069578 patent/WO2021009054A1/de unknown
Also Published As
Publication number | Publication date |
---|---|
WO2021009054A1 (de) | 2021-01-21 |
DE102019118917A1 (de) | 2021-01-14 |
DE102019118917B4 (de) | 2023-11-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE112012002677B4 (de) | Zuführvorrichtung für Bauelemente | |
DE3151316C2 (de) | Handhabungssystem für Werkstücke | |
EP2112100B1 (de) | Vorrichtung und Verfahren zum Umsortieren von Stückgutzusammenstellungen | |
AT520958A1 (de) | Robotersystem mit an Warentypen angepassten Bewegungsabläufen und Betriebsverfahren hierfür | |
WO2014040843A1 (de) | Hochgeschwindigkeits-greiferwechselsystem | |
CN109843503A (zh) | 用于对至少一个材料加工机进行装载和卸载的输送设备、方法和计算机程序产品 | |
DE112019000097B4 (de) | Steuervorrichtung, Arbeitsroboter, Programm und Steuerverfahren | |
DE112007000305T5 (de) | Transportvorrichtung und Transportverfahren | |
DE102020102758B4 (de) | Verfahren und System zum automatisierten Keimmonitoring in einem Isolator | |
EP3996880A1 (de) | Verfahren zur steuerung des betriebs einer umsetzeinrichtung | |
Fager et al. | Kit preparation with cobot-supported sorting in mixed model assembly | |
US20210023666A1 (en) | Auto loading & unloading system and method for double spindle cnc machines | |
DE102019211245A1 (de) | Transportbehältergreifer | |
DE102019115571B4 (de) | Schnelles Abtransportieren von geschnittenen Teilen aus einer Verarbeitungsanlage | |
DE112017007895T5 (de) | Additive Herstellungstechnik zur Herstellung von Gegenständen mit Verbundstrukturen | |
DE102015119698B4 (de) | Anlage zur generativen Herstellung dreidimensionaler Objekte, umfassend eine Vorrichtung zur Lagerung von modulartigen Funktionseinheiten | |
DE2364790C2 (de) | Steuereinrichtung für eine Transporteinrichtung zur Herstellung und Bearbeitung von kleinen gleichartigen Werkstücken nach Art planarer Halbleiter-Bauelemente | |
DE102019120053B4 (de) | Verfahren und Messzelle zum Überprüfen von nicht-eigensteifen Bauteilen und Fertigungsanlage | |
EP3514639B1 (de) | Verfahren zur palettierung von in einer bearbeitungsmaschine bearbeiteten teilen | |
AT521795B1 (de) | Lager- und Kommissioniersystem sowie Kommissionierverfahren für automatisch und manuell zu kommissionierende Waren | |
DE102020102121A1 (de) | Mobiler Kommissionierroboter und Verfahren zu seinem Betrieb | |
US20200406414A1 (en) | System and method for automatic loading and unloading of jobs in cnc machines | |
DE102013108256A1 (de) | Robotereinrichtung zum automatisierten Be- und/oder Entladen sowie Anlage und Verfahren zum Zu- und/oder Abführen von Waren zu und/oder von einem elektrolytischen Bad | |
Sgarbossa et al. | Kit preparation with cobot-supported sorting in mixed model assembly | |
WO2024037972A1 (de) | Kommissionieranordnung mit zwischenablage zwischen pickrobotern |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: UNKNOWN |
|
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 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20220126 |
|
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 |
|
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: 20231018 |