FR2321373A1 - Procede et systeme pour transport automatique de pieces - Google Patents

Procede et systeme pour transport automatique de pieces

Info

Publication number
FR2321373A1
FR2321373A1 FR7624379A FR7624379A FR2321373A1 FR 2321373 A1 FR2321373 A1 FR 2321373A1 FR 7624379 A FR7624379 A FR 7624379A FR 7624379 A FR7624379 A FR 7624379A FR 2321373 A1 FR2321373 A1 FR 2321373A1
Authority
FR
France
Prior art keywords
parts
automatic transport
transport
automatic
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.)
Granted
Application number
FR7624379A
Other languages
English (en)
Other versions
FR2321373B1 (fr
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bendix Corp
Original Assignee
Bendix Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bendix Corp filed Critical Bendix Corp
Publication of FR2321373A1 publication Critical patent/FR2321373A1/fr
Application granted granted Critical
Publication of FR2321373B1 publication Critical patent/FR2321373B1/fr
Granted legal-status Critical Current

Links

Classifications

    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting programme, configuration
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • 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
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36503—Adapt program to real coordinates, software orientation
    • 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
    • G05B2219/37572—Camera, tv, vision
    • 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
    • G05B2219/45083—Manipulators, robot
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49764—Method of mechanical manufacture with testing or indicating
    • Y10T29/49769—Using optical instrument [excludes mere human eyeballing]

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
FR7624379A 1975-08-20 1976-08-10 Procede et systeme pour transport automatique de pieces Granted FR2321373A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US60624175A 1975-08-20 1975-08-20
US05/636,069 US3986007A (en) 1975-08-20 1975-11-28 Method and apparatus for calibrating mechanical-visual part manipulating system

Publications (2)

Publication Number Publication Date
FR2321373A1 true FR2321373A1 (fr) 1977-03-18
FR2321373B1 FR2321373B1 (fr) 1978-11-03

Family

ID=27085182

Family Applications (1)

Application Number Title Priority Date Filing Date
FR7624379A Granted FR2321373A1 (fr) 1975-08-20 1976-08-10 Procede et systeme pour transport automatique de pieces

Country Status (2)

Country Link
US (1) US3986007A (fr)
FR (1) FR2321373A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2368073A1 (fr) * 1976-10-18 1978-05-12 Texas Instruments Inc Dispositif de manipulation automatique d'une piece par rapport a un outil
FR2489200A1 (fr) * 1980-09-02 1982-03-05 Cincinnati Milacron Inc Procede de mesure de la position reelle de surfaces d'une piece sur une machine-outil a commande numerique
EP0062244A1 (fr) * 1981-03-26 1982-10-13 Kabushiki Kaisha Yaskawa Denki Seisakusho Système de commande de lieu géometrique d'un robot
EP0071378A1 (fr) * 1981-07-31 1983-02-09 Fanuc Ltd. Méthode et appareil pour la commande numérique
EP0228471A1 (fr) * 1985-06-25 1987-07-15 Fanuc Ltd. Systeme de commande de robots

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DE2643809B2 (de) * 1976-09-29 1980-10-09 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt Verfahren zum Einjustieren eines Körpers
CH627959A5 (de) * 1977-10-04 1982-02-15 Bbc Brown Boveri & Cie Verfahren und einrichtung zur drehlagebestimmung von gegenstaenden.
US4187051A (en) * 1978-05-26 1980-02-05 Jerry Kirsch Rotary video article centering, orienting and transfer device for computerized electronic operating systems
US4321679A (en) * 1979-01-08 1982-03-23 Hitachi, Ltd. Work setting system for manufacturing process
MX152143A (es) * 1979-01-31 1985-05-31 Fmc Corp Mejoras en aparato para el control de posicion de la tuberia articulada,para la carga de petroleo
US4305130A (en) * 1979-05-29 1981-12-08 University Of Rhode Island Apparatus and method to enable a robot with vision to acquire, orient and transport workpieces
EP0029768B1 (fr) * 1979-11-12 1986-04-23 FMC EUROPE S.A. Société anonyme dite: Procédé et installation de surveillance et de commande d'un bras articulé de transfert de fluide destiné à relier un navire à une plate-forme en mer
US4402053A (en) * 1980-09-25 1983-08-30 Board Of Regents For Education For The State Of Rhode Island Estimating workpiece pose using the feature points method
US4389669A (en) * 1981-02-27 1983-06-21 Ilc Data Device Corporation Opto-video inspection system
US4412293A (en) * 1981-03-30 1983-10-25 Kelley Robert B Robot system which acquires cylindrical workpieces from bins
US4443855A (en) * 1981-05-06 1984-04-17 Robert Bishop Method of and apparatus for controlling robotic equipment with the aid of mask algorithm image processing techniques
US4372721A (en) * 1981-05-18 1983-02-08 Nordson Corporation Apparatus for calibrating link position transducers of a teaching robot and a work robot
HU185955B (en) * 1981-09-14 1985-04-28 Csepel Muevek Szerszamgepgyar Method and connection arrangement for controlling the positioning for radial drilling machines
US5506682A (en) * 1982-02-16 1996-04-09 Sensor Adaptive Machines Inc. Robot vision using targets
US4654949A (en) * 1982-02-16 1987-04-07 Diffracto Ltd. Method for automatically handling, assembling and working on objects
US4456961A (en) * 1982-03-05 1984-06-26 Texas Instruments Incorporated Apparatus for teaching and transforming noncoincident coordinate systems
US4493606A (en) * 1982-05-24 1985-01-15 Proconics International, Inc. Wafer transfer apparatus
US4484854A (en) * 1982-08-16 1984-11-27 Anorad Corporation Robotic height sensor in laterally compliant probe
EP0102082B1 (fr) * 1982-08-30 1987-05-20 Hitachi, Ltd. Robot industriel
GB2128772A (en) * 1982-10-18 1984-05-02 Philips Electronic Associated Automatic assembly apparatus
US4670849A (en) * 1983-03-31 1987-06-02 Hitachi, Ltd. Position error correcting method and apparatus for industrial robot
US4632632A (en) * 1983-08-30 1986-12-30 Automation Equipment Company Programmable industrial robot having simplified construction
US4628464A (en) * 1983-10-07 1986-12-09 Westinghouse Electric Corp. Robotic system for mounting electrical components
JPS60200385A (ja) * 1984-03-26 1985-10-09 Hitachi Ltd 姿勢判定方式
JPS60263681A (ja) * 1984-06-08 1985-12-27 株式会社日立製作所 ロボツトの教示方法
JPS6150795A (ja) * 1984-08-17 1986-03-13 セイコーインスツルメンツ株式会社 産業用ロボツト
JPS61105623A (ja) * 1984-10-29 1986-05-23 Toray Ind Inc 物体上の位置の認識装置
US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
JPS61281305A (ja) * 1985-06-06 1986-12-11 Toyota Motor Corp 多関節ロボツト制御装置
US4759073A (en) * 1985-11-15 1988-07-19 Kulicke & Soffa Industries, Inc. Bonding apparatus with means and method for automatic calibration using pattern recognition
US5117348A (en) * 1986-03-28 1992-05-26 The Ingersoll Milling Machine Company Method for alignment of a representative surface to an actual surface for a tape laying machine
US4725965A (en) * 1986-07-23 1988-02-16 American Telephone And Telegraph Company Method for calibrating a SCARA robot
IT209972Z2 (it) * 1987-02-20 1988-11-14 Argon Ind Mecc Srl Dispositivo di lettura ottica per il rilevamento dei segni di registro di un supporto di stampa e di un telaio di stampa.
US4813125A (en) * 1987-06-08 1989-03-21 Utica Enterprises, Inc. Method and apparatus for establishing the position of a datum reference from an object having dimensional variations within a tolerance range
US4841460A (en) * 1987-09-08 1989-06-20 Perceptron, Inc. Method and apparatus for calibrating a non-contact gauging sensor with respect to an external coordinate system
US4826391A (en) * 1988-02-23 1989-05-02 The University Of British Columbia Manipulator arm position sensing
US4869635A (en) * 1988-03-31 1989-09-26 Caterpillar Industrial Inc. Apparatus for controllably positioning a lift mast assembly of a work vehicle
US4969108A (en) * 1988-04-08 1990-11-06 Cincinnati Milacron Inc. Vision seam tracking method and apparatus for a manipulator
JP3064348B2 (ja) * 1990-08-02 2000-07-12 豊田工機株式会社 ロボット制御装置
JP2834314B2 (ja) * 1990-11-19 1998-12-09 株式会社日立製作所 画像セグメンテーション方法
US5388318A (en) * 1992-10-09 1995-02-14 Laharco, Inc. Method for defining a template for assembling a structure
US20010049589A1 (en) * 1993-01-21 2001-12-06 Nikon Corporation Alignment method and apparatus therefor
US5467634A (en) * 1993-07-22 1995-11-21 Minnesota Mining And Manufacturing Company Method and apparatus for calibrating three-dimensional space for machine vision applications
DE69407188T2 (de) * 1993-07-22 1998-07-09 Minnesota Mining & Mfg Verfahren und gerät zur kalibrierung eines dreidimensionalen raumes für anwendung in maschinenvision
DE4412643A1 (de) * 1993-08-26 1995-03-02 Putzmeister Maschf Großmanipulator, insbesondere für Autobetonpumpen, sowie Verfahren zu dessen Handhabung
DE19616276C2 (de) * 1996-04-24 1998-04-30 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Vermessen und Kalibrieren eines mehrachsigen Manipulators
US6026172A (en) * 1996-09-06 2000-02-15 Lewis, Jr.; Clarence A. System and method for zoom lens calibration and method using same
US6856698B1 (en) 1997-11-26 2005-02-15 Cognex Corporation Fast high-accuracy multi-dimensional pattern localization
US6975764B1 (en) 1997-11-26 2005-12-13 Cognex Technology And Investment Corporation Fast high-accuracy multi-dimensional pattern inspection
US6658145B1 (en) 1997-12-31 2003-12-02 Cognex Corporation Fast high-accuracy multi-dimensional pattern inspection
US6850646B1 (en) 1997-12-31 2005-02-01 Cognex Corporation Fast high-accuracy multi-dimensional pattern inspection
US7016539B1 (en) 1998-07-13 2006-03-21 Cognex Corporation Method for fast, robust, multi-dimensional pattern recognition
GB9907868D0 (en) * 1999-04-08 1999-06-02 Renishaw Plc Method of calibrating a scanning system
US6810597B2 (en) * 1999-04-08 2004-11-02 Renishaw Plc Use of surface measuring probes
US6245323B1 (en) 2000-05-26 2001-06-12 Engelhard Corporation Bonded metal hydroxide-organic composite polymer films on particulate substrates
DE20019096U1 (de) * 2000-11-10 2001-01-18 Dual M Tech Ag Vorrichtung zum zielgerichteten Bewegen elektronischer Bauteile mit einem Schwenkspiegel
US6681839B1 (en) * 2001-02-23 2004-01-27 Brent A. Balzer Heat exchanger exchange-tube cleaning lance positioning system
JP2005515910A (ja) * 2002-01-31 2005-06-02 ブレインテック カナダ インコーポレイテッド シングルカメラ３ｄビジョンガイドロボティクスの方法および装置
CA2369845A1 (fr) 2002-01-31 2003-07-31 Braintech, Inc. Methode et appareil pour robotique guidee a vision 3d a camera simple
US8081820B2 (en) 2003-07-22 2011-12-20 Cognex Technology And Investment Corporation Method for partitioning a pattern into optimized sub-patterns
US7190834B2 (en) 2003-07-22 2007-03-13 Cognex Technology And Investment Corporation Methods for finding and characterizing a deformed pattern in an image
US7325667B1 (en) * 2003-10-10 2008-02-05 Damick Keith D Systems and methods for feeding articles to and removing articles from an automatic washer
US7336814B2 (en) * 2004-07-14 2008-02-26 Braintech Canada, Inc. Method and apparatus for machine-vision
US8437502B1 (en) 2004-09-25 2013-05-07 Cognex Technology And Investment Corporation General pose refinement and tracking tool
US7266425B2 (en) * 2004-09-30 2007-09-04 Rockwell Automation Technologies, Inc. Systems and methods that facilitate motion control through coordinate system transformations
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DE102009025201B3 (de) * 2009-06-12 2011-01-27 Konrad Maierhofer Projektionsvorrichtung
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CN103632932B (zh) * 2012-08-29 2016-08-31 北京北方微电子基地设备工艺研究中心有限责任公司 基片装卸装置、等离子体设备和机械手坐标零点定位方法
CN102874596B (zh) * 2012-10-24 2015-04-22 山东省产品质量检验研究院 一种试验机用试件自动放置装置
US9679224B2 (en) 2013-06-28 2017-06-13 Cognex Corporation Semi-supervised method for training multiple pattern recognition and registration tool models
CN103760921B (zh) * 2014-01-22 2016-03-23 哈尔滨工业大学 低精度多个传感器融合的原点精确定位系统及定位方法
JP5893695B1 (ja) * 2014-09-10 2016-03-23 ファナック株式会社 物品搬送システム
JP6456149B2 (ja) * 2015-01-13 2019-01-23 株式会社トプコン 測量機器
DE102015206511B4 (de) * 2015-04-13 2023-10-19 Siemens Healthcare Gmbh Ermittlung einer eindeutigen räumlichen Relation eines medizinischen Geräts zu einem weiteren Objekt
CN107036530B (zh) * 2016-02-04 2020-07-10 上海晨兴希姆通电子科技有限公司 工件位置的校准系统及方法
US9855661B2 (en) * 2016-03-29 2018-01-02 The Boeing Company Collision prevention in robotic manufacturing environments
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CN106514716B (zh) * 2016-11-14 2018-12-21 固高科技(深圳)有限公司 机器人标定系统、距离测量装置及标定方法
US11765323B2 (en) * 2017-05-26 2023-09-19 Calumino Pty Ltd. Apparatus and method of location determination in a thermal imaging system
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US3804270A (en) * 1973-01-12 1974-04-16 Bendix Corp Bulk storage and automatic presenter system with image producing means

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US3804270A (en) * 1973-01-12 1974-04-16 Bendix Corp Bulk storage and automatic presenter system with image producing means

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SYSTEMS COMPUTERS CONTROLS, VOLUME 4, NO. 5, 1973, Y. TSUBOI E.A., "POSITIONING AND SHAPE DETECTION ALGORITHMS FOR AN INDUSTRIAL ROBOT", PAGES 8-16 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2368073A1 (fr) * 1976-10-18 1978-05-12 Texas Instruments Inc Dispositif de manipulation automatique d'une piece par rapport a un outil
FR2489200A1 (fr) * 1980-09-02 1982-03-05 Cincinnati Milacron Inc Procede de mesure de la position reelle de surfaces d'une piece sur une machine-outil a commande numerique
EP0062244A1 (fr) * 1981-03-26 1982-10-13 Kabushiki Kaisha Yaskawa Denki Seisakusho Système de commande de lieu géometrique d'un robot
EP0071378A1 (fr) * 1981-07-31 1983-02-09 Fanuc Ltd. Méthode et appareil pour la commande numérique
EP0228471A1 (fr) * 1985-06-25 1987-07-15 Fanuc Ltd. Systeme de commande de robots
EP0228471A4 (fr) * 1985-06-25 1989-10-24 Fanuc Ltd Systeme de commande de robots.

Also Published As

Publication number Publication date
FR2321373B1 (fr) 1978-11-03
US3986007A (en) 1976-10-12

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