IT1257826B - Metodo ed unita' per il prelievo automatico di oggetti cilindrici - Google Patents
Metodo ed unita' per il prelievo automatico di oggetti cilindriciInfo
- Publication number
- IT1257826B IT1257826B ITBO920236A ITBO920236A IT1257826B IT 1257826 B IT1257826 B IT 1257826B IT BO920236 A ITBO920236 A IT BO920236A IT BO920236 A ITBO920236 A IT BO920236A IT 1257826 B IT1257826 B IT 1257826B
- Authority
- IT
- Italy
- Prior art keywords
- unit
- automatic sampling
- cylindrical objects
- cylindrical object
- central axis
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 2
- 238000005070 sampling Methods 0.000 title 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H19/00—Changing the web roll
- B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
- B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H19/00—Changing the web roll
- B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
- B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
- B65H19/123—Lifting, transporting, or inserting the web roll; Removing empty core with cantilever supporting arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
Abstract
Metodo ed unità per il prelievo automatico di un oggetto cilindrico (2), in particolare una bobina (2) provvista di un nocciolo (3) centrale tubolare, secondo i quali una testa (32) di presa aspirante e semovente viene guidata in posizione coassiale ad un asse centrale (55) dell'oggetto cilindrico (2) stesso a seguito (47, 48, 49) portati dalla testa (32) stessa, di tre punti (A, B, C) distinti della superficie esterna (53) dell'oggetto cilindrico (2), e della individuazione, per via matematica, della posizione dell'asse centrale (55). (Figura 3)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITBO920236A IT1257826B (it) | 1992-06-12 | 1992-06-12 | Metodo ed unita' per il prelievo automatico di oggetti cilindrici |
EP93109132A EP0577986B1 (en) | 1992-06-12 | 1993-06-07 | Automatic pickup method and unit for cylindrical objects |
DE69326390T DE69326390T2 (de) | 1992-06-12 | 1993-06-07 | Verfahren und Vorrichtung zum automatischen Einsammeln von zylindrischen Objekten |
JP5142257A JP2542161B2 (ja) | 1992-06-12 | 1993-06-14 | シリンダ型の物体のための自動取り上げ方法及び装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITBO920236A IT1257826B (it) | 1992-06-12 | 1992-06-12 | Metodo ed unita' per il prelievo automatico di oggetti cilindrici |
Publications (3)
Publication Number | Publication Date |
---|---|
ITBO920236A0 ITBO920236A0 (it) | 1992-06-12 |
ITBO920236A1 ITBO920236A1 (it) | 1993-12-12 |
IT1257826B true IT1257826B (it) | 1996-02-13 |
Family
ID=11338366
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ITBO920236A IT1257826B (it) | 1992-06-12 | 1992-06-12 | Metodo ed unita' per il prelievo automatico di oggetti cilindrici |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0577986B1 (it) |
JP (1) | JP2542161B2 (it) |
DE (1) | DE69326390T2 (it) |
IT (1) | IT1257826B (it) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ITBO20010289A1 (it) | 2001-05-11 | 2002-11-11 | Gd Spa | Metodo e dispositivo di alimentazione di bobine ad una macchina operatrice |
DE102006017379A1 (de) * | 2006-04-11 | 2007-10-18 | Focke & Co.(Gmbh & Co. Kg) | Einrichtung zur Handhabung von Bobinen aus Verpackungsmaterial |
DE102006043810A1 (de) * | 2006-09-13 | 2008-03-27 | Hauni Maschinenbau Ag | Bestimmung einer Bobinenkernmitte bei einer Bobinenhandhabungsvorrichtung |
US9969587B2 (en) | 2014-08-28 | 2018-05-15 | The Procter & Gamble Company | Web material unwind apparatus |
DE102017206549A1 (de) * | 2017-04-19 | 2018-10-25 | Robert Bosch Gmbh | Verbrauchsmaterialhandhabungsvorrichtung zu einem Transport und/oder zu einer Handhabung von zumindest einem Verbrauchsmaterial, insbesondere eines Verpackungsmaterials |
US11364628B2 (en) | 2017-09-01 | 2022-06-21 | Nv Bekaert Sa | Gripper for spools |
DE102019134973B4 (de) * | 2019-12-18 | 2024-02-08 | Zahoransky Ag | Fahrerloses Transportfahrzeug, Bürstenherstellungsmaschine, Fertigungssystem, Filamentpuck, Verfahren zur Handhabung eines Filamentpucks, Computerprogramm und computerlesbares Medium |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6022721B2 (ja) * | 1978-07-06 | 1985-06-04 | 豊田工機株式会社 | 接触検出用ヘツドを用いた芯出し測定装置 |
JPS58206387A (ja) * | 1982-05-28 | 1983-12-01 | 日産自動車株式会社 | ロボツトの位置補正装置 |
US4563824A (en) * | 1983-12-12 | 1986-01-14 | Charlton Associates | Method and apparatus for disc position centering |
DE3420330C1 (de) * | 1984-05-30 | 1985-12-05 | Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln | Induktiver Sensor und Verfahren zur beruehrungslosen,dreidimensionalen Positionserfassung von Loechern,Bohrungen,Bolzen,Niete u.ae. in bzw. an Metallteilen mittels eines solchen Sensors |
JPS61120005A (ja) * | 1984-11-16 | 1986-06-07 | Fuji Electric Co Ltd | 円筒状プラスチツクフイルムの径測定装置 |
DE3501692A1 (de) * | 1985-01-19 | 1986-07-24 | Maschinenfabrik Fr. Niepmann GmbH u. Co, 5820 Gevelsberg | Vorrichtung zum entladen einzelner bobinen von einer unterlage |
GB9013744D0 (en) * | 1990-06-20 | 1990-08-08 | Renishaw Plc | Measurement of a workpiece |
-
1992
- 1992-06-12 IT ITBO920236A patent/IT1257826B/it active IP Right Grant
-
1993
- 1993-06-07 EP EP93109132A patent/EP0577986B1/en not_active Expired - Lifetime
- 1993-06-07 DE DE69326390T patent/DE69326390T2/de not_active Expired - Fee Related
- 1993-06-14 JP JP5142257A patent/JP2542161B2/ja not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
DE69326390T2 (de) | 2000-03-30 |
JPH06320469A (ja) | 1994-11-22 |
EP0577986A3 (en) | 1994-08-17 |
JP2542161B2 (ja) | 1996-10-09 |
EP0577986B1 (en) | 1999-09-15 |
DE69326390D1 (de) | 1999-10-21 |
EP0577986A2 (en) | 1994-01-12 |
ITBO920236A0 (it) | 1992-06-12 |
ITBO920236A1 (it) | 1993-12-12 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
0001 | Granted | ||
TA | Fee payment date (situation as of event date), data collected since 19931001 |
Effective date: 19970626 |