MD4447B1 - Sistem de transfer pentru instalarea unei piese într-o orientare necesară şi graifăr al robotului pentru acest sistem de transfer - Google Patents

Sistem de transfer pentru instalarea unei piese într-o orientare necesară şi graifăr al robotului pentru acest sistem de transfer Download PDF

Info

Publication number
MD4447B1
MD4447B1 MDA20130061A MD20130061A MD4447B1 MD 4447 B1 MD4447 B1 MD 4447B1 MD A20130061 A MDA20130061 A MD A20130061A MD 20130061 A MD20130061 A MD 20130061A MD 4447 B1 MD4447 B1 MD 4447B1
Authority
MD
Moldova
Prior art keywords
transmission system
desired orientation
setting
robot clamp
captured image
Prior art date
Application number
MDA20130061A
Other languages
English (en)
Russian (ru)
Other versions
MD4447C1 (ro
MD20130061A2 (ro
Inventor
Коррадо ФЕМИЯ
Клаудио НИГРА
Original Assignee
Magic Production Group S.A.
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 Magic Production Group S.A. filed Critical Magic Production Group S.A.
Publication of MD20130061A2 publication Critical patent/MD20130061A2/ro
Publication of MD4447B1 publication Critical patent/MD4447B1/ro
Publication of MD4447C1 publication Critical patent/MD4447C1/ro

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—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • 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
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0093—Program-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator
    • 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]

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Invenţia se referă la un sistem pentru instalarea unei piese într-o orientare necesară.Esenţa invenţiei constă în aceea că o piesă (5) este instalatăîntr-o orientarenecesară prin rotaţia în jurul a cel puţin două axe reciproc transversale, pe baza diferenţelor dintre poziţia necesară şi poziţia reprezentată într-o imagine captată, în timp ce piesa (5) ajunge pe un plan orizontal mobil (29), şi pe baza rezultatului comparării datelor de pe imaginea captată cu datele de pe imaginile stocate, care indică un element model identic cu piesa (5), care urmează să fie transferată şi instalată în diferite poziţii de repaus stabile respective.
MDA20130061A 2011-03-10 2012-03-12 Sistem de transfer pentru instalarea unei piese într-o orientare necesară şi graifăr al robotului pentru acest sistem de transfer MD4447C1 (ro)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT000214A ITTO20110214A1 (it) 2011-03-10 2011-03-10 Metodo e impianto di trasferimento per disporre un pezzo in un orientamento richiesto, e pinza di robot per tale impianto di trasferimento
PCT/IB2012/051161 WO2012120486A2 (en) 2011-03-10 2012-03-12 Transfer system for setting a piece in a required orientation, and robot gripper for said transfer system

Publications (3)

Publication Number Publication Date
MD20130061A2 MD20130061A2 (ro) 2014-02-28
MD4447B1 true MD4447B1 (ro) 2016-11-30
MD4447C1 MD4447C1 (ro) 2017-06-30

Family

ID=43977449

Family Applications (1)

Application Number Title Priority Date Filing Date
MDA20130061A MD4447C1 (ro) 2011-03-10 2012-03-12 Sistem de transfer pentru instalarea unei piese într-o orientare necesară şi graifăr al robotului pentru acest sistem de transfer

Country Status (8)

Country Link
EP (2) EP2684098B1 (ro)
CN (1) CN103460152B (ro)
IT (1) ITTO20110214A1 (ro)
MD (1) MD4447C1 (ro)
MX (1) MX336882B (ro)
PL (2) PL2684098T3 (ro)
RU (1) RU2580441C2 (ro)
WO (1) WO2012120486A2 (ro)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6238869B2 (ja) * 2014-10-28 2017-11-29 アズビル株式会社 接触制御装置
RU2702919C2 (ru) * 2014-12-05 2019-10-14 Арс С.Р.Л. Устройство для ориентирования деталей, в частности для захвата роботами, средствами автоматизации и т.п.

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4119900A (en) * 1973-12-21 1978-10-10 Ito Patent-Ag Method and system for the automatic orientation and control of a robot
US4042122A (en) * 1975-05-27 1977-08-16 The Bendix Corporation Reorientation device for an object manipulator
GB1534167A (en) * 1975-08-20 1978-11-29 Bendix Corp Method and apparatus for transferring parts
DE3730236A1 (de) * 1987-09-09 1989-03-30 Pietzsch Ibp Gmbh Greifvorrichtung fuer werkstuecke
DE9011340U1 (de) * 1990-08-02 1990-11-22 Siemens AG, 8000 München Greifeinrichtung für Handhabungsgeräte
RU2009881C1 (ru) * 1990-12-18 1994-03-30 Институт машиноведения им.А.А.Благонравова РАН Способ определения положения наконечника измерительной головки робота и устройство для его осуществления
GB2261069B (en) * 1991-10-30 1995-11-01 Nippon Denso Co High speed picking system for stacked parts
US5370216A (en) * 1993-03-05 1994-12-06 Shibuya Kogyo Co., Ltd. Apparatus for aligning vessels
US5429375A (en) * 1994-03-01 1995-07-04 General Manufacturing Systems, Inc. Fluid actuated chuck with lock-up fingers for eccentric workpiece walls
JP3300682B2 (ja) * 1999-04-08 2002-07-08 ファナック株式会社 画像処理機能を持つロボット装置
JP4137862B2 (ja) * 2004-10-05 2008-08-20 ファナック株式会社 計測装置及びロボット制御装置
US20060083419A1 (en) * 2004-10-18 2006-04-20 Michael Carbaugh Systems and methods for isolating parts
JP4864363B2 (ja) * 2005-07-07 2012-02-01 東芝機械株式会社 ハンドリング装置、作業装置及びプログラム
RU2300456C1 (ru) * 2005-10-13 2007-06-10 Государственное образовательное учреждение высшего профессионального образования "Воронежский государственный технический университет" Промышленный робот

Also Published As

Publication number Publication date
MD4447C1 (ro) 2017-06-30
PL3786743T3 (pl) 2023-12-27
MX336882B (es) 2016-02-04
PL2684098T3 (pl) 2021-06-28
WO2012120486A2 (en) 2012-09-13
ITTO20110214A1 (it) 2012-09-11
EP3786743A1 (en) 2021-03-03
EP2684098B1 (en) 2021-01-13
RU2580441C2 (ru) 2016-04-10
EP2684098A2 (en) 2014-01-15
MX2013010028A (es) 2014-02-11
MD20130061A2 (ro) 2014-02-28
RU2013140414A (ru) 2015-04-20
WO2012120486A3 (en) 2012-12-27
CN103460152A (zh) 2013-12-18
CN103460152B (zh) 2016-09-28
EP3786743B1 (en) 2023-08-09

Similar Documents

Publication Publication Date Title
WO2014132090A3 (en) Optical navigation & positioning system
DK3551753T3 (da) Diagnostik baseret på crispr-effektorsystem
WO2014210419A3 (en) Method for measuring 3d coordinates of a surface with a portable articulated arm coordinate measuring machine having a camera
SE1730048A1 (en) Improved forest surveying
EP2972478A4 (en) METHOD, SYSTEMS AND DEVICES FOR A MULTISENSORIC STEREOVISION FOR ROBOTIC SYSTEMS
GB2566874B (en) Method for obtaining vetted certificates by microservices in elastic cloud environments
EP3861499A4 (en) ON-DEMAND CLOUD ROBOT FOR ROBOT PROCESS AUTOMATION
EP3134850A4 (en) System and method for controlling a camera based on processing an image captured by other camera
MX358219B (es) Sistema de soldadura automático.
EP2747641A4 (en) METHOD, SYSTEMS AND DEVICES FOR SCAN INTERNAL MOTION CORRECTION
WO2013093187A3 (en) An audio lens
WO2016053115A3 (en) Industrial vehicles and method for localization using ceiling lights
EP3238435A4 (en) Illuminator for camera system having three dimensional time-of-flight capture with movable mirror element
EP3136047A4 (en) Position and orientation estimation device, image processing device, and position and orientation estimation method
EP3016065A4 (en) Coordinate computation device and method, and image processing device and method
NZ730031A (en) Distance measurement device for motion picture camera focus applications
EP3272113A4 (en) Image processing for camera based display system
IN2014CN02658A (ro)
MY196035A (en) Line Measurement Device and Method
EP3033584A4 (en) Missile system with navigation capability based on image processing
GB2537430A (en) Method and apparatus for operating a camera
DK3202254T3 (da) Malkerobot med kombineret 2D og 3D kamerasystem
MX2013011725A (es) Proceso y aparato para alinear objetos.
IL260319B (en) Install thermal conditioning for injection system
DK3449170T3 (da) Forbedret håndholdt system til tredimensionel scanning med en smartphone

Legal Events

Date Code Title Description
FG4A Patent for invention issued
TC4A Change of name of proprietor (patent for invention)

Owner name: FERRERO TRADING LUX S.A., LU

Free format text: PREVIOUS NAME OF PROPRIETOR: MAGIC PRODUCTION GROUP S.A., LU

TH4A Change/correction in patent specification

Free format text: CHANGE/CORRECTION IN INID 73

KA4A Patent for invention lapsed due to non-payment of fees (with right of restoration)