MX336882B - Sistema de transferencia para colocar una pieza en una orientacion requerida, y sujetador robotico para dicho sistema de transferencia. - Google Patents

Sistema de transferencia para colocar una pieza en una orientacion requerida, y sujetador robotico para dicho sistema de transferencia.

Info

Publication number
MX336882B
MX336882B MX2013010028A MX2013010028A MX336882B MX 336882 B MX336882 B MX 336882B MX 2013010028 A MX2013010028 A MX 2013010028A MX 2013010028 A MX2013010028 A MX 2013010028A MX 336882 B MX336882 B MX 336882B
Authority
MX
Mexico
Prior art keywords
transfer system
piece
required orientation
setting
robot gripper
Prior art date
Application number
MX2013010028A
Other languages
English (en)
Other versions
MX2013010028A (es
Inventor
Corrado Femia
Claudio Nigra
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 MX2013010028A publication Critical patent/MX2013010028A/es
Publication of MX336882B publication Critical patent/MX336882B/es

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
    • G05B19/418—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—Programme-controlled manipulators
    • B25J9/0093—Programme-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—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
    • 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

Una pieza (5) se coloca en una orientación requerida mediante rotaciones alrededor de al menos dos ejes mutuamente transversales (52, 57), con base en las diferencias entre la orientación requerida y la posición representada en una imagen capturada mientras la pieza (5) es conducida en un plano de descanso (29), y con base en los resultados de una comparación entre los datos de la imagen capturada y los datos de imágenes almacenadas que exhiben un elemento de muestra igual a la pieza (5) a ser transferida y colocado en respectivas posiciones de descanso estable diferentes.
MX2013010028A 2011-03-10 2012-03-12 Sistema de transferencia para colocar una pieza en una orientacion requerida, y sujetador robotico para dicho sistema de transferencia. MX336882B (es)

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 (2)

Publication Number Publication Date
MX2013010028A MX2013010028A (es) 2014-02-11
MX336882B true MX336882B (es) 2016-02-04

Family

ID=43977449

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2013010028A MX336882B (es) 2011-03-10 2012-03-12 Sistema de transferencia para colocar una pieza en una orientacion requerida, y sujetador robotico para dicho sistema de transferencia.

Country Status (8)

Country Link
EP (2) EP3786743B1 (es)
CN (1) CN103460152B (es)
IT (1) ITTO20110214A1 (es)
MD (1) MD4447C1 (es)
MX (1) MX336882B (es)
PL (2) PL2684098T3 (es)
RU (1) RU2580441C2 (es)
WO (1) WO2012120486A2 (es)

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
KR102591960B1 (ko) * 2014-12-05 2023-10-19 에이알에스 에스.알.엘. 특히 로봇, 자동화 수단 등에 의한 그립핑을 위해 부품을 배향시키기 위한 디바이스

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
WO2012120486A3 (en) 2012-12-27
PL2684098T3 (pl) 2021-06-28
CN103460152A (zh) 2013-12-18
MD20130061A2 (en) 2014-02-28
CN103460152B (zh) 2016-09-28
EP3786743B1 (en) 2023-08-09
MX2013010028A (es) 2014-02-11
RU2013140414A (ru) 2015-04-20
ITTO20110214A1 (it) 2012-09-11
RU2580441C2 (ru) 2016-04-10
MD4447C1 (ro) 2017-06-30
EP3786743A1 (en) 2021-03-03
EP2684098A2 (en) 2014-01-15
MD4447B1 (ro) 2016-11-30
WO2012120486A2 (en) 2012-09-13
PL3786743T3 (pl) 2023-12-27
EP2684098B1 (en) 2021-01-13

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Legal Events

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