WO2011069181A1 - Verfahren zum aufnehmen von kleinteilen - Google Patents
Verfahren zum aufnehmen von kleinteilen Download PDFInfo
- Publication number
- WO2011069181A1 WO2011069181A1 PCT/AT2010/000475 AT2010000475W WO2011069181A1 WO 2011069181 A1 WO2011069181 A1 WO 2011069181A1 AT 2010000475 W AT2010000475 W AT 2010000475W WO 2011069181 A1 WO2011069181 A1 WO 2011069181A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- suction
- opening
- small part
- suction tube
- pressure
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000011156 evaluation Methods 0.000 claims description 12
- 238000003466 welding Methods 0.000 claims description 6
- 238000005520 cutting process Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 238000004080 punching Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
Classifications
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/02—Devices for feeding articles or materials to conveyors
- B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
- B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
- B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
- B65G47/1407—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl
- B65G47/1478—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of pick-up devices, the container remaining immobile
- B65G47/1485—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding the articles being fed from a container, e.g. a bowl by means of pick-up devices, the container remaining immobile using suction or magnetic forces
Definitions
- the invention relates to a method for gripping or picking up predominantly in the unsorted state present small parts with a suction tube. Furthermore, the invention relates to a device for carrying out this method or for receiving small parts.
- the US 4887351 A and EP 0607901 A1 show suction pipes for receiving small parts, wherein in the wall of the suction pipe at least one leading into the interior of the suction pipe air passage recess is formed. These recesses may be formed by a plurality of openings, which are located in the region or in the vicinity of the sump.
- suction pipes When picking up small parts from a large number of unsorted parts, there is the problem of correct and controlled inspection of the small parts, that is to say with a desired alignment with a suction tube.
- suction pipes are known.
- a device for establishing a negative pressure such as a vacuum pump
- a negative pressure is generated at the open end of a suction pipe and this negative pressure causes small parts can be taken with the suction pipe and held. It may be the case that the small parts are taken with an orientation that is not suitable for further transport of small parts, for sorting in a magazine, for gripping by a robot or for component mounting.
- Such small parts are, for example, pins for cylinder locks, watch components, rice nails, rivets, screws, etc.
- such small parts may have a cylindrical head and a cylindrical foot part of smaller diameter formed thereon and thus be seen as a whole rotationally symmetrical;
- screws are considered rotationally symmetric.
- the method is advantageous for receiving small parts which have an end face at one end which is larger, in particular substantially larger, than the end face at the opposite other end.
- cup-shaped small parts can be provided for recording. It is also possible to accommodate cylindrical, pyramidal, conical, cuboidal small parts; In principle, arbitrarily shaped small parts can be included. Accordingly, the geometry of the suction opening is selected.
- the invention provides that at the same time and in addition to the intake air sucked through the suction opening with the suction tube by at least one further, in particular in the immediate vicinity of the suction opening formed, leading into the interior of the suction tube Lucas biostorysaus supraung more air is sucked in and that the seizing a small part adjusting value of the total suction for evaluating the orientation of the seized small part used in relation to the suction or is evaluated.
- the total suction pressure which occurs when gripping a small part depends on the extent of the closure of the suction opening by the small part. Depending on the manner and to what extent the small part displaces or closes the suction opening and / or the additionally provided air passage openings, the total suction pressure changes and it is possible to draw conclusions about the orientation from the measured value of the total suction pressure which is established in the suction pipe of the seized hardware. If a small part is classified as not being in the correct position, this small part is discarded or thrown back into the quantity of the small parts to be picked up or returned and another small part is picked up.
- top-heavy small parts also assume a certain preferred position with respect to the suction opening when taking up negative pressure, depending on their shape.
- the height of the suction pressure and the distance that the small parts travel freely between their base and the suction opening of the suction pipe play a role.
- top-heavy particles are fed head-first to the suction port. Nevertheless, unwanted alignments occur when gripping the small parts, which can be eliminated by monitoring the total air pressure in the train of seizing a small part.
- the suction air and the further air are sucked in with predetermined, in particular constant, suction power.
- This procedure is advantageous but not essential, since relative pressure differences or relative pressures can be measured. It can thus be compared to the measured total suction pressure of successive intake operations, and more importantly, the total intake pressure can be compared to predetermined pressure values and from this comparison an accurate evaluation of the orientation of the gripped small part can be made.
- the determination of a pressure difference is regarded as a closure of the suction opening by a small incorrectly recorded small part. It could also be provided that, after gripping a small part, the determination of a pressure value which is reduced with respect to the target pressure value or a pressure difference which is too low is regarded as a, in particular incomplete, closing of the suction tube opening by the small part, e.g.
- the determination of the target pressure value or the Predetermined set pressure difference exceeding values is assessed as a recording of a misjudgment not taken small piece.
- the criteria are set in advance. With this procedure, different orientations of the seized small parts could be determined at the suction opening or properly seized small parts can be determined.
- the evaluation of pressure differences is quick and accurate and preferable to the evaluation of pressure values caused by alteration, e.g. B. deposits in the Lucas thoroughlysaus Principle be influenced.
- the procedure according to the invention has proved particularly successful when, in particular, rotationally symmetrical small parts are gripped, one end of which has a larger diameter or larger area than the suction opening and the other end area has a smaller diameter or smaller area than the suction opening and this can penetrate, or the small parts have a shape that they can be placed with a recess having an end portion on the suction pipe and close the air passage recesses from the outside.
- the predetermined target pressure difference to be achieved for the respective suction power is determined in advance and stored and compared with the pressure difference actually detected when a small part is picked up and / or if at most the value of the total suction pressure and the target pressure value are dependent on the respective one Suction performance is determined in advance and stored and is compared with at least one of these values, but at least with the target pressure value in the course of seizing small parts to evaluate the orientation of the gripped small part with respect to the suction opening of the occurring pressure value.
- the pressure difference determined upon receipt of a small part is considered to be adequate if the determined pressure difference of a stored predetermined setpoint pressure difference is not more than 5%. differs.
- a device for gripping small parts with a suction pipe is characterized in that in addition to the suction opening in the wall of the suction pipe at least one leading into the interior of the suction pipe air passage recess is formed.
- the pressure sensor is used to determine the total pressure prevailing in the intake manifold, and the pressure differences occurring when small parts are received are calculated and evaluated in the evaluation unit. Furthermore, it is provided that the evaluation unit has a memory for at least one target pressure difference or for at least one target pressure value and optionally at least one total suction pressure value and optionally for range limits and / or maximum and minimum values for the pressure difference and pressure values. It is advantageous if a comparator for comparing the measured total pressure values with the stored desired pressure value is provided in the evaluation unit.
- the Heil funnelsauslangsausbianstead are formed by a number of the wall of the suction pipe passing through openings which are located at a predetermined distance from the end face of the suction tube, wherein the openings preferably in are formed in the immediate vicinity or near the suction opening, and / or that the Heil funnelsaus fundamental urge are formed by radially extending between the outer wall and the inner wall, formed in the end face of the suction tube depressions.
- the portions of the small parts entering or leaving the suction port in an undefined orientation cause a variation in the amount of air sucked through the air passage recesses, which change can be detected and evaluated by the pressure sensor.
- a suction unit preferably a vacuum or suction pump, is connected to the suction pipe, which acts on the suction pipe with a predetermined, in particular constant, suction power.
- the intake manifold has a rigid or rigid suction tube end. This results in a defined system of small parts to the end of the suction pipe, unaffected by the shape of the parts and without deformation of the suction pipe end.
- the suction tube is rotationally symmetrical or adapted to the part geometry.
- the suction opening may have any, adapted to the peripheral shape of the small parts inner cross-section.
- an optionally provided with a guide for the suction cup attachment is fitted with an extension of the suction tube forming suction channel on the suction of the suction tube, wherein the suction channel optionally forms a lying in front of the suction port funnel whose opening cross-section in the direction of the suction opening increases away.
- the suction tube in the attachment and / or the guide is preferably displaceably mounted against spring pressure and / or rotatable and / or if at least one air supply channel is formed in the essay, the air outlet opening is in the region of the suction opening and the Beer guttresaus fundamentalisme.
- the suction tube can be held with the attachment, which advantageously surrounds at least the front end region of the suction tube, but in particular the suction tube to about half its length or over its entire length. It can be provided that the suction tube is connected to a rotary and / or displacement drive, with which the suction tube relative to the attachment and / or the guide is rotated and / or displaced.
- the suction pipe in the region of its suction opening, in particular on its end face, optionally formed, a tool, such as a screw tip or cutting, an electric contact for the power supply for electric welding, a punching or pressing carries.
- a current generator for introducing welding current is connected to the suction pipe.
- Fig. 1 shows schematically the construction of a suction tube.
- Fig. 2 to 4 show the inclusion of a top-heavy small part.
- Fig. 5, 6 and 7 show the inclusion of a cup-shaped small part.
- Fig. 8 shows a function of a tool fulfilling suction tube.
- Fig. 9 shows a diagram of the device according to the invention.
- Fig. 1 shows schematically the formation of the suction end of a suction tube 1, which has a suction opening 6.
- a suction tube 1 In the wall of the suction tube 1
- Gutyersaus traditions 5 are formed.
- these air passage recesses 5 and other air passage recesses 15 may be provided.
- These further air passage recesses 15 are formed by depressions in the end face 14 of the, in particular rotationally symmetrical, suction tube 1.
- the end face 14 and / or shape and position of these depressions can be adapted to the shape of the small parts 4.
- such depressions are formed in the end face 14 by slots and / or rounded recesses, for example semicircles or recesses rounded in their inner end regions.
- the length of the suction tube 1 is arbitrary.
- the diameter and / or the shape of the suction tube 1 are adapted to the shape or size of the small parts 4;
- the end face 14 or the extremely located end portion 19 of the suction tube, which comprises the air passage openings 5 and the recesses 15, can be adapted to the shape of the small parts 4.
- a suction tube 1 is shown schematically with a suction port 6, wherein the suction tube 1 is arranged in a guide 11, which can serve as a handle or holding part.
- a suction unit 7 With a suction unit 7, the required suction air flow is created.
- a pressure sensor 2 measures the total pressure prevailing in the interior of the intake manifold 1 and forwards this measured value to an evaluation unit 3.
- the Luft gutsaus Principle 5, 15 Near the suction opening 6 of the suction tube 1, the Lucas gutsaus Principle 5, 15 - as shown in Fig. 1 - formed. Through the air passage openings 5, 15 flows in the event that the suction port 6 is not closed, a relatively low proportion of air.
- Fig. 2, 3 and 4 show different orientations of a gripped with a suction tube small part 4, each having a different total suction within cause the suction tube 1.
- Fig. 2 is a schematic section through an inventive suction tube is shown.
- the air passage recesses 5 are formed, is sucked via the additional air to the sucked through the suction port 6 air.
- a small part 4 is received, it can be received in different positions, as shown in FIGS. 2, 3 and 4.
- the small part is taken with its end portion 9 and sucked into the suction port 6. In this case, the small part 4 closes the suction opening 6 and partially the Heil gutsausnaturallessness 5.
- the adjusting in the intake manifold 6 is smaller than the suction pressure, which occurs when the suction port 6 and the Heil funnelsaus fundamentalisme 5 are not misplaced by the small part 4 or if - as in Fig. 4 - only the suction port 6 is closed.
- the suction pipe 1 is surrounded by an attachment 11, in which the suction pipe 6 is mounted either fixed or displaceable and / or rotatable.
- the attachment 11 has air supply channels 13 in order to supply the required suction air to the suction opening 6 and the air passage openings 5, 15.
- the article 11 also has a suction formed in alignment in the axial extension of the suction tube 1 suction funnel 20, which forms a funnel-shaped away from the suction tube 1 away suction channel 12.
- This suction channel 12 effects a pre-positioning of the small parts 4 or prevents small parts 4 from reaching the suction opening 6 in a position that deviates too much from the desired position. In Fig. 3, such a small part 4 is shown, which can not enter due to its orientation in the suction channel 12 and reach the suction port 6. Such a small part is dropped by interrupting the suction.
- a small part 4 is shown in a position in which the head end 8 closes the suction port 6; the air passage openings 5 are unlocked. If this is the desired position, the pressure setting in the intake manifold 1 corresponds to a predetermined desired target pressure and a pressure drop corresponding to the predetermined target pressure difference results and the intake of the small part 4 is recognized as being correct.
- the pressure differences are determined, which result between the pressure in a suction tube 1, which has no small part 4 and their pressure in the intake manifold 1 at recorded small part 4. Only with a properly recorded small part 4, the pressure difference reaches a value corresponding to a predetermined target pressure difference and upon detection of the predetermined target pressure difference, the orientation of the recorded small part 4 is recognized as being correct.
- Fig. 5 shows the receptacle of a cup-like small part 4, which completely closes the suction opening 6 and the air passage openings 5 in the position shown in Fig. 5.
- the resulting in this position of the small part 4 in the intake manifold 1 pressure can be set as the target pressure and then takes the inclusion of small parts 4 then check whether there is a pressure difference, the difference between completely closed intake manifold and unsealed suction port 6 and unclosed Heil choireriesausappel 5, corresponds. If a closure of the suction opening according to FIG. 6 is regarded as the desired position of the small part 4, the pressure difference resulting from this position of the small part 4 from the measured pressure and the pressure at unsealed suction opening 6 and unlocked air passage recesses 5, 15 is to be used as the desired pressure difference.
- the suction port 6 When receiving a small part of Figure 7, the suction port 6 is only partially closed. In particular, air can flow to the suction opening 6 and the air passage openings 5 almost unrestrictedly through the air inlet channel 13. In the intake manifold 1, therefore, no significant pressure drop will occur. Thus, the predetermined and desired pressure difference, as it exists according to FIG. 5 or also according to FIG. 6, is not reached and the recorded small part 4 is judged not to have picked up properly.
- pre-tests is determined at a predetermined, in particular kept constant suction, the self-adjusting target pressure within the intake manifold 1 for different small parts 4 and in the evaluation unit 3 predetermined pressure values or desired pressure differences are stored.
- a comparator located in the evaluation unit 3 a comparison of the prevailing in the intake manifold 1 Automattsaugallonses or a comparison of the detected when receiving the small part 4 pressure difference with the predetermined, stored pressure difference and it a corresponding reaction is carried out by further promotion of the small part 4 or its ejection.
- the suction tube 1 can be held in the projection 11 or mounted rotatably and / or displaceably, as shown in Fig. 8. This makes it possible to form tools in the region of the suction opening 6 or to place them on the suction pipe 1.
- Fig. 8 shows a suction tube 1, whose end is designed as a screw cutting 18.
- the sucked by the suction tube 1 small part 4 is a screw, which is then considered to be in the correct position when the slot 19 of the screw is placed on the screw cutting 18.
- suction tube 1 is connected to corresponding drive units which provide the necessary for the implementation of the step and the movement of the suction tube 1 force. It is also possible to connect a power generator 17 to the intake manifold 1 in order to carry out welding operations, in particular resistance pressure welding operations.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- External Artificial Organs (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112010005416T DE112010005416A5 (de) | 2009-12-11 | 2010-12-10 | Verfahren zum aufnehmen von kleinteilen |
CH00812/12A CH704528B1 (de) | 2009-12-11 | 2010-12-10 | Verfahren zum Aufnehmen eines Kleinteils. |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT19662009A AT509261B1 (de) | 2009-12-11 | 2009-12-11 | Verfahren und vorrichtung zum aufnehmen von kleinteilen |
ATA1966/2009 | 2009-12-11 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011069181A1 true WO2011069181A1 (de) | 2011-06-16 |
Family
ID=43618011
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/AT2010/000475 WO2011069181A1 (de) | 2009-12-11 | 2010-12-10 | Verfahren zum aufnehmen von kleinteilen |
Country Status (4)
Country | Link |
---|---|
AT (1) | AT509261B1 (de) |
CH (1) | CH704528B1 (de) |
DE (1) | DE112010005416A5 (de) |
WO (1) | WO2011069181A1 (de) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4887351A (en) | 1988-09-09 | 1989-12-19 | Universal Instruments Corporation | Pick and place nozzle with concentric grooves |
EP0607901A1 (de) | 1993-01-18 | 1994-07-27 | Tenryu Technics Co., Ltd. | Unterdruckheber für Montageteile |
US5961169A (en) * | 1998-07-27 | 1999-10-05 | Strasbaugh | Apparatus for sensing the presence of a wafer |
US6437560B1 (en) * | 2000-10-31 | 2002-08-20 | Syron Engineering & Manufacturing, Llc | Combined suction cup and isolated sensor |
-
2009
- 2009-12-11 AT AT19662009A patent/AT509261B1/de not_active IP Right Cessation
-
2010
- 2010-12-10 DE DE112010005416T patent/DE112010005416A5/de not_active Withdrawn
- 2010-12-10 CH CH00812/12A patent/CH704528B1/de not_active IP Right Cessation
- 2010-12-10 WO PCT/AT2010/000475 patent/WO2011069181A1/de active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4887351A (en) | 1988-09-09 | 1989-12-19 | Universal Instruments Corporation | Pick and place nozzle with concentric grooves |
EP0607901A1 (de) | 1993-01-18 | 1994-07-27 | Tenryu Technics Co., Ltd. | Unterdruckheber für Montageteile |
US5961169A (en) * | 1998-07-27 | 1999-10-05 | Strasbaugh | Apparatus for sensing the presence of a wafer |
US6437560B1 (en) * | 2000-10-31 | 2002-08-20 | Syron Engineering & Manufacturing, Llc | Combined suction cup and isolated sensor |
Also Published As
Publication number | Publication date |
---|---|
AT509261B1 (de) | 2012-03-15 |
AT509261A1 (de) | 2011-07-15 |
DE112010005416A5 (de) | 2013-03-07 |
CH704528B1 (de) | 2014-10-31 |
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