WO2016087332A1 - Device for orienting parts, particularly for gripping by robots, automation means and the like - Google Patents
Device for orienting parts, particularly for gripping by robots, automation means and the like Download PDFInfo
- Publication number
- WO2016087332A1 WO2016087332A1 PCT/EP2015/077965 EP2015077965W WO2016087332A1 WO 2016087332 A1 WO2016087332 A1 WO 2016087332A1 EP 2015077965 W EP2015077965 W EP 2015077965W WO 2016087332 A1 WO2016087332 A1 WO 2016087332A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- parts
- movable pad
- picked
- pulse generation
- sector
- Prior art date
Links
Classifications
-
- 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
- B65G47/1442—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 movement of the bottom or a part of the wall of the container
- B65G47/1457—Rotating movement in the plane of the rotating part
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/27—Means for performing other operations combined with cutting
- B26D7/30—Means for performing other operations combined with cutting for weighing cut product
-
- 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
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
-
- 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
- B65G27/00—Jigging conveyors
- B65G27/10—Applications of devices for generating or transmitting jigging movements
- B65G27/12—Applications of devices for generating or transmitting jigging movements of shaking devices, i.e. devices for producing movements of low frequency and large amplitude
- B65G27/14—Applications of devices for generating or transmitting jigging movements of shaking devices, i.e. devices for producing movements of low frequency and large amplitude hydraulic
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G47/1414—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 movement of at least the whole wall of the container
- B65G47/1428—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 movement of at least the whole wall of the container rotating movement
-
- 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
- B23P19/002—Article feeders for assembling machines orientating the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D2210/00—Machines or methods used for cutting special materials
- B26D2210/02—Machines or methods used for cutting special materials for cutting food products, e.g. food slicers
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0225—Orientation of the article
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Definitions
- the present invention relates to a device for orienting parts, particularly for gripping by robots, automation means and the like.
- the invention relates to the sector of industrial automation or in any case to all sectors amenable to the introduction of an automatic robotized system, where there is continually increasing demand for flexible robotized systems capable of meeting the most varied requirements.
- the expected industrial sectors of use for the device according to the invention are rubber, plastics and other synthetic materials, glass, the food industry, cosmetics, pharmaceuticals, medical, auto parts, electrical household appliances, computers, consumer electronics, small metal products, the woodworking industry and accessories for furniture, etc.
- Feeder devices are known, called simply “feeders”, which are controlled by Cartesian coordinate robots, anthropomorphic robots, cylindrical robots, etc.
- Such feeders are provided with artificial vision systems, such as for example linear cameras, matrix cameras, three-dimensional cameras and the like, which require lighting conditions such as to have images with high contrast between the background and the parts to be recognized so as to be able to send such images to image analysis software in order to recognize the parts.
- artificial vision systems such as for example linear cameras, matrix cameras, three-dimensional cameras and the like, which require lighting conditions such as to have images with high contrast between the background and the parts to be recognized so as to be able to send such images to image analysis software in order to recognize the parts.
- the lighting conditions can be created by external lighting from above or by way of a backlighting device, which is usually arranged under the pad on which the parts lie.
- Filling the feeder is done from outside, at time intervals, manually, by way of a hopper, with a belt elevator or other, technically-equivalent means.
- the artificial vision system recognizes the part loaded in the feeder which is needed for production, and the robot picks it up.
- Such conventional devices advance the parts that constitute the supply feed for the robots, by way of mechanical shaking and/or a linear movement obtained by way of motorized belts.
- a problem with such feeders is constituted by the fact that when the parts to be supplied comprise at least one cylindrical part, they tend to roll, statistically offering the robots, more often than not, parts that cannot easily be gripped, and therefore not succeeding in feeding the robot.
- a feeder device which is capable of changing the orientation of the parts in such a manner as to make the gripping thereof by a robot easier.
- Such conventional device involves the use of a circular pad which rotates about its own center and which is subjected to percussion by pulse generation means, such as to jolt the individual parts until they are in the desired position.
- Such conventional device is also not devoid of drawbacks, among which is the fact that if the parts are not oriented in the correct position for their gripping, there is a risk that the system for feeding the device, by continuing to load parts, will saturate the surface of the movable pad, thus preventing the latter from carrying out its function.
- this and other conventional devices suffer the drawback that, if the parts to be handled bear traces of oil or dirt, such traces can be transferred to the movable pad, preventing the lighting means from creating the right visual contrast between the background and the parts, which is necessary in order for the artificial vision means to identify the parts on the movable pad.
- the aim of the invention is to eliminate the above mentioned drawbacks in conventional types of feeder devices like the ones described above, by providing an orientation device that makes it possible to change the arrangement of the parts and their position on the surface efficiently while preventing traces of oil or dirt, and also overfeeding of the movable pad, from preventing the artificial vision means from identifying the parts to be picked up.
- an object of the present invention consists in providing an orientation device that allows easy access to the internal parts, thus simplifying the cleaning operation of the vision system.
- Another object of the present invention consists in providing an orientation device that is simple to assemble with means that are easily sourced on the market and using conventionally-used materials, so that the device is economically competitive.
- a device for orienting parts particularly for gripping by robots, automation means and the like, which comprises a supporting frame which defines a supporting surface which rotatably supports a movable pad associated with motor means for its rotation about a rotation axis substantially perpendicular to said supporting surface, artificial vision means for the recognition of parts to be picked up arranged on said movable pad being further provided and pulse generation means being further provided which are connected to said supporting frame and act on said movable pad in a precise and localized manner along a straight line of action that is substantially perpendicular to said movable pad in order to modify the orientation of said parts to be picked up, in such a manner as to allow them to be picked up by robots, automation means and the like, characterized in that it comprises a perimetric groove defined on said supporting surface in a manner that is radially external to said movable pad for the facilitated evacuation of oily substances or dirt present on said parts to be picked up and subsequently transferred
- Figure 1 is a perspective view of an embodiment of an orientation device, according to the invention.
- Figure 2 is a plan view from above of the device shown in Figure 1 ;
- Figure 3 is a cross-sectional view of the device shown in Figure 2, taken along the line III-III;
- Figure 4 is a cross-sectional view of the device shown in Figure 2, taken along the line IV-IV;
- Figure 5 is an enlarged- scale detail of the device shown in Figure 4.
- the device for orienting parts particularly for gripping by robots, automation means and the like, generally designated by the reference numeral 1, comprises a supporting frame 2 which defines a supporting surface 3 which rotatably supports a movable pad 4 associated with motor means 5 for its rotation about a rotation axis 6 substantially perpendicular to the supporting surface 3.
- the motor means 5 can comprise a motor 7 of the electric type, such as for example an asynchronous motor, supported by the supporting frame 2 and fixed at a base 8 of the device 1 by way of a motor support 9.
- a motor 7 of the electric type such as for example an asynchronous motor
- the movable pad 4 has a substantially circular shape and is directly associated with the driving shaft of the motor 7 and is locked thereto so as to rotate integrally with it about the rotation axis 6, through an entraining flange 11 and a tightening flange 12 which are mutually engaged with each other in such a manner that the movable pad 4 is clamped between them.
- the motor means 5 can comprise a driver motor 13 fixed at the base 8 by way of an adapted bracket 14.
- the motor 7 is capable of operating with speeds and/or accelerations that are controlled and variable according to the characteristics of the parts that are loaded into the device 1.
- artificial vision means for the recognition of parts to be picked up arranged on the movable pad 4 are provided, and pulse generation means 15 are provided which are connected to the supporting frame 2 and act on the movable pad 4 in a precise and localized manner along a straight line of action that is substantially perpendicular to the movable pad 4 in order to modify the orientation of the parts to be picked up, in such a manner as to allow them to be picked up by robots, automation means and the like.
- the artificial vision means can be positioned externally and above the device 1 and, being conventional, they will not be described or shown in detail.
- the artificial vision means can comprise an optical video camera and backlighting means 16 associated with the supporting frame 2 and arranged on the opposite side from the movable pad 4 with respect to the supporting surface 3 at the artificial vision means for the backlighting of the parts to be picked up arranged on the movable pad 4 in such a manner as to allow their identification by the artificial vision means.
- the movable pad 4 is made of a material that is permeable to light and elastically flexible and the supporting surface 3 is provided with a window 17, shaped substantially like an annular sector and provided with adapted glass for protection, defined at the backlighting means in such a manner as to allow the backlighting of the movable pad 4.
- these comprise a rebound magnet 18 connected to the supporting frame 2 and acting on the lower surface 19 of the movable pad 4 through at least one opening 20 defined on the supporting surface 3 distant from the window 17.
- the pulse generation means 15 are associated with the supporting frame 2 by way of a movable slider 21 adapted to allow the movement of the rebound magnet 18 along a radial direction with respect to the rotation axis 6.
- the opening 20 has a slot-like shape elongated along a radial direction with respect to the rotation axis 6 consistently with the movement of the rebound magnet 18 by way of the movable slider 21.
- the rebound magnet 18 can be positioned in each instance in a peripheral position with respect to the center of the movable pad 4 so as to be able to act on the entire radial extension of the movable pad 4.
- a perimetric groove 22 defined on the supporting surface 3 in a manner that is radially external to the movable pad 4 for the facilitated evacuation of oily substances or dirt present on the parts to be picked up and subsequently transferred onto the movable pad 4 as a consequence of the movement of the parts to be picked up by way of the pulse generation means 15.
- a shoulder ring 23 arranged radially outside the movable pad 4 and adapted to radially retain the parts to be picked up, and a covering element 24 integral with the supporting frame 2 and arranged above the movable pad 4 at the pulse generation means 15, for the vertical retention of the parts to be picked up as a consequence of the action of the pulse generation means 15.
- the device 1 according to the invention can be divided into at least one part pickup sector defined at the artificial vision means, at least one part orientation sector defined at the pulse generation means 15, and at least one sector for loading parts by way of a hopper or the like.
- the device 1 can be filled from outside at preset time intervals with parts to be oriented in order to then be picked up by a robot or the like.
- the parts are unloaded on the movable pad 4 at the loading sector in random position and, thanks to the rotation of the movable pad 4, they are arranged in the pickup sector where a robot, turn after turn, will pick up the parts once they have been recognized by the artificial vision means.
- an oscillating movement of the movable pad 4 is added to the rotation about the rotation axis 6, again about the rotation axis 6.
- the rotary-oscillatory movement of the movable pad 4 may not be sufficient to prevent the method from being slowed.
- the pulse generation means 15, which in the solution described herein comprise the rebound magnet 18, so as to push one or more of the parts so that, following the impact, they change the orientation of their arrangement.
- the rebound magnet 18 can be controlled by the operator through the vision means and its relative position with respect to the supporting frame 2 can be changed by actuating the movable slider 21.
- an iterative cycle of steps which consists of the following:
- a photograph is taken, by way of the artificial vision means, of the portion of the movable pad 4 arranged in the part pickup sector and, subsequently, the image taken in this step is analyzed in order to identify the parts to be picked up which are present in the portion of the movable pad 4 arranged in the part pickup sector, whether such parts are oriented correctly for their pickup or not.
- the parts are picked up by the robot, automation means and the like.
- the movable pad 4 is rotated until the previously photographed portion is arranged in the part loading sector in order to load new parts to be picked up on the movable pad 4 by way of the hopper or the like.
- the movable pad 4 is rotated until the previously photographed portion is arranged in the part orientation sector in order to modify the orientation of the parts to be picked up by way of the action of the pulse generation means 15 in a precise and localized manner along a straight line of action that is substantially perpendicular to the movable pad 4.
- the comparison of the quantity of the parts to be picked up which are not oriented correctly with the preset value occurs by way of a comparison between the ratio of the number of white pixels to the number of black pixels of the image with a threshold value preset by the user, the image obtained being of the black and white type.
- the device for orienting parts particularly for gripping by robots, automation means and the like, according to the invention, fully achieves the set aim and objects, in that it makes it possible to change the position of the parts to be picked up so as to statistically favor the gripping by robots, efficiently and also evacuating any residues of oil or dirt which would render identification of the parts difficult.
- pulse generation means which vertically push the movable pad on which the parts to be picked up lie ensures that the arrangement of the parts can also be modified if desired.
- Another advantage of the invention is constituted by the fact that having a system available that makes it possible to change the position and arrangement of every single part requires a minimal agitation of the parts and therefore this makes the device feeder for robots, automation means and the like, according to the invention, particularly suitable for handling parts with delicate portions or which are made of particularly fragile materials.
- the minimization of the agitation lowers the noise threshold, thus improving the quality of work of the factory where such device is used.
- Another advantage of the feeder for robots according to the invention is that of providing, at least in the described embodiment, more space for the vision means inside the device thus facilitating access to the inside of the device and therefore simplifying the cleaning operations of such vision means.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2015357284A AU2015357284B2 (en) | 2014-12-05 | 2015-11-27 | Device for orienting parts, particularly for gripping by robots, automation means and the like |
KR1020177018599A KR102591960B1 (en) | 2014-12-05 | 2015-11-27 | Device for orienting parts, particularly for gripping by robots, automation means and the like |
SG11201704457QA SG11201704457QA (en) | 2014-12-05 | 2015-11-27 | Device for orienting parts, particularly for gripping by robots, automation means and the like |
RU2017123543A RU2702919C2 (en) | 2014-12-05 | 2015-11-27 | Device for orienting parts, in particular for gripping by robots, automation means and the like |
MX2017007183A MX2017007183A (en) | 2014-12-05 | 2015-11-27 | Device for orienting parts, particularly for gripping by robots, automation means and the like. |
CN201580066183.XA CN107206587A (en) | 2014-12-05 | 2015-11-27 | Equipment for being oriented to the part especially by crawls such as robot, automation equipments |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITAR20140058 | 2014-12-05 | ||
ITAR2014A000058 | 2014-12-05 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2016087332A1 true WO2016087332A1 (en) | 2016-06-09 |
WO2016087332A8 WO2016087332A8 (en) | 2016-10-13 |
Family
ID=52444357
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2015/077965 WO2016087332A1 (en) | 2014-12-05 | 2015-11-27 | Device for orienting parts, particularly for gripping by robots, automation means and the like |
Country Status (7)
Country | Link |
---|---|
KR (1) | KR102591960B1 (en) |
CN (1) | CN107206587A (en) |
AU (1) | AU2015357284B2 (en) |
MX (1) | MX2017007183A (en) |
RU (1) | RU2702919C2 (en) |
SG (1) | SG11201704457QA (en) |
WO (1) | WO2016087332A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IT201600092909A1 (en) * | 2016-09-15 | 2018-03-15 | Ars S R L | Piece orientation device, particularly for gripping robots, automation means and the like. |
CN113070928A (en) * | 2021-05-24 | 2021-07-06 | 修中利 | Environment-friendly straw preparation system and preparation method |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108889639B (en) * | 2018-08-20 | 2024-01-02 | 苏州厚载机械科技有限公司 | Flexible vibration disk |
US11433557B2 (en) * | 2018-08-28 | 2022-09-06 | Divergent Technologies, Inc. | Buffer block apparatuses and supporting apparatuses |
US11897158B2 (en) | 2020-10-22 | 2024-02-13 | Urschel Laboratories, Inc. | Impellers for cutting machines and cutting machines equipped therewith |
EP4232247A1 (en) * | 2020-10-22 | 2023-08-30 | Urschel Laboratories, Inc. | Impellers for cutting machines and cutting machines equipped therewith |
US11858162B2 (en) | 2021-07-08 | 2024-01-02 | Frito-Lay North America, Inc. | Impellers for cutting machines and cutting machines equipped with impellers |
Citations (4)
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JPH07172565A (en) * | 1993-12-22 | 1995-07-11 | Mazda Motor Corp | Conveying quantity adjusting turntable |
US6159082A (en) * | 1998-03-06 | 2000-12-12 | Sugiyama; Misuo | Slurry circulation type surface polishing machine |
DE202010007448U1 (en) * | 2010-06-01 | 2010-09-02 | Zbv-Automation Gmbh | separating device |
EP2337757A1 (en) * | 2008-10-06 | 2011-06-29 | Ars S.r.l. | Feeder for robots, automation means and the like |
Family Cites Families (6)
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US5853078A (en) * | 1998-02-13 | 1998-12-29 | Menziken Automation, Inc. | Vibrating feeder bowl with annular rotating disk feeder |
CN100393486C (en) * | 2004-07-13 | 2008-06-11 | 中国科学院自动化研究所 | Method and apparatus for quick tracing based on object surface color |
US20100063629A1 (en) * | 2008-09-10 | 2010-03-11 | Rixan Associates, Inc. | System and method for recirculating parts |
CN102567711A (en) * | 2010-12-29 | 2012-07-11 | 方正国际软件(北京)有限公司 | Method and system for making and using scanning recognition template |
ITTO20110214A1 (en) * | 2011-03-10 | 2012-09-11 | Febo S R L | METHOD AND TRANSFER SYSTEM FOR PLACING A PIECE IN A REQUESTED ORIENTATION, AND ROBOT CLAMP FOR SUCH TRANSFER SYSTEM |
CN203390936U (en) * | 2013-04-26 | 2014-01-15 | 上海锡明光电科技有限公司 | Self-adaption automatic robotic system realizing dynamic and real-time capture function |
-
2015
- 2015-11-27 MX MX2017007183A patent/MX2017007183A/en unknown
- 2015-11-27 WO PCT/EP2015/077965 patent/WO2016087332A1/en active Application Filing
- 2015-11-27 AU AU2015357284A patent/AU2015357284B2/en active Active
- 2015-11-27 SG SG11201704457QA patent/SG11201704457QA/en unknown
- 2015-11-27 KR KR1020177018599A patent/KR102591960B1/en active IP Right Grant
- 2015-11-27 CN CN201580066183.XA patent/CN107206587A/en active Pending
- 2015-11-27 RU RU2017123543A patent/RU2702919C2/en active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07172565A (en) * | 1993-12-22 | 1995-07-11 | Mazda Motor Corp | Conveying quantity adjusting turntable |
US6159082A (en) * | 1998-03-06 | 2000-12-12 | Sugiyama; Misuo | Slurry circulation type surface polishing machine |
EP2337757A1 (en) * | 2008-10-06 | 2011-06-29 | Ars S.r.l. | Feeder for robots, automation means and the like |
DE202010007448U1 (en) * | 2010-06-01 | 2010-09-02 | Zbv-Automation Gmbh | separating device |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IT201600092909A1 (en) * | 2016-09-15 | 2018-03-15 | Ars S R L | Piece orientation device, particularly for gripping robots, automation means and the like. |
CN113070928A (en) * | 2021-05-24 | 2021-07-06 | 修中利 | Environment-friendly straw preparation system and preparation method |
Also Published As
Publication number | Publication date |
---|---|
WO2016087332A8 (en) | 2016-10-13 |
RU2702919C2 (en) | 2019-10-14 |
CN107206587A (en) | 2017-09-26 |
MX2017007183A (en) | 2017-12-04 |
RU2017123543A3 (en) | 2019-04-19 |
AU2015357284A1 (en) | 2017-06-15 |
AU2015357284B2 (en) | 2019-11-21 |
SG11201704457QA (en) | 2017-06-29 |
KR102591960B1 (en) | 2023-10-19 |
KR20170092663A (en) | 2017-08-11 |
RU2017123543A (en) | 2019-01-09 |
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