BR112012013265A2 - dispositivo transportador - Google Patents

dispositivo transportador

Info

Publication number
BR112012013265A2
BR112012013265A2 BR112012013265A BR112012013265A BR112012013265A2 BR 112012013265 A2 BR112012013265 A2 BR 112012013265A2 BR 112012013265 A BR112012013265 A BR 112012013265A BR 112012013265 A BR112012013265 A BR 112012013265A BR 112012013265 A2 BR112012013265 A2 BR 112012013265A2
Authority
BR
Brazil
Prior art keywords
conveyor device
gripping tool
robot
conveyor
features
Prior art date
Application number
BR112012013265A
Other languages
English (en)
Other versions
BR112012013265B1 (pt
Inventor
Matthias Gastl
Sebastian Mocker
Thomas Henneke
Thomas Holecek
Yong-Hak Cho
Original Assignee
Kuka Systems Gmbh
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 Kuka Systems Gmbh filed Critical Kuka Systems Gmbh
Publication of BR112012013265A2 publication Critical patent/BR112012013265A2/pt
Publication of BR112012013265B1 publication Critical patent/BR112012013265B1/pt

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Discharge By Other Means (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
  • Feeding Of Workpieces (AREA)

Abstract

dispositivo transportador. a presente invençãp refere-se a um dispositivo transportador (1) para peças a trabalhar (2), particularmente, partes da chapa, entre depósitos ou dispositivos de usinagem (3,4) contíguos, particularmente prensas. o dispositivo transportador (1) apresenta um robô (5) de eixos múltiplos com uma ferramenta de preensão (9). além disso, o mesmo apresenta um dispositivo de transferência (6) controlável, guiado pelo robô (5), com um dispositivo de avanço (7) e um dispositivo giratório (8) para a ferramenta de preensão (9).
BR112012013265A 2009-12-01 2010-11-30 dispositivo transportador para peças a trabalhar BR112012013265B1 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202009015682U DE202009015682U1 (de) 2009-12-01 2009-12-01 Transporteinrichtung
PCT/EP2010/068555 WO2011067260A1 (de) 2009-12-01 2010-11-30 Transporteinrichtung

Publications (2)

Publication Number Publication Date
BR112012013265A2 true BR112012013265A2 (pt) 2016-03-01
BR112012013265B1 BR112012013265B1 (pt) 2020-04-07

Family

ID=43598399

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112012013265A BR112012013265B1 (pt) 2009-12-01 2010-11-30 dispositivo transportador para peças a trabalhar

Country Status (9)

Country Link
US (1) US8918204B2 (pt)
EP (1) EP2506995B1 (pt)
CN (1) CN102655963B (pt)
BR (1) BR112012013265B1 (pt)
DE (1) DE202009015682U1 (pt)
ES (1) ES2531440T3 (pt)
MX (1) MX2012006269A (pt)
WO (1) WO2011067260A1 (pt)
ZA (1) ZA201203442B (pt)

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CN103522284A (zh) * 2013-10-29 2014-01-22 江苏剑桥涂装工程有限公司 一种工件自动载送装置
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TWI564130B (zh) * 2014-03-28 2017-01-01 鴻海精密工業股份有限公司 機械手臂
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CN104209958B (zh) * 2014-09-06 2016-06-08 苏州神运机器人有限公司 一种压力机专用搬运机器人
DE102015221048A1 (de) * 2015-10-28 2017-05-04 Krones Aktiengesellschaft Vorrichtung und Verfahren zur Entgegennahme und Transportieren von Stückgütern an einen bestimmten Zielort unter Zuhilfenahme mindestens eines Linearmotors
JP6591940B2 (ja) * 2016-07-21 2019-10-16 ファナック株式会社 搬送用ロボット
JP6444958B2 (ja) * 2016-10-28 2018-12-26 ファナック株式会社 搬送用ロボット
JP2018094659A (ja) * 2016-12-12 2018-06-21 セイコーエプソン株式会社 ロボット、ロボット制御装置、及びロボットシステム
DE102016125834B4 (de) * 2016-12-29 2023-01-19 Stefan Wendling Vereinzelungsvorrichtung und Verfahren zum Vereinzeln von Plattenelementen
JP6571703B2 (ja) * 2017-02-13 2019-09-04 ファナック株式会社 搬送用ツール
CN106737765A (zh) * 2017-03-28 2017-05-31 广东统机器人智能股份有限公司 一种七工位冲压机械手自动上下料设备
CN107552665A (zh) * 2017-09-27 2018-01-09 常熟凯博智能装备有限公司 四自由度机械臂装置
EP3479921A1 (en) * 2017-11-07 2019-05-08 ABB Schweiz AG Device for handling parts
JP2019126850A (ja) * 2018-01-22 2019-08-01 ファナック株式会社 ロボットの制御方法および制御装置
JP6693978B2 (ja) * 2018-01-23 2020-05-13 ファナック株式会社 搬送用ツールおよびロボット
CN109047536B (zh) * 2018-06-13 2023-09-05 潍坊浩德动力机械有限公司 一种送料装置
CN108820857A (zh) * 2018-07-18 2018-11-16 浙江辛帝亚自动化科技有限公司 一种自动中转机械臂
CN108861517B (zh) * 2018-07-18 2024-07-09 绍兴市职业教育中心(绍兴旅游学校) 一种装配式预制板的装配翻转装置
CN114025926B (zh) 2019-02-14 2024-10-08 柿子技术公司 模块化材料处理机器人平台
EP3718659B1 (de) 2019-04-05 2022-11-23 Horstkemper Maschinenbau GmbH Automationsgerät
JP6972062B2 (ja) * 2019-04-12 2021-11-24 株式会社安川電機 生産システム及び制御方法
EP3888843A1 (de) * 2020-03-31 2021-10-06 Picum MT GmbH Mobile werkzeugmaschine
CN112247007A (zh) * 2020-09-24 2021-01-22 台州重友焊接设备有限公司 一种封头自动缩口机
US12409547B2 (en) 2020-09-29 2025-09-09 Fanuc Corporation Control device and control method
DE202021102610U1 (de) 2021-05-12 2021-05-20 Neuhäuser GmbH Transporteinrichtung
IT202200020901A1 (it) * 2022-10-11 2024-04-11 Scm Group Spa Macchina robotizzata e dispositivo manipolatore.
CN116901113B (zh) * 2023-04-25 2025-09-12 江苏科技大学 一种具有传输和存储功能的自适应仿生机械手及控制方法
AT527506B1 (de) * 2023-09-08 2026-03-15 Trumpf Maschinen Austria Gmbh & Co Kg Greifvorrichtung für einen Manipulator
CN119217415A (zh) * 2024-11-04 2024-12-31 珠海格力电器股份有限公司 附加轴、搬运装置及搬运装置的控制方法

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DE102004006085B4 (de) * 2004-02-07 2007-01-04 Müller Weingarten AG Transportvorrichtung für Werkstücke durch Pressenanlagen
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Also Published As

Publication number Publication date
DE202009015682U1 (de) 2011-04-14
US20120239184A1 (en) 2012-09-20
EP2506995B1 (de) 2014-12-17
ZA201203442B (en) 2013-01-31
US8918204B2 (en) 2014-12-23
BR112012013265B1 (pt) 2020-04-07
ES2531440T3 (es) 2015-03-16
MX2012006269A (es) 2012-08-01
CN102655963A (zh) 2012-09-05
EP2506995A1 (de) 2012-10-10
WO2011067260A1 (de) 2011-06-09
RU2012126871A (ru) 2014-01-10
CN102655963B (zh) 2015-08-19
RU2558023C2 (ru) 2015-07-27

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Legal Events

Date Code Title Description
B06F Objections, documents and/or translations needed after an examination request according art. 34 industrial property law
B06T Formal requirements before examination
B09A Decision: intention to grant
B16A Patent or certificate of addition of invention granted

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 30/11/2010, OBSERVADAS AS CONDICOES LEGAIS.