ES2531440T3 - Dispositivo de transporte - Google Patents

Dispositivo de transporte Download PDF

Info

Publication number
ES2531440T3
ES2531440T3 ES10803067.7T ES10803067T ES2531440T3 ES 2531440 T3 ES2531440 T3 ES 2531440T3 ES 10803067 T ES10803067 T ES 10803067T ES 2531440 T3 ES2531440 T3 ES 2531440T3
Authority
ES
Spain
Prior art keywords
support bar
tilting
transport device
tool
robot
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
ES10803067.7T
Other languages
English (en)
Inventor
Yong-Hak Cho
Thomas Holecek
Matthias Gastl
Thomas Henneke
Sebastian Mocker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Systems GmbH
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
Application granted granted Critical
Publication of ES2531440T3 publication Critical patent/ES2531440T3/es
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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 de transporte para piezas de trabajo (2), en particular piezas de chapa, entre depósitos o dispositivos de procesamiento (3, 4) contiguos, en particular prensas, en que el dispositivo de transporte (1) incluye un robot multiaxial (5) con una herramienta asidora (9), en que el dispositivo de transporte (1) incluye un dispositivo de transferencia (6) controlable, guiado por el robot (5), con un dispositivo de avance (7) y con un dispositivo de basculación (8) para la herramienta asidora (9), en que el dispositivo de transferencia (6) incluye un portaherramientas (16), que puede ser movido por traslación y rotación por el dispositivo de avance y el dispositivo de basculación (7, 8) con relación a la mano de robot (10), y en que el dispositivo de transferencia (6) incluye una barra de soporte (11) unida a la mano de robot (10), sobre cuya barra está dispuesto el portaherramientas (16) de forma desplazable, en particular linealmente móvil, y basculante con relación a la barra de soporte (11), caracterizado porque el portaherramientas (16) tiene un eje de basculación (22), que está orientado transversalmente a su dirección de avance y paralelamente a su plano principal contiguo o plano de guía de herramienta de la barra de soporte (11), en particular paralelamente al lado inferior de la barra de soporte (11).

Description

imagen1

Claims (1)

  1. imagen1
ES10803067.7T 2009-12-01 2010-11-30 Dispositivo de transporte Active ES2531440T3 (es)

Applications Claiming Priority (3)

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

Publications (1)

Publication Number Publication Date
ES2531440T3 true ES2531440T3 (es) 2015-03-16

Family

ID=43598399

Family Applications (1)

Application Number Title Priority Date Filing Date
ES10803067.7T Active ES2531440T3 (es) 2009-12-01 2010-11-30 Dispositivo de transporte

Country Status (9)

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

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DE102014202257B4 (de) * 2013-02-15 2025-09-18 Gm Global Technology Operations, Llc Rekonfigurierbare Schnittstellenanordnung, anpassbarer Fliessband-Werkstückbearbeiter und Verfahren
US9700976B2 (en) 2013-02-15 2017-07-11 GM Global Technology Operations LLC Reconfigurable interface assembly, adaptable assembly line work-piece processor, and method
US9377152B2 (en) * 2013-03-15 2016-06-28 The Boeing Company Method and apparatus for positioning automated processing systems
ES2527435B1 (es) * 2013-04-12 2016-01-22 Miquel SARABIA TRILLA Sistema de posicionamiento y transferización automatizado para pinzas neumáticas en prensas con transfer de estampación
CN103240322B (zh) * 2013-04-24 2015-04-08 林少伟 工件自动化压延方法及自动压延机械手
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
TWI564130B (zh) * 2014-03-28 2017-01-01 鴻海精密工業股份有限公司 機械手臂
TW201536496A (zh) * 2014-03-28 2015-10-01 Hon Hai Prec Ind Co Ltd 機械手臂
DE102014216111B4 (de) * 2014-08-13 2018-10-25 Hsf Automation Gmbh Vorrichtung zum Transferieren eines Bauteils sowie Verfahren zur Übertragung elektrischer Energie
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
KR20250060934A (ko) 2019-02-14 2025-05-07 퍼시몬 테크놀로지스 코포레이션 이송 장치 및 이송 장치를 제조하는 방법
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
WO2022071058A1 (ja) * 2020-09-29 2022-04-07 ファナック株式会社 制御装置及び制御方法
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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IT1250501B (it) 1991-10-01 1995-04-08 Comau Spa Unita' e metodo per l'alimentazione di semilavorati ad una macchina di formatura, in particolare ad una pressa.
JPH08141969A (ja) 1994-11-15 1996-06-04 Toyoda Mach Works Ltd 搬送装置
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JP3423149B2 (ja) * 1996-05-23 2003-07-07 株式会社小松製作所 ワークフィーダ制御装置
JPH115133A (ja) 1997-06-12 1999-01-12 Toyotomi Kiko Kk 複合型物品搬送装置
SE515980C2 (sv) * 1999-07-13 2001-11-05 Binar Ab En metod för snabb förflyttning av ett arbetsobjekt i både horisontalled och vertikalled från en arbetsstation till en annan
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Also Published As

Publication number Publication date
US8918204B2 (en) 2014-12-23
EP2506995A1 (de) 2012-10-10
EP2506995B1 (de) 2014-12-17
CN102655963A (zh) 2012-09-05
CN102655963B (zh) 2015-08-19
BR112012013265A2 (pt) 2016-03-01
MX2012006269A (es) 2012-08-01
RU2558023C2 (ru) 2015-07-27
WO2011067260A1 (de) 2011-06-09
ZA201203442B (en) 2013-01-31
US20120239184A1 (en) 2012-09-20
BR112012013265B1 (pt) 2020-04-07
RU2012126871A (ru) 2014-01-10
DE202009015682U1 (de) 2011-04-14

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