WO2009089911A1 - Appareil pour positionner avec précision des articles de petite taille, en particulier des cailloux du rhin - Google Patents

Appareil pour positionner avec précision des articles de petite taille, en particulier des cailloux du rhin Download PDF

Info

Publication number
WO2009089911A1
WO2009089911A1 PCT/EP2008/050506 EP2008050506W WO2009089911A1 WO 2009089911 A1 WO2009089911 A1 WO 2009089911A1 EP 2008050506 W EP2008050506 W EP 2008050506W WO 2009089911 A1 WO2009089911 A1 WO 2009089911A1
Authority
WO
WIPO (PCT)
Prior art keywords
recesses
items
recess
drum
pick
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.)
Ceased
Application number
PCT/EP2008/050506
Other languages
English (en)
Inventor
Alessandro Tomasella
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.)
HAWK AUTOMAZIONI Srl
Original Assignee
HAWK AUTOMAZIONI Srl
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 HAWK AUTOMAZIONI Srl filed Critical HAWK AUTOMAZIONI Srl
Priority to PCT/EP2008/050506 priority Critical patent/WO2009089911A1/fr
Publication of WO2009089911A1 publication Critical patent/WO2009089911A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B23P5/00—Setting gems or the like on metal parts, e.g. diamonds on tools
    • 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

Definitions

  • the present invention refers to an apparatus for positioning small-sized items, in particular rhinestones or the like, in a controlled manner.
  • Rhinestones are small-sized gems, in the order of just a few millimetres, which are generally made of artificial crystals and are applied to a variety of articles and items to decorative purposes.
  • Rhinestones usually gave two mutually opposing facets, one of which is pyramid-shaped, convex, or anyway processed into similar shapes, so as to be adapted to be set in or otherwise applied to proper receptacles or seats provided in the article to be decorated, whereas the other one is a substantially planar facet that - in the set state of the gem - is intended to be facing outwards, i.e. exposed to view on the surface of the article being decorated, so as to generate the desired visual effect on the buyer, user or wearer.
  • the size of a rhinestone between said two facets thereof amounts to approx. 0.6 to 2.0 millimetres, whereas the diameter or, anyway, the largest size of the planar facet amounts to approx. 1.0 to 3.0 millimetres.
  • the rhinestones are applied and attached manually by an operator, who uses a tool to pick up the gem by the planar facet side thereof and fit the pyramid-shaped facet thereof into the proper recess or accommodation provided in the article to be decorated.
  • the position of the rhinestones on their support is selected so that the planar facet thereof is exposed, i.e. facing upwards on the support and readily accessible to the operator with the aid of the above-cited tool.
  • rhinestones are oriented manually on their support.
  • FIG. 1 is a side perspective view of an apparatus for positioning small-sized items, in particular rhinestones or the like, in a controlled manner according to the present invention
  • FIG. 2 is a side perspective detail view of the apparatus without the mechanical arm thereof;
  • FIG. 3 is a perspective rear view of the assembly shown in Figure 2;
  • FIG. 4 is a perspective view of a detail of the apparatus according to the present invention.
  • FIG. 5 is a perspective enlarged view of the apparatus according to the present invention.
  • FIG. 6 is a perspective enlarged view of the rotating drum
  • FIG. 7 is a cross-sectional view of the drum and the pick-up means, as viewed in the state in which the suction mouth is approaching the planar facet of the rhinestone;
  • FIG. 8 is an enlarged view of a detail of Figure 7;
  • FIG. 9 is a cross-sectional view of the drum and the pick-up means, as viewed in the state in which the suction mouth, upon engaging the planar facet of the rhinestone, is moving away from the drum;
  • FIG. 10 is an enlarged view of a detail of Figure 9;
  • FIG. 11 is a detail view of the cylindrical surface of the drum and the related recesses provided therein;
  • FIG. 12 is a detail view of the pick-up means in the process of positioning a rhinestone onto an article to be decorated.
  • the apparatus for positioning small- sized items, in particular rhinestones or the like, in a controlled manner comprises a support surface 4 provided with a plurality of recesses 6, each one of which is adapted to accommodate one of said small-sized items 3; sensor means 7, which are provided in a position facing said support surface 4, and which are adapted to probe, i.e. inspect the recesses 6 in order to detect the items 3 being positioned according to a pre-determined orientation in said recesses 6; pick-up means 8, which are provided to pick up from said recesses 3 the items 3 that are arranged there with said pre-determined orientation as detected by the sensor means 7.
  • the apparatus which shall be described in greater detail below, has been found to be particularly advantageous in applications involving the selection of the position of rhinestones; however, the apparatus may be employed in other applications as well, e.g. in applications involving the selection of the position of a number of other small-sized items, such as small screws and the like.
  • the support surface 4 is provided by the cylindrical surface of a rotating drum 5.
  • the apparatus according to the present invention may comprise - as an alternative option to said cylindrical surface of a rotating drum 5 - a support surface 4 having a planar configuration of either a moving type, e.g. in the form of a conveyor-belt, or a stationary type.
  • a moving type e.g. in the form of a conveyor-belt
  • a stationary type e.g. in the form of a conveyor-belt
  • the sensor means 7 and the pick-up means 8 may be provided to be moving relative to the stationary support surface 4.
  • the apparatus further comprises conveyance means 2 adapted to convey said small-sized items 3 onto the cylindrical surface 4 of the rotating drum 5.
  • conveyance means 2 include a hopper adapted to direct the small-sized items 3 onto the cylindrical surface 4 of the rotating drum 5.
  • the drum 5 is provided in a position immediately below said hopper, with the axis of rotation thereof extending, i.e. lying horizontally.
  • Motor means 9 are provided to rotatably drive said drum 5.
  • the drum 5 is connected in a firmly joined or integral manner to a rotating shaft 10 that is driven, via a driving belt 11 , by an electric stepper motor.
  • Control means are provided to operate said motor means 9 so as to control the rotation of the drum 5.
  • the cylindrical surface 4 of the drum 5 comprises a plurality of recesses 6, or the like, which are preferably arranged so as to form a plurality of parallel rows extending in a direction that is parallel to the axis of rotation of the drum 5.
  • Such recesses 6 are so shaped as to be able to receive - and accommodate thereinside - a respective small-sized item 3, such as for instance a rhinestone, and cause it to rotate jointly with the drum 5.
  • the conveyance means 2 define, jointly with the cylindrical surface 4 of the drum 5, a containment zone in which the small-sized items are delimited and in contact with the cylindrical surface 4 so as to be engaged by the recesses 6 of the drum 5 as it rotates.
  • the recesses 6 are sized so as to be able to receive and accommodate a rhinestone arranged according to two preferential orientations, or in two preferential positions, and namely with the pyramid-shaped or convex facet thereof facing the inside of the recess 6, i.e. turned towards the axis of rotation of the drum 5, or with the planar facet thereof facing outwardly, so as this is shown in Figures 8, 11.
  • a rhinestone arranged according to two preferential orientations, or in two preferential positions, and namely with the pyramid-shaped or convex facet thereof facing the inside of the recess 6, i.e. turned towards the axis of rotation of the drum 5, or with the planar facet thereof facing outwardly, so as this is shown in Figures 8, 11.
  • the recesses 6, or at least some of them may of course fail to engage a rhinestone and, therefore, remain void.
  • Said sensor means 7 are in a stationary position relative to the rotating drum 5, and are preferably associated to a cross member 12 provided above the drum 5, so as to face, i.e. look onto such angular detection position, in which the recesses 6 are preferably facing upwards, from above.
  • the sensor means 7 comprise proximity sensors that are adapted to detect the orientation of the small-sized item 3 engaging a recess 6, i.e. the way in which said item 3 is positioned in the recess 6.
  • said sensor means 7 comprise at least one optoelectronic detector and, in particular, a laser detector adapted to both issue an incident beam 13 directed into the recess 6 and detect the interaction of said incident beam 13 with the item 3 that is possibly contained in said recess 6, so as to determine the orientation and the position of the item 3 in the recess 6.
  • a laser detector is in particular adapted to detect the beam that is reflected from the surface of the item 3 being hit by the incident beam.
  • the reflected beam will in fact depend on an item 3 being or not being present in the recess 6, and it markedly varies in accordance with the geometry, i.e. shape of the surface of the item 3 being hit by the incident beam and, therefore, is subject to marked variations depending on how the item 3 is positioned in the recess 6, actually, since a given surface of the item exposed to the beam will of course provide definite and clear information about the actual position taken by the item 3 in the recess 6.
  • the characteristic of the reflected beam is indicative of the fact that it is a certain surface of the item that is exposed to the incident beam 13, i.e. that it is such certain surface of the item that is facing upwards from the recess 6 and, as a result, is accessible on the cylindrical surface 4 of the drum 5. From this information it can therefore be derived that the item 3 is positioned according to a certain orientation in the recess 6.
  • the items 3 that are so detected as being positioned according to a predetermined orientation in the respective recesses 6 may be picked up by seizing them by their surface facing upwards from the recess 6, as this is shown in Figures 10, 11.
  • the items being picked up in this way may then be conveniently handled for ultimate application onto an article to be decorated.
  • the laser detector may be able to directly determine - on the basis of the reflected beam - the actual geometry, i.e. shape or contour of the reflecting surface of the item 3 in the recess 6 to then compare the so detected surface with a reference one or, as an alternative thereto, is able to compare the reflected beam with pre-set parameters that are representative of a given surface of the item.
  • the beam reflected by the planar surface of the rhinestone is indicative of a determined orientation of the same rhinestone inside the recess 6.
  • the rhinestone will be positioned in the recess with the pyramid-shaped facet thereof turned towards the interior of the recess and the planar facet thereof facing upwards, i.e. outwards from the recess, and therefore exposed to the incident beam and accessible on the cylindrical surface 4 of the drum 5, as shown in Figure 11.
  • the sensor means 7 are able to determine that the item 3 contained in the recess 6 is positioned there so as to have a given surface, i.e. facet thereof facing upwards from the recess 6 and, as a result, exposed on the surface 4 of the drum 5.
  • the control means control said sensor means 7 so as to have them successively sensing each one of said recesses 6 that are moved in a sequence into said angular detection position, in view of having each row of aligned recesses monitored and determining in which such recesses 6 the rhinestones are oriented with their planar facet looking outwards, i.e. upwards from the recess.
  • the control means are further adapted to control the rotary motion of the drum 5 so as to bring the row of recesses that have been so sensed by the sensor means 7 from said angular detection position to an angular pick-up position, in which the pick-up means 8, as controlled by said control means based on the indications delivered by said sensor means 7, will successively pick up from each one of the recesses 6 those items 3, which are oriented with a pre-determined facet looking upwards, i.e. facing outwards from the recess, and lying exposed on the cylindrical surface 4 of the drum 5.
  • the pick-up means 8 pick up the rhinestones that are oriented with the planar facet thereof looking upwards, i.e. facing outwards from the respective recess, as shown in Figures 10, 11.
  • the pick-up means 8 comprise a suction mouth 14 adapted to engage the surface of the item 3 facing upwards from the recess 6 - and exposed on the cylindrical surface 4 of the drum 5 - by suction, i.e. by vacuuming it up, so as to pick up the same item from the recess 6.
  • suction mouth 14 adapted to engage the surface of the item 3 facing upwards from the recess 6 - and exposed on the cylindrical surface 4 of the drum 5 - by suction, i.e. by vacuuming it up, so as to pick up the same item from the recess 6.
  • the same rhinestone will have the pyramid-shaped facet thereof free and ready for fitting onto an article to be decorated.
  • the pick-up means 8 further comprise a suction conduit 15, which defines - at an end portion thereof - said suction mouth 14 and is adapted to be guided into a position lying close to each such recess 6 so as to be able to engage the facet of the item lying exposed on the cylindrical surface 4 of the drum 5 and remove the same item from the recess 6.
  • Such suction conduit 15 is associated to a removable head 16, which is capable of being magnetically applied to a suction body 17 that defines a channel 18 fluidly communicating with said suction conduit 15.
  • the suction body 17 includes suction means provided to generate a negative pressure in the channel 18 and, as a result, in the suction conduit 15 in view of in this way enabling the suction mouth 14 to engage the surface of the item 3 facing upwards from the recess 6 and remove the same item therefrom.
  • the suction means may for instance include a venturi tube or a pump.
  • the suction conduit 15 may include a needle-shaped member associated to or provided integrally with the head 16.
  • the suction body 17 further comprises magnetic members 19 provided to enable the head 16 to be removably attached to the suction body 17.
  • centering means 20 adapted to guide, i.e. lead the suction mouth 14 into a proper position in proximity of the recess 6 along a radial direction relative to the axis of rotation of the drum 5 in view of facilitating the removal of the item 3 from the same recess 6.
  • centering means 20 are in a stationary position relative to the rotating drum 5, and are associated to an appropriate support so as to be facing the cylindrical surface 4 of the drum 5.
  • the centering means 20 comprise a conical bush facing the recess 6 situated therebelow and adapted to receive the complementahly shaped head 16 of the suction body 17.
  • the centering means 20 comprise a row of conical bushes 21 adapted to face the row of recesses 6 in the angular pick-up position, so that each such bush 21 is adapted to guide the head 16 of the suction body 17 and, as a result, the suction mouth 14 to a position in proximity of a respective recess 6.
  • the suction body 17 further comprises elastic means 22 adapted to damp the head 16 fitting into the bush 21 and prevent the suction mouth 14 from impinging against the drum 5.
  • the pick-up means 8 are associated to a mechanical arm 23, which is operated by the control means and is adapted to displace the pick-up means 8 so as to position the suction mouth 14 in proximity of the recess 6 containing an item 3 arranged according to the pre-determined orientation, as detected by the sensor means 7.
  • a mechanical arm 23 is adapted to fit the head 16 of the suction body 17 into the bush 21 that faces the recess 6 holding the item 3 positioned there in the due manner, i.e. with the due orientation.
  • the mechanical arm 23 is then adapted to successively bring the head 16 of the suction body 17 close to each recess 6 in the row of recesses in the angular pick-up position, so as to pick up the items 3 that are possibly indicated as being arranged correctly by the sensor means 7.
  • the mechanical arm 23 will of course not be operated so as to guide the head 16 towards those recesses 6, which do not contain any item 3, i.e. are empty, or contain items 3 that are not oriented correctly therein.
  • the control means of the apparatus are arranged to operate the driving means of the drum 5 so as to cause the latter to perform a further rotational increment to bring said row of recesses 6 into a lower angular position in which the recesses are turned upside down, i.e. are facing downwards, so that all items 3 that would not have been previously selected for picking up - due to them not having been detected as being correctly oriented - are now caused to drop, i.e. fall off their recesses 6 by gravity.
  • the rotating drum 5 comprises a plurality of channels 24, which are fluidly communicating with the recesses 6 and are adapted to direct compressed air into the same recesses so as to both facilitate the items 3 separating from, i.e. leaving the recesses and keep the same recesses clean in view of preventing them from clogging, i.e. becoming so obstructed as to prove unable to engage any further item 3.
  • Such channels 24 are preferably connected to a portion of the recesses, which is looking onto the axis of rotation of the drum 5.
  • the channels 24 are provided to extend in a direction running parallel to the axis of rotation of the drum 5 below and close to the cylindrical surface 4 of the drum 5, so that each such channel 24 turns out as being connected to the aligned recesses 6 making up each row of recesses 6 on the same cylindrical surface 4.
  • Pump means are provided in a stationary arrangement relative to the rotating drum to let compressed air into and through a respective channel, whenever the recesses connected thereto are brought into the afore-mentioned lower angular position.
  • Each channel 24 exhibits an inlet port provided in a head wall of the drum 5 and adapted to come in front of and meet with an outlet nozzle through which said pump means blow compressed air thereinto.
  • the mechanical arm 23 is comprised of a 5-axis or 6-axis anthropomorphous robot, which, as controlled by the control means of the apparatus, is adapted to pick up from the recesses 6 the items 3 that are detected as being arranged with a pre-determined orientation therein, as this has been described hereinbefore, and apply the same items 3 to an article 25 through a sequence of movements that will have been pre-set on the basis of predetermined space coordinates that are representative of the contour of the article 25.
  • the mechanical arm 23 of the robot uses the suction mouth 14 to engage the rhinestone by the planar fact thereof and pick it up from the respective recess 6, and - through a sequence of preliminarily stored motions - sets the same rhinestone by the pyramid-shaped facet thereof into or onto the proper place, seat or recess provided on the article to be decorated, e.g. a spectacles frame.
  • the suction means are de-activated or switched off, the planar facet of the rhinestone and the suction mouth 14 are able to disengage from each other.
  • the thus released rhinestone is then set onto or into the proper place or seat so as to be able to be appropriately attached to the spectacles frame with the planar facet thereof facing outwards, i.e. exposed to view.
  • the article 25 due to receive the rhinestone - the spectacles frame in the case being considered by way of illustrative example - is adapted to be arranged, i.e. laid upon a reference support 26, relative to which the afore-mentioned space coordinates of the points on the contour of the article 25, where the item 3, i.e. the rhinestone, shall be positioned, will have been pre-determined.
  • the space coordinates of said points are converted - with the aid of proper software - into programmed motions that are stored for the robot to perform them in order to set the rhinestones at the proper place thereof as provided on the article 25, i.e. the spectacles frame in the case being considered.
  • a recognition station comprising a reading arm with a read head to detect, on the article, the space coordinates of the points at which the rhinestones due to decorate the same article must be set. As noted above, such space coordinates are determined relative to the reference support on which the article to be decorated is placed.
  • a proper software will process out the movements that shall be imparted to the mechanical arm 23, i.e. which the mechanical arm 23 shall be caused to perform in order to reach the points on the article 25 where the rhinestones are due to be positioned.
  • the movements are then stored in the control means of the apparatus for the anthropomorphous robot to be operated accordingly.
  • the operating method of the apparatus calls for the rhinestones collected by the recesses 6 on the cylindrical surface 4 of the rotating drum 5 to be brought into the angular detection position, in which the corresponding row of recesses is scanned by the sensor means 7 to detect the presence there of rhinestones that are correctly oriented with the planar facet thereof facing upwards, i.e. outwardly from the respective recess 6.
  • the control means cause then the drum 5 to rotate by a further increment so as to bring the row of recesses 6 to a level corresponding to the centering bushes 21 , i.e. into the afore-mentioned angular pick-up position.
  • the control means Based on the data issuing from the sensor means 7 and the position of the recesses 6 on the surface of the drum, in which the rhinestones are present and correctly oriented, the control means operate the mechanical arm 23 to pick up the rhinestones from said recesses 6 with the aid of the suction mouth 14 engaging the planar facet thereof, and set them onto or into their due place on the article to be decorated therewith, i.e. the spectacles frame in the case considered.
  • a further rotation of the drum 5 brings the row of recesses into the lower angular position, in which the rhinestones that have failed to be selected, i.e. picked up, are able to fall off the respective recesses owing also to the action of the compressed air let into the channels 24 by the pump means.
  • Said row of recesses 6 is at this point ready for receiving other rhinestones being delivered onto the cylindrical surface 4 of the drum 5 by the hopper.
  • the above-cited operating steps of the apparatus are then repeated cyclically.
  • inventive apparatus as described above may of course be the subject of a number of modifications and may be embodied in a number of different manners without departing from the scope of the present invention, wherein all afore-cited details may furthermore be replaced with technically equivalent elements.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

La présente invention porte sur un appareil pour positionner avec précision des articles de petite taille, en particulier des cailloux du Rhin et autres, l'appareil comportant une surface de support (4) pourvue d'une pluralité de cavités (6), chaque cavité étant conçue pour recevoir l'un desdits articles de petite taille (3); des moyens de détection (7), qui sont disposés dans une position tournée vers ladite surface de support (4), et qui sont conçus pour balayer, c'est-à-dire pour inspecter, les cavités (6) afin de détecter les articles (3) qui sont positionnés conformément à une orientation prédéterminée dans lesdites cavités (6), et des moyens de saisie (8), qui sont disposés pour saisir, à partir des cavités (6), les articles (3) qui sont agencés dans celles-ci selon ladite orientation prédéterminée telle que détectée par les moyens de détection (7).
PCT/EP2008/050506 2008-01-17 2008-01-17 Appareil pour positionner avec précision des articles de petite taille, en particulier des cailloux du rhin Ceased WO2009089911A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/050506 WO2009089911A1 (fr) 2008-01-17 2008-01-17 Appareil pour positionner avec précision des articles de petite taille, en particulier des cailloux du rhin

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/050506 WO2009089911A1 (fr) 2008-01-17 2008-01-17 Appareil pour positionner avec précision des articles de petite taille, en particulier des cailloux du rhin

Publications (1)

Publication Number Publication Date
WO2009089911A1 true WO2009089911A1 (fr) 2009-07-23

Family

ID=39271220

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/050506 Ceased WO2009089911A1 (fr) 2008-01-17 2008-01-17 Appareil pour positionner avec précision des articles de petite taille, en particulier des cailloux du rhin

Country Status (1)

Country Link
WO (1) WO2009089911A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016001720A1 (fr) * 2014-07-03 2016-01-07 Daems Giovanni Bvba Dispositif de manipulation pour saisir une pierre sur un support et pour placer cette pierre dans une pièce à travailler
WO2016079564A1 (fr) * 2014-11-18 2016-05-26 Daems Giovanni Bvba Procédé de réglage automatique d'une pierre dans une pièce à usiner
EP4446124A1 (fr) * 2021-10-11 2024-10-16 G.S.M. S.r.l. Machine pour appliquer des décorations

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5271132A (en) * 1992-11-27 1993-12-21 Crafford Precision Products Co. Automatic stone setting machine
US5350269A (en) * 1989-03-27 1994-09-27 Canon Kabushiki Kaisha Work pick-up apparatus
DE19705564A1 (de) * 1996-02-13 1997-11-06 Aisin Seiki Verfahren zum Fördern von Teilen und deren Vorrichtung
JPH11239925A (ja) * 1997-11-10 1999-09-07 Matsushita Electric Ind Co Ltd 部品装着装置及び方法
US6244640B1 (en) * 1998-08-13 2001-06-12 Societe Opema S.A. Gripping device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5350269A (en) * 1989-03-27 1994-09-27 Canon Kabushiki Kaisha Work pick-up apparatus
US5271132A (en) * 1992-11-27 1993-12-21 Crafford Precision Products Co. Automatic stone setting machine
DE19705564A1 (de) * 1996-02-13 1997-11-06 Aisin Seiki Verfahren zum Fördern von Teilen und deren Vorrichtung
JPH11239925A (ja) * 1997-11-10 1999-09-07 Matsushita Electric Ind Co Ltd 部品装着装置及び方法
US6244640B1 (en) * 1998-08-13 2001-06-12 Societe Opema S.A. Gripping device

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016001720A1 (fr) * 2014-07-03 2016-01-07 Daems Giovanni Bvba Dispositif de manipulation pour saisir une pierre sur un support et pour placer cette pierre dans une pièce à travailler
WO2016079564A1 (fr) * 2014-11-18 2016-05-26 Daems Giovanni Bvba Procédé de réglage automatique d'une pierre dans une pièce à usiner
EP4446124A1 (fr) * 2021-10-11 2024-10-16 G.S.M. S.r.l. Machine pour appliquer des décorations
EP4415974B1 (fr) * 2021-10-11 2024-12-04 G.S.M. S.r.l. Machine pour appliquer des décorations

Similar Documents

Publication Publication Date Title
US8290624B2 (en) Uniform lighting and gripper positioning system for robotic picking operations
US11691239B2 (en) Carbide blade grinding forming processing production line
EP2852543B1 (fr) Appareil et procédé pour séparer des objets
EP4065497B1 (fr) Machine pour le positionnement automatique d'objets
TW202246027A (zh) 用於辨識物件之機器人系統
US4872257A (en) Apparatus for installing bearings on engine components
US20060057239A1 (en) Handling robot system
US9434487B2 (en) Container filling machine
US9776808B1 (en) Article transfer apparatus
FR3031046A1 (fr) Installation pour la separation et l'individualisation d'objets postaux heterogenes
CA2412801A1 (fr) Carrousel pour systeme de distribution et de reconstitution integrees des stocks
WO2009089911A1 (fr) Appareil pour positionner avec précision des articles de petite taille, en particulier des cailloux du rhin
WO2016116402A1 (fr) Appareil et procédé de plantation de boutures végétales
US20240286852A1 (en) Automated Production Work Cell
CN106270687A (zh) 一种智能卡铣槽设备
US4519867A (en) Apparatus for automated assembly of shock detectors
JP2020142366A (ja) 把持装置、個別化装置ならびに物体を把持する方法および把持装置の使用
CA2754274C (fr) Une machine de remplissage de contenant
US5271132A (en) Automatic stone setting machine
EP0861129B1 (fr) Appareil et systeme de selection automatise
CN207629569U (zh) 一种全自动指针装配机
US20120076625A1 (en) Rhinestone placement device
WO2020089804A1 (fr) Machine de meulage de diamants pour bijoux, bijouterie d'orfèvre et bijouterie de costume et procédé respectif de meulage de diamants
KR102482853B1 (ko) 캠 방식을 적용한 고속 파지 및 공급을 위한 자동화 시스템
JP2022102557A (ja) 食器洗浄補助装置および食器洗浄システム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08707954

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 08707954

Country of ref document: EP

Kind code of ref document: A1