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MX2017012570A - Dispositivo cargador de piezas de trabajo. - Google Patents

Dispositivo cargador de piezas de trabajo.

Info

Publication number
MX2017012570A
MX2017012570A MX2017012570A MX2017012570A MX2017012570A MX 2017012570 A MX2017012570 A MX 2017012570A MX 2017012570 A MX2017012570 A MX 2017012570A MX 2017012570 A MX2017012570 A MX 2017012570A MX 2017012570 A MX2017012570 A MX 2017012570A
Authority
MX
Mexico
Prior art keywords
loading device
loader
working parts
operator
parts loading
Prior art date
Application number
MX2017012570A
Other languages
English (en)
Other versions
MX385581B (es
Inventor
Higuchi Takayuki
Yasuda Hiroshi
Okuyama Yoshinobu
Original Assignee
Dmg Mori Co Ltd
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 Dmg Mori Co Ltd filed Critical Dmg Mori Co Ltd
Publication of MX2017012570A publication Critical patent/MX2017012570A/es
Publication of MX385581B publication Critical patent/MX385581B/es

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/045—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers using a tool holder as a work-transporting gripper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
    • B23Q1/621—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
    • B23Q1/626—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair followed perpendicularly by a single sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/046—Handling workpieces or tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with leader teach-in means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36425—Move manually, touch surface, record position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36492—Record position and orientation, posture of probe, tool

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Feeding Of Workpieces (AREA)
  • Manipulator (AREA)

Abstract

Proporcionar un dispositivo cargador de piezas de trabajo en el que no se requiera un indicador de cuadrante, en el que se pueda simplificar el trabajo de enseñanza y se pueda acortar el tiempo de enseñanza; un mecanismo cargador 4 está configurado para mover la mano cargadora 2, directamente sujetada con las manos del operador, a una posición deseada; la parte de control del mecanismo cargador 5 almacena las coordenadas de posición cuando la mano cargadora 2 es movida con las manos del operador hacia la posición receptora de piezas de trabajo y se confirma la finalización del movimiento.
MX2017012570A 2015-03-31 2016-03-07 Dispositivo cargador de piezas de trabajo. MX385581B (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015072171A JP6619947B2 (ja) 2015-03-31 2015-03-31 ワークローダ装置
PCT/JP2016/056987 WO2016158218A1 (ja) 2015-03-31 2016-03-07 ワークローダ装置

Publications (2)

Publication Number Publication Date
MX2017012570A true MX2017012570A (es) 2018-01-25
MX385581B MX385581B (es) 2025-03-18

Family

ID=57004233

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2017012570A MX385581B (es) 2015-03-31 2016-03-07 Dispositivo cargador de piezas de trabajo.

Country Status (7)

Country Link
US (1) US10300572B2 (es)
EP (1) EP3278939B1 (es)
JP (1) JP6619947B2 (es)
CN (1) CN107428005B (es)
BR (1) BR112017020764B1 (es)
MX (1) MX385581B (es)
WO (1) WO2016158218A1 (es)

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* Cited by examiner, † Cited by third party
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US10372761B2 (en) * 2016-12-28 2019-08-06 Sap Se Auto-discovery of data lineage in large computer systems
CN107838789A (zh) * 2017-11-30 2018-03-27 苏州哈工易科机器人有限公司 用于卧式磨床磨削加工的自动更换压板机构
JP7156897B2 (ja) * 2018-10-10 2022-10-19 シチズン時計株式会社 工作機械
CN109571416A (zh) * 2018-12-24 2019-04-05 重庆世玛德智能制造有限公司 一种新型四轴龙门桁架机械手装置
CN109927049B (zh) * 2019-04-23 2021-03-23 河北科技大学 一种缝隙填充机械手
CN110053065A (zh) * 2019-04-25 2019-07-26 徐佳斌 用于水泵制造装配的工件转运机械手
US10792815B1 (en) * 2019-04-26 2020-10-06 GM Global Technology Operations LLC Perceived color harmony fixture
CN110561481B (zh) * 2019-10-12 2024-07-12 航天晨光股份有限公司 一种圆形物料机械抓取系统
JP2023063894A (ja) * 2021-10-25 2023-05-10 住友重機械工業株式会社 把持装置、ロボット、ロボットシステム、嵌合方法、ロボットの制御方法、及びプログラム
US11845184B2 (en) 2022-04-18 2023-12-19 Dextrous Robotics, Inc. System and/or method for grasping objects

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US3218502A (en) * 1961-03-16 1965-11-16 Westinghouse Electric Corp High power electron discharge device
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JPH0258107A (ja) * 1988-08-24 1990-02-27 Toshiba Corp ロボットティーチング時の操作者支援制御方式
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JPH03218502A (ja) * 1990-01-24 1991-09-26 Murata Mach Ltd ロボットの教示装置
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Also Published As

Publication number Publication date
EP3278939C0 (en) 2023-06-21
US10300572B2 (en) 2019-05-28
EP3278939A1 (en) 2018-02-07
JP2016190306A (ja) 2016-11-10
EP3278939B1 (en) 2023-06-21
MX385581B (es) 2025-03-18
US20180104781A1 (en) 2018-04-19
EP3278939A4 (en) 2018-04-25
BR112017020764A2 (pt) 2018-06-26
CN107428005B (zh) 2020-12-01
JP6619947B2 (ja) 2019-12-11
CN107428005A (zh) 2017-12-01
WO2016158218A1 (ja) 2016-10-06
BR112017020764B1 (pt) 2022-08-09

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