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EP1621262A1 - Appareil de manipulation, en particulier de triage, de matériaux en vrac - Google Patents

Appareil de manipulation, en particulier de triage, de matériaux en vrac Download PDF

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Publication number
EP1621262A1
EP1621262A1 EP05106746A EP05106746A EP1621262A1 EP 1621262 A1 EP1621262 A1 EP 1621262A1 EP 05106746 A EP05106746 A EP 05106746A EP 05106746 A EP05106746 A EP 05106746A EP 1621262 A1 EP1621262 A1 EP 1621262A1
Authority
EP
European Patent Office
Prior art keywords
parts
conveyor
bulk material
belt conveyor
gripping tool
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.)
Withdrawn
Application number
EP05106746A
Other languages
German (de)
English (en)
Inventor
Erich Kratzmaier
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.)
Kratzmaier Konstruktionen GmbH
Original Assignee
Kratzmaier Konstruktionen 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 Kratzmaier Konstruktionen GmbH filed Critical Kratzmaier Konstruktionen GmbH
Priority to EP05106746A priority Critical patent/EP1621262A1/fr
Publication of EP1621262A1 publication Critical patent/EP1621262A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/38—Collecting or arranging articles in groups

Definitions

  • the present invention relates to an apparatus and method for gripping and manipulating bulk solids with a powered gripping tool.
  • the invention relates in particular to the sorting of such bulk material parts, if they are mixed in any way.
  • bulk material is further meant that the considered parts are present in a relatively disordered, so not oriented to the position and orientation of the individual part way or be transported. It should certainly also include those parts that show a certain mechanical sensitivity and therefore can not be safely "poured", but with a certain caution in quantities and disorderly stored and transported can.
  • the parts are stored in bulk in a bulk container, i. disorderly stacked in the amount stored, taken from this container in the lower area and promoted via a vibrating table.
  • This vibrating table executes directed vibrations, which causes the bulk material to move along the table.
  • a driven gripping tool specifically a robot arm, picks out the individual parts.
  • the robotic arm proceeds sorting, thus manipulating the gripped parts depending on their group affiliation or, depending on the group affiliation, leads the parts to various transport devices for onward transport.
  • the robot arm is controlled by a camera system, which optically records the parts on the table with a camera and programmatically determines their group affiliation, position and orientation. Thus, it is controlled, which position the robot arm anaide, ie where parts of which group are, and how he grips the parts properly. If the operated by the robot arm area of the transport table is empty or there are still parts that are either not to be grasped or could not be recognized correctly by the camera system, the table is possibly vacated empty and filled in the manner described with other parts.
  • the present invention is based on the technical problem of providing an advantageous device and an advantageous method for gripping and manipulating isolated bulk material parts, which on the one hand are flexible and on the other hand allow a favorable throughput.
  • the invention is directed to a device for gripping isolated bulk material with a driven gripping tool, which device a conveyor for conveying the parts, a camera system for optically detecting the parts located on the conveyor, the gripping tool for gripping and manipulating the optically detected and on the För -der recognized located parts, which gripping tool is controlled by the camera system, and is characterized in that the device is designed to promote bulk goods with the conveyor in relative rest position together conveyed parts with each other, thereby recognize and thereby grab,
  • the essential aspect of the invention is to design the conveyor so that the bulk material parts are conveyed in a certain phase relative to each other in rest position. This allows the camera system to perform the optical detection during conveyance. However, if the parts were moved on a vibrating table or the like relative to each other, this would not be possible or only with great effort. Further, during this collective movement, during which they move relative to the device as such, but not relative to one another, the parts are to be gripped by the gripping tool. Thus, a certain simultaneity of conveying, recognizing and gripping can be achieved.
  • the invention does not exclude that the conveyor is stopped in certain situations, such as when so many parts in a position suitable for gripping and / or (in the application of the invention for sorting) belonging to the group to be gripped parts have been detected, that the gripping tool in view of the number of these parts does not get along with the time available on further promotion.
  • the gripping tool is operated continuously, it is at best possible to interrupt the conveying movement. This is in contrast to the described prior art, in which the gripper tool or the robot must pause in the time phases in which the vibrating table is emptied and / or refilled. In this regard, the invention thus provides efficiency benefits.
  • a robot as a driven gripping tool.
  • Articulated arm robots with a certain number of rotary robot axes can be particularly favorable.
  • Another very cheap option is multi-arm robots, especially hexapods.
  • the arms are connected to a gripper part and can move this very quickly and three-dimensionally by expansion and contraction of the arms.
  • the term "gripping tool” means any form of powered or power gripping tool including hydraulic and pneumatic cylinder drive.
  • a bulk container i. a container in which the parts are disordered and in height one above the other, so to speak heaped stored.
  • the conveyor may be configured so that it "back promotes" of the gripping tool unrecognized parts, that brings back to another area of the conveyor from which they are again promoted in the area in which the gripping tool engages.
  • This can be used to initially promote gripping or recognizing unfavorable parts another time in a new position. It can also serve to avoid or reduce the already described interruptions of promotion because of currently too large numbers of parts to be gripped. Finally, this can also be part of a sorting process Thus, parts of certain groups can be systematically left behind and promoted back.
  • a preferred embodiment of the conveyor is a belt conveyor or has a belt conveyor.
  • a belt conveyor has the advantage of great flexibility in terms of size, shape and weight of the parts to be conveyed.
  • the conveyor belt can also be structured, for example having surface structures such as knobs or grooves, in order to stabilize the position of the parts somewhat and thus to suppress adverse movements for the recognition.
  • knobs or grooves For example, screws on the side of a round head could easily roll on a smooth conveyor belt, but could find a stable position on knobs or grooves.
  • Adhesion can also be increased with a silicone coating.
  • such a belt conveyor can easily throw off the mentioned non-gripped and returned parts, such as another belt conveyor (or other conveyor) or the original bulk material container.
  • This is particularly simple, because only care must be taken that under the corresponding end of the belt conveyor, the other conveyor or the container is arranged.
  • a place may be used where the belt conveyor is rotated about an axis parallel to its direction of conveyance and the parts are thrown laterally. This can be especially for reasons of space advantage.
  • Another embodiment is of two belt conveyors of Conveyor, wherein the first belt conveyor promotes the parts of the bulk material container, then transfers to the second belt conveyor, on which the parts are recognized and gripped.
  • the first belt conveyor promotes the parts of the bulk material container, then transfers to the second belt conveyor, on which the parts are recognized and gripped.
  • the portion of the first belt conveyor which receives the parts on the bulk goods container (preferably obliquely) arranged upward running and thereby passes through the bulk material in the container.
  • the parts can then be received, for example, by stop strips or other of the mentioned structures.
  • the transfer from the first to the second belt conveyor can be done by simply dropping.
  • the throwing off has here, and incidentally, also in the discarding of the non-gripped parts at the end of the second belt conveyor, in addition to the simplicity of the advantage that a dropping of the parts with a higher probability that they go into a position in the the focus is low.
  • positions are preferred because the parts are then more stable.
  • the camera system and the gripping tool could also be designed so that they can only detect and / or grasp parts in such positions. But it can also be used stop strips or the like to cause such positions, for example, overturn longer upright parts.
  • the use of harassment in the invention is not excluded.
  • chicanes have the fundamental disadvantage of reducing the flexibility of the device in a more specific embodiment. It is then possibly no longer possible to process a completely different part geometry with a similar part size with the same device, while merely adapting the programming of the camera system and the gripping tool control.
  • a vibrating plate may be provided in front of or at the second belt conveyor or in principle in front of or below a belt conveyor. This is arranged on the side facing away from the parts, so the lower side of the tape and makes the tape to vibrate.
  • the vibrations should not serve or not only for conveying as in the prior art but for singling and for producing relatively stable layers of the parts.
  • the vibration plate may, for example, include a suction device with which the tape is sucked onto it to ensure an efficient vibration transmission.
  • the suction device may also be provided in the vicinity of the vibrating plate.
  • a device according to the invention can also have a plurality of conveying devices, camera systems and / or gripping tools.
  • it must be judged which component of the device has a time-limiting effect.
  • it may be beneficial to work with two or more cameras to make the capture process more efficient.
  • There may also be a division of tasks between the camera systems, for example by each being aligned with a specific group or a certain number of groups.
  • the gripping tool in particular the robot, works particularly quickly or grips, in particular should sort, which are expediently conveyed, for example because of presorting, with different conveying devices, then a plurality of conveying devices can "share a gripping tool".
  • a radial arrangement around a gripping tool in particular an articulated robot or hexapods, is preferred, which can be imagined in a manner similar to a roundhouse with a rotary switch, that is, above all does not have to be closed in a star shape.
  • the invention can thus be associated with simple chicanery devices, so that the sorting according to the invention takes place only among those groups which can be distinguished badly with chicanes.
  • the invention proposes instead to start from a corresponding number of bulk containers or to use a corresponding number of conveyors to maintain the presorting.
  • the conveyors would thus be supplied with bulk goods, which are still mixed insofar as there is a plurality of groups to be sorted.
  • the group mixtures of different conveyors should not match. Thus, either no common groups should occur or at least not all groups should be common so that the respective devices can be configured accordingly.
  • Figure 1 and Figure 2 each show an embodiment in a schematic side view.
  • FIG. 3 shows a third exemplary embodiment as a detail and with reference to FIG. 2.
  • Figure 4 shows a fourth embodiment in a highly schematic plan view.
  • FIG. 5 shows a variant of FIG. 1 as a fifth exemplary embodiment.
  • Figure 1 shows a side view of a first embodiment of a device according to the invention.
  • 1 a shown as a simple box bulk material container is located, which is open at its top and is filled with not shown here bulk material by dumping.
  • a first belt conveyor 2 In the lower right area of the bulk material container 1 is traversed by a first belt conveyor 2 with a belt 3, which has obliquely adjusted abutment edges 4 on its outside. The abutment edges 4 access the bulk material from the bulk material container 1 and promote it obliquely upward.
  • the conveyor belt 3 of the first belt conveyor 2 is deflected with a roller 5 in the horizontal.
  • the conveyor belt 3 is again deflected by a further roller 6, which rests in the direction perpendicular to Figure 1 in front of and behind the abutment edges 4, in the vertical, then redirected once again in the roller 7 designed as roller 7 back and finally led back over another three pulleys 8, 9 and 10.
  • the parts are thus conveyed to the strand between the deflection rollers 7 and 8 and thrown there in consequence of the angle of the conveyor belt 3 and the abutment edges 4 on a second belt conveyor 11.
  • the second belt conveyor 11 extends horizontally and slightly above the horizontal run of the first belt conveyor 3 between the pulleys 5 and 6. It is spanned between two rollers 12 and 13 and carries on its upper side in Figure 1 schematically indicated bulk material parts in FIG 1 from right to left.
  • a vibrating plate 14 is mounted under the belt, the separated parts separated by vibrations and accidentally tip over upright parts.
  • the vibrating plate 14 has for this purpose a suction device, not shown, in order to better transfer the vibrations to the belt can.
  • a further fixed plate 15 is arranged.
  • the plate 15 includes a suction device and ensures that the vibrations do not extend to the rest of the strand, so that the individual parts are transported quietly in the course.
  • the strand is also in the remaining area, as indicated by the dashed line 21, supported and supported.
  • two cameras 16 and 17 are arranged, which optically detect the parts on this strand from above.
  • the cameras 16 and 17 each form, with a computerized evaluation device, a camera system which controls an articulated-arm robot 18, which is symbolically drawn on the left, with a gripping tool 19 moved thereon.
  • the gripping tool 19 can be moved up and down along an axis 20 and rotated and grip the individual bulk material parts in a manner not shown in detail. It is raised and lowered accordingly and rotated. Incidentally, it is moved horizontally two-dimensionally with at least two other Gelenkarmachsen, which are not shown here.
  • the camera systems of the cameras 16 and 17 share the task of optical detection of the bulk material in the present case in such a way that each camera system for a type occurring, ie a group, is responsible. After a coarse presorting in size, each camera system determines only position and Orientation of the respective group and controls the articulated arm robot 18 so that the gripping tool 19 accesses in the correct orientation at the right place.
  • Ungripped parts are transported further to the left and fall down to the left of the guide roller 12 on the horizontal run of the first belt conveyor 2, so that they are thrown back in the manner already described on the second belt conveyor 11.
  • FIG 2 shows a second embodiment.
  • a bulk goods container 30 is shown on the right, which can also be filled from an open top.
  • a first belt conveyor 31 out, which is clamped between two rollers 32 and 33.
  • the band of the belt conveyor 31 carries transverse ribs 34 which hold the bulk material.
  • the bulk material is dropped in the region of the roller 32, on a second belt conveyor, which corresponds to the second belt conveyor 11 of Figure 1 and is therefore also designated. It is spanned between the rollers 12 and 13 and has in the same way the already explained plates 14 and 15 and the support structure 21.
  • the comments on the first exemplary embodiment also apply to the cameras 16 and 17 of the corresponding camera systems and the articulated-arm robot 18.
  • the non-gripped parts are in turn dropped in the area of the roll 12, in this case on a third belt conveyor 35 between two rollers 36 and 37. This is used exclusively for the return of these parts in the bulk material container 30, which by dropping in the right roll 37 happens.
  • the bands of the second belt conveyor 11 in FIGS. 1 and 2 may, for example, be studded in order to allow a stable position of smaller parts.
  • rather flat parts are drawn where this is not necessary.
  • such structured ribbons may also have the disadvantage of giving rise to a number of tilted positional possibilities that would not occur on flat ribbons and complicate the gripping and accurate positioning by the robot.
  • the conveyor belts can be coated, for example even with an inclined course, as in the case of the first belt conveyors 2 and 31, for example with silicone.
  • FIG. 3 An alternative with respect to the vibrating plate 14 is drawn as a third embodiment in Figure 3 schematically.
  • the arrows indicate, as in Figures 1 and 2, the conveying direction.
  • the first belt conveyor 31 throws in the region of the roller 32, the bulk material on a vibrating table 38 on which the parts are first isolated and brought to tip over.
  • the vibrations of the vibration table 38 are directed so that the parts are transported to the left to fall down in the area of the roller 13 on the second belt conveyor 11.
  • the device of this third exemplary embodiment is otherwise not drawn and corresponds to FIG. 2.
  • a corresponding variation of the first exemplary embodiment from FIG. 1 is, of course, conceivable without further ado.
  • FIG. 4 shows a schematic plan view of the articulated arm robot from FIG. 2 with its articulated arm and the axis 20 attached to the distal end of the articulated arm with the not-shown gripper tool 19.
  • This articulated arm robot as a fourth exemplary embodiment, is located centrally in a radial arrangement of four devices of the type Figure 2, sharing only a common robot. The devices are shown only schematically, wherein each of the bulk goods container 30 are numbered at the radially outer end.
  • Figure 5 shows a fifth embodiment, which completely corresponds to the first embodiment except for the robot. In that regard, reference is made to the description.
  • the articulated arm robot 18 with the gripping tool 19 and the axis 20 is here replaced by a hexapod 40, 41, in which a number of six (only three drawn) thrust arms 40 are connected to a common gripper part 41.
  • the gripper part 41 can manipulate parts in a manner known per se similar to the gripping tool 19 from FIG. Incidentally, reference is made to the prior art to hexapods. This is a particularly fast, control-technically demanding robot class.

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EP05106746A 2004-07-30 2005-07-22 Appareil de manipulation, en particulier de triage, de matériaux en vrac Withdrawn EP1621262A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP05106746A EP1621262A1 (fr) 2004-07-30 2005-07-22 Appareil de manipulation, en particulier de triage, de matériaux en vrac

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP04103680 2004-07-30
EP05106746A EP1621262A1 (fr) 2004-07-30 2005-07-22 Appareil de manipulation, en particulier de triage, de matériaux en vrac

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EP1621262A1 true EP1621262A1 (fr) 2006-02-01

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1967470A3 (fr) * 2007-02-23 2009-04-29 Neubauer, Hermann Dispositif d'alimentation pour l'alimentation de tiges d'asperges dans un dispositif de tri d'asperges
CN103736670A (zh) * 2013-12-19 2014-04-23 深圳市海目星激光科技有限公司 一种振动分拣设备
AT514030A1 (de) * 2013-03-05 2014-09-15 Gazso Helmut Einrichtung zum Vereinzeln und Ausrichten von sich ineinander verhakender Gegenstände
WO2016107562A1 (fr) * 2014-12-31 2016-07-07 深圳市海恒智能技术有限公司 Système de tri d'articles et machine de retour de livres de bibliothèque en self-service
DE102015000699A1 (de) * 2015-01-20 2016-07-21 Technische Universität Ilmenau Vorrichtung und Verfahren zur automatischen Sortierung von Schüttgut
CN108215104A (zh) * 2016-12-21 2018-06-29 发那科株式会社 机器人系统以及生产系统
DE102018101814A1 (de) * 2018-01-26 2019-08-01 Credé Vermögensverwaltungs-GmbH + Co. KG Vorrichtung und Verfahren zum Anschweißen von Hartstoffkörpern an Zähnen eines Sägeblatts
CN113498311A (zh) * 2020-04-01 2021-10-12 深南电路股份有限公司 一种印制线路板的自动嵌入方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0439674A2 (fr) * 1990-01-31 1991-08-07 EDELHOFF POLYTECHNIK GMBH & CO. Dispositif pour trier des déchets
DE4344832A1 (de) * 1993-11-10 1995-05-11 Kanetsu Engineering Co Ltd Verfahren und Vorrichtung zur automatischen Farbsortierung zum Sortieren und Rückgewinnen von Bruchglas
EP0873797A2 (fr) * 1997-04-23 1998-10-28 Binder & Co. Aktiengesellschaft Procédé de tri de déchets de papier
FR2775204A1 (fr) * 1998-02-25 1999-08-27 Pellenc Sa Procede et installation de tri de fruits et legumes, permettant la mesure d'au moins une de leurs caracteristiques
WO2000024531A1 (fr) * 1998-10-22 2000-05-04 Jan Boie Pedersen Procede et appareil de tri d'ordures et robot conçu a cet effet

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0439674A2 (fr) * 1990-01-31 1991-08-07 EDELHOFF POLYTECHNIK GMBH & CO. Dispositif pour trier des déchets
DE4344832A1 (de) * 1993-11-10 1995-05-11 Kanetsu Engineering Co Ltd Verfahren und Vorrichtung zur automatischen Farbsortierung zum Sortieren und Rückgewinnen von Bruchglas
EP0873797A2 (fr) * 1997-04-23 1998-10-28 Binder & Co. Aktiengesellschaft Procédé de tri de déchets de papier
FR2775204A1 (fr) * 1998-02-25 1999-08-27 Pellenc Sa Procede et installation de tri de fruits et legumes, permettant la mesure d'au moins une de leurs caracteristiques
WO2000024531A1 (fr) * 1998-10-22 2000-05-04 Jan Boie Pedersen Procede et appareil de tri d'ordures et robot conçu a cet effet

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1967470A3 (fr) * 2007-02-23 2009-04-29 Neubauer, Hermann Dispositif d'alimentation pour l'alimentation de tiges d'asperges dans un dispositif de tri d'asperges
AT514030A1 (de) * 2013-03-05 2014-09-15 Gazso Helmut Einrichtung zum Vereinzeln und Ausrichten von sich ineinander verhakender Gegenstände
CN103736670A (zh) * 2013-12-19 2014-04-23 深圳市海目星激光科技有限公司 一种振动分拣设备
CN103736670B (zh) * 2013-12-19 2016-01-13 深圳市海目星激光科技有限公司 一种振动分拣设备
WO2016107562A1 (fr) * 2014-12-31 2016-07-07 深圳市海恒智能技术有限公司 Système de tri d'articles et machine de retour de livres de bibliothèque en self-service
DE102015000699A1 (de) * 2015-01-20 2016-07-21 Technische Universität Ilmenau Vorrichtung und Verfahren zur automatischen Sortierung von Schüttgut
CN108215104A (zh) * 2016-12-21 2018-06-29 发那科株式会社 机器人系统以及生产系统
CN108215104B (zh) * 2016-12-21 2019-06-21 发那科株式会社 机器人系统以及生产系统
DE102018101814A1 (de) * 2018-01-26 2019-08-01 Credé Vermögensverwaltungs-GmbH + Co. KG Vorrichtung und Verfahren zum Anschweißen von Hartstoffkörpern an Zähnen eines Sägeblatts
DE102018101814B4 (de) 2018-01-26 2019-10-10 Credé Vermögensverwaltungs-GmbH + Co. KG Vorrichtung und Verfahren zum Anschweißen von Hartstoffkörpern an Zähnen eines Sägeblatts
CN113498311A (zh) * 2020-04-01 2021-10-12 深南电路股份有限公司 一种印制线路板的自动嵌入方法
CN113498311B (zh) * 2020-04-01 2023-02-28 深南电路股份有限公司 一种印制线路板的自动嵌入方法

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