WO2009038461A1 - Method of automatically adjusting a component part of an arrangement - Google Patents
Method of automatically adjusting a component part of an arrangement Download PDFInfo
- Publication number
- WO2009038461A1 WO2009038461A1 PCT/NL2008/050612 NL2008050612W WO2009038461A1 WO 2009038461 A1 WO2009038461 A1 WO 2009038461A1 NL 2008050612 W NL2008050612 W NL 2008050612W WO 2009038461 A1 WO2009038461 A1 WO 2009038461A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- component part
- guideway
- robot
- positioning system
- slide
- 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
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Classifications
-
- 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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
- G05B19/4015—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
Definitions
- the invention relates to a method of automatically adjusting a first component part of an arrangement which comprises a positioning system for positioning a second component part, the positioning system comprising a stepping motor or an actuator with a path measuring system as well as a controller coupled thereto, the adjustment of the first component part being carried out while the positioning system already present for positioning the second component part is used.
- a method of this type is known from JP-A-58114204. According to the known method the first component part is displaceable relative to the fixed world and the adjustment of the first component part is carried out by pushing with the second component part against the first component part until the second component part has reached the desired position relative to the fixed world.
- the method according to the invention is characterized in that the first component part is displaceable along a guideway present on the second component part, the second component part being displaced towards a fixed point relative to the positioning system in such a way that in this position of the second component part the first component part is in contact with the fixed point, after which the second component part is displaced by the positioning system, while the first component part is halted by the fixed point and the guideway present on the second component part is displaced relative to the first component part.
- the positioning system hereby displaces the second component part over a distance equal to, but in the opposite direction to, the desired displacement of the first component part.
- an additional positioning system for adjusting the position of the first component part relative to the guideway is saved.
- the method according to the invention is particularly suitable for use in robot applications.
- Robots comprise at least two or more actuators, at least one of which forming part of a positioning system.
- the robot is then used for defined displacement of the robot head in several degrees of freedom.
- Robots are often used for flexible automation of processes. If different products are to be processed by the robot in these operations, it is often necessary to adjust the position of a component part of the robot, such as for example a tool carrier on a head of the robot along a guideway.
- the first component part can, after adjustment, be fixed to the guideway by means of an operable brake or friction brake.
- the method according to the invention can also be implemented for setting a force. This is desired for example if a defined force is to be exerted on an object. If the first component part is connected via a spring to an end of the guideway along which this component part can be displaced, the resilience can be set by displacing the first component part along the guideway and then fixing it to the guideway. Then the spring-loaded first component part fixed to the guideway can be placed against the object. By then eliminating the fixation of the first component part to the guideway, the component part will exert a force on the object.
- Fig. 1 shows an arrangement with which a first embodiment of the method according to the invention is implemented
- Fig. 2 shows a known arrangement with which the known method is implemented
- Fig. 3 shows the arrangement with which a second embodiment of the method according to the invention is implemented
- Fig.4 shows a second arrangement with which a third embodiment of the method is implemented
- Fig. 5 shows a further arrangement with which a further method is implemented
- Fig. 6 shows yet a further arrangement with which yet a further method is implemented.
- Fig. 1 diagrammatically shows an arrangement with which a first embodiment of the method according to the invention is implemented for adjusting a first component part of an arrangement along a guideway.
- the arrangement is here formed by a robot 1 , which comprises a positioning system 3 which can displace a second component part formed by a head 5 of the robot.
- the positioning system has discrete displacing means 3a formed by a cylinder whose piston can only be brought to a fully retracted and fully extracted position, as well as proportional displacing means 3b formed by a slide which can be displaced to any position between two end positions.
- the head 5 accommodates a guideway 7 along which the first component part, formed by a further slide 9 with a tool carrier 11 attached thereto, can be displaced.
- a holding brake 13 on the slide 9 for example a friction brake or pneumatically or electromagnetically operated brake.
- the robot 1 shifts the slide 9 by displacing the head 5 until the tool carrier 11 comes into contact with a fixed point 15 in the neighbourhood of the robot 1, after which the head 5 is displaced further while the slide 9 is halted by the fixed point 15 and the guideway 7 is displaced relative to the slide 9. For example if the head 5 then moves to the left, the slide 9 will move to the right. As soon as the desired position is reached the holding brake 13 will be locked.
- the above method suffices if the position of the slide 9 is known prior to the displacement. If the position is not known, the slide can always be taken to a known initial position by initially steering the head 5 upwards, then to the extreme left and after that downwards.
- the holding brake is to be disengaged and subsequently the head is to be moved to the right until the slide 9 has come to the extrene left on the guideway.
- the slide 9 is thus displaced by the use of the already present positioning system 3 for displacing the head 5 of the robot.
- a motor 21 with spindle 23 and an encoder 25 are to be mounted on the head 5 of the robot 1 together with cabling 27 and control unit 29, see Fig. 2.
- a motor 21 with spindle 23 and an encoder 25 are to be mounted on the head 5 of the robot 1 together with cabling 27 and control unit 29, see Fig. 2.
- resilience is set.
- the first component part (slide 9) is then connected to an end of the guideway 7 by way of a spring 31.
- the positioning system 3 of the arrangement displaces the head 5 until it meets the tool carrier 11 present on the slide 9 after which, when the head 5 is displaced further, the slide 9 shifts along the guideway 7 and the spring 31 is extracted.
- the slide 9 is fixed to the guideway by means of the holding brake 13.
- the spring-loaded slide 9 can be displaced as far as against an object on which a force is to be exerted.
- the slide 9 will exert a force on the object.
- the spring can be applied to any arrangement to avoid the slide displacing too far along the guideway when the desired position has been reached.
- the spring also provides that the slide returns to the initial position as a result of the holding brake being released.
- Fig. 4 shows a second arrangement for adjusting according to a further invented method a slide 37 that can be displaced along a guideway 35. It shows a front view of a head 39 of a robot 33 during the execution of the method. There is no tool carrier present on the slide 37 then, but a finger 41 that cooperates with a discretely displaceable further finger 43 for gripping an object.
- a stop 47 in this case forming the first component part and which can be shifted along a guideway 45, is displaced to a desired position on the guideway 45 in the way described with reference to Fig. 1 while the fixed point 15 is used, subsequent to which this stop is fixed by brake 46.
- the slide 37 is displaced to the desired position on the guideway 35 in that the head 39 is held in vertical position at an angle (the situation shown in Fig.4) while the slide 37 moves along the guideway 35 until, due to gravity, it meets the stop 47. Subsequent to this a holding brake 49 is fixed and the robot 33 is ready for use again.
- a product can be picked up with a pick-up device by steering the displaceable further finger 43 to the right and the robot head 39 to the left if need be.
- the displaceable finger can also be mounted on the slide 37. In that case the further finger 43 is fixedly mounted on the head 39.
- the displacement of the first component part to one of the end positions of the guideway or an intermediate position between the two end positions can also be effected by holding the guideway at an angle or vertical, as a result of which the first component part shifts downwards along the guideway to a desired position due to gravity.
- the desired position may then be formed by one of the end positions on the guideway or an intermediate position between the two end positions on the guideway, which intermediate position is formed by activating a fixed or adjustable locking pawl present beside the guideway, as a result of which the first component part shifts until it meets the stop at the end position or the locking pawl at the intermediate position.
- the desired position can also be determined by setting the guideway at an angle or in a vertical position, releasing the operable brake and halting the first component part after a predefined period of time by activating the operable brake.
- the arrangement is preferably first calibrated by determining the period of time that is needed for the first component part to shift from an initial position to the desired position over the guideway installed at an angle.
- the desired position can also be determined by continuously determining the position of the first component part after the guideway has been set at an angle or in a vertical position and, when the desired position has been reached, halting the first component part by activating the operable brake.
- the position of the first component part can then be determined by means of a measuring system or a camera.
- Fig. 5 shows an arrangement 51 with which the height of a conveyor belt 53 for supplying products to a robot 55 is set by using this robot and by utilizing a positioning system present on it.
- the conveyor belt can be adjusted by means of the robot.
- the positioning system of the robot then displaces the head 58 against the conveyor belt 53 and pushes the latter upwards or downwards.
- the head 58 of the robot then forms the second component part.
- the conveyor belt 53 is fixed to the guideway 57 by actuation of the holding brake 63.
- the robot 55 displaces the head 53 which is provided with a sensor 61 to the desired position which the conveyor belt 53 is to take up. Then the displacing means 59 move the conveyor belt 53 upwards until the sensor 61 detects the conveyor belt 53.
- a disadvantage of the two methods described with reference to Fig. 5 is that during the adjustment of the conveyor belt the robot cannot be used for other purposes. With reference to the arrangement 65 shown in Fig. 6 a further method is described with which this disadvantage does not occur.
- the robot 55 then first moves a sensor 67 along a further guideway 69 to the desired position of the conveyor belt.
- the robot 55 can be used again for other purposes. Then the displacing means 59 displace the conveyor belt 53 upwards along the guideway 57 until the sensor 67 detects the conveyor belt
- the belt conveyor device would be provided with an additional positioning system by which the position or displacement of the conveyor belt is measured, and fed back to the controller of the positioning system.
- the senor 67 it is possible to install the sensor 67 on the conveyor belt 53.
- the third component part may be formed by a marker which can be moved along a further guideway 69 and is detected by the sensor 67.
- the sensor 67 it is possible to install the sensor 67 on the conveyor belt 53.
- the third component part may be formed by a marker which can be moved along a further guideway 69 and is detected by the sensor 67.
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a method in which, without the need for an additional positioning system, one component part can be adjusted by means of a positioning system already present for displacing another component part. The positioning system (3) is located on a robot (1) and is used for displacing a head (5) of the robot. On the head (5) there is a guideway (7) along which the component part to be adjusted, formed by a slide (9), can be displaced. The robot (1) displaces the slide (9) by displacing the head (5) until the slide (9) comes into contact with a fixed point (15), after which the head (5) is moved on and the slide (9) is stopped by the fixed point (15) until the desired position is reached. This method can be widely implemented and can be used to adjust pick-ups or tools on a robot head.
Description
Method of automatically adjusting a component part of an arrangement
DESCRIPTION
Field of the invention.
The invention relates to a method of automatically adjusting a first component part of an arrangement which comprises a positioning system for positioning a second component part, the positioning system comprising a stepping motor or an actuator with a path measuring system as well as a controller coupled thereto, the adjustment of the first component part being carried out while the positioning system already present for positioning the second component part is used.
State of the art
A method of this type is known from JP-A-58114204. According to the known method the first component part is displaceable relative to the fixed world and the adjustment of the first component part is carried out by pushing with the second component part against the first component part until the second component part has reached the desired position relative to the fixed world.
Summary of the invention.
It is an object of the invention to provide a method of the type defined in the opening paragraph with which a first component part can be positioned along a guideway present on the second component part. For this purpose the method according to the invention is characterized in that the first component part is displaceable along a guideway present on the second component part, the second component part being displaced towards a fixed point relative to the positioning system in such a way that in this position of the second component part the first component part is in contact with the fixed point, after which the second component part is displaced by the positioning system, while the first component part is halted by the fixed point and the guideway present on the second component part is displaced relative to the first component part. The positioning system hereby displaces the
second component part over a distance equal to, but in the opposite direction to, the desired displacement of the first component part. By implementing this method an additional positioning system for adjusting the position of the first component part relative to the guideway is saved. The method according to the invention is particularly suitable for use in robot applications. Robots comprise at least two or more actuators, at least one of which forming part of a positioning system. The robot is then used for defined displacement of the robot head in several degrees of freedom. Robots are often used for flexible automation of processes. If different products are to be processed by the robot in these operations, it is often necessary to adjust the position of a component part of the robot, such as for example a tool carrier on a head of the robot along a guideway.
Furthermore, the first component part can, after adjustment, be fixed to the guideway by means of an operable brake or friction brake.
The method according to the invention can also be implemented for setting a force. This is desired for example if a defined force is to be exerted on an object. If the first component part is connected via a spring to an end of the guideway along which this component part can be displaced, the resilience can be set by displacing the first component part along the guideway and then fixing it to the guideway. Then the spring-loaded first component part fixed to the guideway can be placed against the object. By then eliminating the fixation of the first component part to the guideway, the component part will exert a force on the object.
Brief description of the drawings.
The invention will now be described in more detail based on examples of embodiment while reference is made to the appended drawing figures, in which:
Fig. 1 shows an arrangement with which a first embodiment of the method according to the invention is implemented;
Fig. 2 shows a known arrangement with which the known method is implemented;
Fig. 3 shows the arrangement with which a second embodiment of the method according to the invention is implemented;
Fig.4 shows a second arrangement with which a third embodiment of the method is implemented;
Fig. 5 shows a further arrangement with which a further method is implemented; and
Fig. 6 shows yet a further arrangement with which yet a further method is implemented.
Detailed description of the drawings.
Fig. 1 diagrammatically shows an arrangement with which a first embodiment of the method according to the invention is implemented for adjusting a first component part of an arrangement along a guideway. The arrangement is here formed by a robot 1 , which comprises a positioning system 3 which can displace a second component part formed by a head 5 of the robot. The positioning system has discrete displacing means 3a formed by a cylinder whose piston can only be brought to a fully retracted and fully extracted position, as well as proportional displacing means 3b formed by a slide which can be displaced to any position between two end positions. The head 5 accommodates a guideway 7 along which the first component part, formed by a further slide 9 with a tool carrier 11 attached thereto, can be displaced. Furthermore, there is a holding brake 13 on the slide 9 for example a friction brake or pneumatically or electromagnetically operated brake.
Once the controller has disengaged the holding brake 13, the robot 1 shifts the slide 9 by displacing the head 5 until the tool carrier 11 comes into contact with a fixed point 15 in the neighbourhood of the robot 1, after which the head 5 is displaced further while the slide 9 is halted by the fixed point 15 and the guideway 7 is displaced relative to the slide 9. For example if the head 5 then moves to the left, the slide 9 will move to the right. As soon as the desired position is reached the holding brake 13 will be locked. The above method suffices if the position of the slide 9 is known prior to the displacement. If the position is not known, the slide can always be taken to a known initial position by initially steering the head 5 upwards, then to the extreme left and after that downwards. Finally, the holding brake is to be disengaged and subsequently the head is to be moved to the right until the slide 9 has come to the extrene left on the guideway. With this embodiment of the method according to the invention the slide 9 is thus displaced by the use of the already present positioning system 3 for displacing the head 5 of the robot. As a result only one additional holding brake 13 is needed, whereas in known systems, for displacing the slide 9, a motor 21 with spindle 23 and an encoder 25 are to be mounted on the head 5 of the robot 1 together with cabling 27 and control unit 29, see Fig. 2.
With the method which is illustrated with reference to Fig. 3 also resilience is set. The first component part (slide 9) is then connected to an end of the guideway 7 by way of a spring 31. The positioning system 3 of the arrangement displaces the head 5 until it meets the tool carrier 11 present on the slide 9 after which, when the head 5 is displaced further, the slide 9 shifts along the guideway 7 and the spring 31 is extracted. If the desired resilience has been reached, the slide 9 is fixed to the guideway by means of the holding brake 13. Then the spring-loaded slide 9 can be displaced as far as against an object on which a force is to be exerted. By subsequently releasing the holding brake 13, the slide 9 will exert a force on the object. In addition to this application the spring can be applied to any arrangement to avoid the slide displacing too far along the guideway when the desired position has been reached. The spring also provides that the slide returns to the initial position as a result of the holding brake being released.
Fig. 4 shows a second arrangement for adjusting according to a further invented method a slide 37 that can be displaced along a guideway 35. It shows a front view of a head 39 of a robot 33 during the execution of the method. There is no tool carrier present on the slide 37 then, but a finger 41 that cooperates with a discretely displaceable further finger 43 for gripping an object. With this method a stop 47, in this case forming the first component part and which can be shifted along a guideway 45, is displaced to a desired position on the guideway 45 in the way described with reference to Fig. 1 while the fixed point 15 is used, subsequent to which this stop is fixed by brake 46. Then the slide 37 is displaced to the desired position on the guideway 35 in that the head 39 is held in vertical position at an angle (the situation shown in Fig.4) while the slide 37 moves along the guideway 35 until, due to gravity, it meets the stop 47. Subsequent to this a holding brake 49 is fixed and the robot 33 is ready for use again. Once the slide 37 has been fixed, a product can be picked up with a pick-up device by steering the displaceable further finger 43 to the right and the robot head 39 to the left if need be. The displaceable finger can also be mounted on the slide 37. In that case the further finger 43 is fixedly mounted on the head 39.
The displacement of the first component part to one of the end positions of the guideway or an intermediate position between the two end positions can also be effected by holding the guideway at an angle or vertical, as a result of which the first component part shifts downwards along the guideway to a desired position due to gravity.
The desired position may then be formed by one of the end positions on the guideway or an intermediate position between the two end positions on the guideway, which
intermediate position is formed by activating a fixed or adjustable locking pawl present beside the guideway, as a result of which the first component part shifts until it meets the stop at the end position or the locking pawl at the intermediate position.
But the desired position can also be determined by setting the guideway at an angle or in a vertical position, releasing the operable brake and halting the first component part after a predefined period of time by activating the operable brake.
With this method the arrangement is preferably first calibrated by determining the period of time that is needed for the first component part to shift from an initial position to the desired position over the guideway installed at an angle. The desired position can also be determined by continuously determining the position of the first component part after the guideway has been set at an angle or in a vertical position and, when the desired position has been reached, halting the first component part by activating the operable brake. The position of the first component part can then be determined by means of a measuring system or a camera. Fig. 5 shows an arrangement 51 with which the height of a conveyor belt 53 for supplying products to a robot 55 is set by using this robot and by utilizing a positioning system present on it. If the robot 55 is powerful enough to raise or lower the conveyor belt 53 along a guideway 57, the conveyor belt can be adjusted by means of the robot. The positioning system of the robot then displaces the head 58 against the conveyor belt 53 and pushes the latter upwards or downwards. The head 58 of the robot then forms the second component part.
When the desired position is reached (shown in a dashed line) the conveyor belt 53 is fixed to the guideway 57 by actuation of the holding brake 63.
If the robot is not powerful enough to displace the conveyor belt (possibly provided with auxiliary forces such as counterweights), additional displacing means 59
(motor with spindle) can be used for this purpose. The robot 55 displaces the head 53 which is provided with a sensor 61 to the desired position which the conveyor belt 53 is to take up. Then the displacing means 59 move the conveyor belt 53 upwards until the sensor 61 detects the conveyor belt 53. A disadvantage of the two methods described with reference to Fig. 5 is that during the adjustment of the conveyor belt the robot cannot be used for other purposes. With reference to the arrangement 65 shown in Fig. 6 a further method is described with which this disadvantage does not occur. The robot 55 then first moves a sensor 67 along a further guideway 69 to the desired position of the conveyor belt. This is effected by the robot in that
the head 58 is displaced until it meets the sensor 67 and then the head is displaced further while the sensor shifts along the guideway 69, after which the latter is fixed by means of a friction brake or a holding brake. Once the sensor 67 has been brought to the desired position, the robot 55 can be used again for other purposes. Then the displacing means 59 displace the conveyor belt 53 upwards along the guideway 57 until the sensor 67 detects the conveyor belt
(position of the conveyor belt shown in a dashed line).
In a conventional arrangement the belt conveyor device would be provided with an additional positioning system by which the position or displacement of the conveyor belt is measured, and fed back to the controller of the positioning system. By implementing one of the methods described with reference to the Figs. 5 and 6 there is no need for a measuring system for measuring the position or displacement of the conveyor belt, but merely a simple sensor will suffice.
Alternatively, it is possible to install the sensor 67 on the conveyor belt 53. In that case the third component part may be formed by a marker which can be moved along a further guideway 69 and is detected by the sensor 67. In this variant of the method the sensor
67 thus detects the third component part (marker), wereas in the arrangement shown in Fig.6 the sensor detects the first component part (conveyor belt 53).
Albeit in the foregoing disclosure the invention has been explained with reference to the drawing figures, it should be pointed out that the invention is by no means restricted to the embodiments shown in the drawing figures. The invention also pertains to all embodiments deviating from the embodiments shown in the drawing figures within the spirit and scope defined by the claims.
Claims
1. A method of automatically adjusting a first component part of an arrangement which comprises a positioning system for positioning a second component part, the positioning system comprising a stepping motor or an actuator with a path measuring system as well as a controller coupled thereto, the adjustment of the first component part being carried out while the positioning system already present for positioning the second component part is used, characterized in that the first component part is displaceable along a guideway present on the second component part, the second component part being displaced towards a fixed point relative to the positioning system in such a way that in this position of the second component part the first component part is in contact with the fixed point, after which the second component part is displaced by the positioning system, while the first component part is halted by the fixed point and the guideway present on the second component part is displaced relative to the first component part.
2. A method as claimed in claim 1 , characterized in that after adjustment, the first component part can be fixed to the guideway by means of an operable brake or friction brake.
3. A method as claimed in claim 1 or 2, characterized in that the first component part is connected by a spring to an end of the guideway along which this component part can be displaced, while the resilience of said spring can be set by displacing the first component part along the guideway.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2000860 | 2007-09-17 | ||
| NL2000860 | 2007-09-17 | ||
| NL2000962 | 2007-10-26 | ||
| NL2000962A NL2000962C2 (en) | 2007-09-17 | 2007-10-26 | Automatic component part e.g. slide, adjusting method for robot applications, involves displacing component part while another component part is halted by fixed point and guideway present on former component part is displaced |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2009038461A1 true WO2009038461A1 (en) | 2009-03-26 |
Family
ID=40239599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/NL2008/050612 Ceased WO2009038461A1 (en) | 2007-09-17 | 2008-09-17 | Method of automatically adjusting a component part of an arrangement |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2009038461A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3031586A1 (en) * | 2014-12-11 | 2016-06-15 | Fagor, S. Coop. | Flexible gripping device for a part stacking system, part stacking system and positioning method for positioning gripping elements for a part stacking system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4784541A (en) * | 1986-04-21 | 1988-11-15 | Kabushiki Kaisha Sankyo Seiki Seisakusho | High-precision equipment |
| JPH11216695A (en) * | 1998-01-30 | 1999-08-10 | Nachi Fujikoshi Corp | Step change device for robot work |
-
2008
- 2008-09-17 WO PCT/NL2008/050612 patent/WO2009038461A1/en not_active Ceased
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4784541A (en) * | 1986-04-21 | 1988-11-15 | Kabushiki Kaisha Sankyo Seiki Seisakusho | High-precision equipment |
| JPH11216695A (en) * | 1998-01-30 | 1999-08-10 | Nachi Fujikoshi Corp | Step change device for robot work |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3031586A1 (en) * | 2014-12-11 | 2016-06-15 | Fagor, S. Coop. | Flexible gripping device for a part stacking system, part stacking system and positioning method for positioning gripping elements for a part stacking system |
| WO2016092068A1 (en) * | 2014-12-11 | 2016-06-16 | Fagor, S.Coop. | Flexible gripping device for a part stacking system, part stacking system and positioning method for positioning gripping elements for a part stacking system |
| US10040202B2 (en) | 2014-12-11 | 2018-08-07 | Fagor Arrasate, S. Coop. | Flexible gripping device for a part stacking system, part stacking system and positioning method for positioning gripping elements for a part stacking system |
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