Apparatus for the automated detection and removal of workpieces
AssigneeLiebherr-Verzahntechnik GmbH
InventorsThomas Mattern, David Haenschke, Bernhard Riedmiller, Alois Mundt
Life of this patent
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Abstract
An apparatus for the automated detection and removal of workpieces comprising an object recognition device for detecting the workpieces and a gripper for picking the workpieces; and a gripper for picking the workpieces; and a control for evaluating the data of the object recognition device, for track planning and for controlling the gripper, wherein the object recognition device is arranged at a travel arrangement by which it can be traveled from a position of rest into at least one measuring position and back.
Claims15
An apparatus for automated detection and removal of workpieces, comprising:
- an object recognition device for detecting the workpieces;
- a gripper for gripping the workpieces;
- and
- a control for evaluating data of the object recognition device, track planning for the gripper, and controlling the gripper,
- wherein the object recognition device is arranged at a travel arrangement by which it can be traveled from a rest position into at least one measuring position where it carries out a measurement and then traveled back into the rest position after the measurement,
- wherein in the rest position, the object recognition device is located outside of a collision region with the gripper, such that no collisions arise between the object recognition device and the gripper in the rest position of the object recognition device,
- wherein in the at least one measuring position, the object recognition device is located within the collision region with the gripper, and
- wherein movement of the object recognition device is synchronized with movement of the gripper in order to avoid a collision between the gripper and the object recognition device while the object recognition device is located within the collision region.
A method for automated detection and removal of workpieces comprising the steps of:
- traveling an object recognition device from a rest position to a measuring position, the object recognition device detecting workpieces in a removal region while it is in the measuring position;
- after detecting the workpieces, traveling the object recognition device from the measuring position back to the rest position;
- and then
- picking up the workpieces using a gripper;
- wherein the object recognition device is installed separately from the gripper at a travel arrangement and moved separately from the gripper;
- and
- wherein in the measuring position, a sensor of the object recognition device is arranged above the removal region and pivoted to detect the workpieces in the removal region.
A method for automated detection and removal of workpieces comprising the steps of:
- traveling a sensor from a rest position in which the object recognition device is located outside of a collision region with a gripper to a measuring position arranged centrally above a removal region of the workpieces by a gripper and within the collision region, the sensor pivoting in the measuring position to detect the workpieces in the removal region, wherein the collision region with the gripper is a region where a collision between the object recognition device and the gripper can occur because the gripper is movable within the collision region;
- after detecting the workpieces, traveling the sensor from the measuring position back to the rest position;
- and then
- picking up the workpieces using the gripper;
- wherein the object recognition device is installed separately from the gripper at a travel arrangement and moved separately from the gripper.
Dependencies are inferred from the claim text.