Apparatus for the automated removal of workpieces arranged in a container
AssigneeLiebherr-Verzahntechnik GmbH
InventorsThomas Mattern, David Haenschke, Berhard Riedmiller
Life of this patent
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Abstract
The present disclosure shows an apparatus for the automated removal of workpieces arranged in a container, having an object recognition device for detecting the workpieces and a gripper for gripping and removing the workpiece from the container and having a control for evaluating the data of the object recognition device, for path planning and for controlling the gripper. In this respect, the apparatus is set up in a modular manner by a handling module and a feed module, wherein the handling module has the gripper kinematics, in particular a robot or an area gantry, and the feed module has an arrangement for providing a container having workpieces.
Claims19
An apparatus for automated removal of workpieces arranged in a container that is set up in a modular manner, the apparatus comprising:
- a feed module, the feed module comprising an arrangement for providing the container containing workpieces, and where the feed module comprises an object recognition device for detecting the workpieces in the container;
- and
- a handling module comprising at least one gripper for gripping and removing the workpieces from the container, and each of the at least one grippers having a controller for evaluating data of the object recognition device, for path planning, and for controlling the gripper,
- wherein the handling module further comprises cell walls, where cell walls of the feed module and the cell walls of the handling module protect a working zone of the respective module from unauthorized access, the feed module and the handling module comprising mechanical connection points for connecting to one another,
- wherein the feed module and the handling module comprise an electrical interface, a pneumatic interface, or a hydraulic interface for connecting to one another, and
- wherein the arrangement for providing the container of the feed module is, when connected to the handling module, accessible from an outside of the cell walls on at least one side of the feed module for introduction of full containers into the feed module and for removal of empty containers from the feed module.
A feed module comprising:
- an arrangement for providing a container containing workpieces;
- an object recognition device for detecting the workpieces in the container;
- and
- an interface to a handling module comprising a gripper via which data of the object recognition device is transferred to a control of the gripper,
- wherein the feed module further comprises cell walls protecting a working zone of the feed module from unauthorized access,
- wherein the feed module comprises mechanical connection points for connecting to the handling module, and
- wherein the arrangement for providing the container of the feed module is, when connected to the handling module, accessible from an outside of the cell walls on at least one side of the feed module for introduction of full containers into the feed module and for removal of empty containers from the feed module.
Dependencies are inferred from the claim text.