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DE2430059A1 - Workpiece state and position recognition device - has plate with large number of switches to which workpiece is pressed - Google Patents

Workpiece state and position recognition device - has plate with large number of switches to which workpiece is pressed

Info

Publication number
DE2430059A1
DE2430059A1 DE2430059A DE2430059A DE2430059A1 DE 2430059 A1 DE2430059 A1 DE 2430059A1 DE 2430059 A DE2430059 A DE 2430059A DE 2430059 A DE2430059 A DE 2430059A DE 2430059 A1 DE2430059 A1 DE 2430059A1
Authority
DE
Germany
Prior art keywords
workpiece
switches
plate
workpieces
pressed
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.)
Pending
Application number
DE2430059A
Other languages
German (de)
Inventor
Christoph Dipl Phys Schlobies
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.)
KYBORG GES
Original Assignee
KYBORG GES
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 KYBORG GES filed Critical KYBORG GES
Priority to DE2430059A priority Critical patent/DE2430059A1/en
Publication of DE2430059A1 publication Critical patent/DE2430059A1/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/28Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Sorting Of Articles (AREA)

Abstract

The plate of switches receives the workpiece which is pressed against it. Alternatively, the workpiece is placed on the plate and switch positions are electronically scanned. Instead of switches sensors with connected measuring devices, such as selsyns, potentiometers etc. can be used, so that different sensor displacements make possible scanning of the workpiece form. In order to grade workpieces, or to position them accurately, a computer controlled robot is used in connection with a set of switches or measuring instruments.

Description

Schalterfeldsensor für Roboter Patentbeschreibung Die Erfindung beinhaltet ein Verfahren und eine Anordnung zum automatischen Erkennen der räumlichen Lage und Beschaffenheit von Werkstücken für Roboter.Switch panel sensor for robots Patent description The invention includes a method and an arrangement for the automatic recognition of the spatial position and condition of workpieces for robots.

Stand der Technik Bekannt sind Versuche, die Lage von Werkstücken auf optischem Wege mittels Fernsehkamera zu erkennen.State of the art Attempts to determine the position of workpieces are known to be recognized optically by means of a television camera.

Dieses Verfahren ist sehr aufwendig.This procedure is very complex.

Erfindungsgemäß wird dieser Nachteil dadurch vermieden, daß eine mit zahlreichen bspw. induktiven Schaltern an sich bekannter Art versehene Platte eingesetzt wird.According to the invention, this disadvantage is avoided in that one with numerous, for example. Inductive switches of a known type provided plate used will.

Beschreibung FIG I 1 zeigt eine solche Platte mit den Schaltern FIG I 2. Wird ein Werkstück auf diese Platte gelegt, so werden einige Schaltern betätigt, andere bleiben unbetätigt. Durch einen angeschlossenen Computer kann leicht analysiert werden, in welcher Lage das Werkstück auf dem Schalterfeld liegt. Der Computer weiß also, wo das Werkstück liegt und wie es gedreht ist.Description FIG I 1 shows such a plate with the switches FIG I 2. If a workpiece is placed on this plate, some switches are operated, others remain inactive. It can easily be analyzed by a connected computer the position of the workpiece on the switch panel. The computer knows that is, where the workpiece is and how it is rotated.

Der Computer, der bspw. auch den zugehörigen Roboter steuert, kann diesen nun so steuern, daß er das Werkstück gezielt aufnehmen kann. Die Schalterfeldplatte kann vom Roboter auch aufgenommen werden und gegen Gegenstände gedrückt werden, deren Lage im Raum der Roboter analysieren will.The computer, which, for example, also controls the associated robot, can Now control it so that it can pick up the workpiece in a targeted manner. The switch panel plate can can also be picked up by the robot and pressed against objects whose The position in the room the robot wants to analyze.

In einer Erweiterung des Verfahrens können anstelle der Schalter Schiebewiderstände (Potentiometer) und Ähnliches verwendet werden. Die Schalter FIG I 2 sind dann Nadeln bzw. Fühler. Werden diese hereingedrückt, so verstellen sie ein Potentiometer, einen Drehmelder oder ähnlich an sich bekannte Meßgeräte. Dadurch kann auch die Oberflächengestalt des abgetasteten Werkstückes analysiert werden.In an extension of the method, slide resistors can be used instead of switches (Potentiometer) and the like can be used. The switches FIG I 2 are then needles or feeler. If these are pressed in, they adjust a potentiometer, a Resolvers or similar measuring devices known per se. This can also change the shape of the surface of the scanned workpiece can be analyzed.

Dadurch sind Sortierautomaten möglich, die im Gegensatz zu den bekannten Vibratoren sehr leise arbeiten können und auch aus einer Anhäufung unterschiedlicher Werkstücke einen oder mehrere bestimmte Typen aussortieren können.This makes sorting machines possible, which in contrast to the known Vibrators can work very quietly and also from a bunch of different ones Workpieces can sort out one or more specific types.

FIG II zeigt bspw. einen mit diesem Verfahren arbeitenden Sortierautomaten. In dem Kasten FIG II 1 befinden sich die Werkstücke. FIG II 2 ist ein Magnet, der das Werkstück FIG II 3 aufnimmt. Durch Hochschwenken des Armes FIG II 4 und Drehen des Fußes FIG II 5 transportiert der Automat das Werkstück über das Schalterfeld FIG II 6, wo er es ablegt. Der an das Schalterfeld angeschlossene Computer analysiert die Lage des Werkstückes und gibt dem Schwenkarm Steuerimpulse, so daß dieser das Werkstück an einer genau vorberechneten Stelle aufnimmt. Durch Drehung des Magnetkopfes und Einfahren oder Ausfahren des Teiles FIG II 8 des Schwenkarmes FIG II 4 wird das Werkstück in Sollage gebracht. Dann wird es genau über den Behälter FIG II 7 gefahren und hierin fallen gelassen, so daß es nur in der gewünschten Lage hier gestapelt wird. Sollten falsche oder fehlerhafte Werkstücke auf dem Schalterfeld FIG II 6 liegen, werden diese vom Computer erkannt. Er steuert dann den Schwenkarm mit dem Werkstück nicht über den Behälter FIG II 7, sondern einen anderen Behälter FIG II 9. Die Werkstücke werden also nicht nur gezielt und in richtiger Lage abgelegt, sondern auf Form geprüft und eventuell sortiert.FIG. II shows, for example, an automatic sorting machine operating with this method. In the box FIG II 1 are the workpieces. FIG II 2 is a magnet that the workpiece FIG II 3 receives. By swiveling up the arm FIG II 4 and turning of the foot FIG II 5, the machine transports the workpiece over the switch panel FIG II 6, where he puts it. The computer connected to the switch panel analyzes the position of the workpiece and gives the swivel arm control pulses so that it does Pick up workpiece at a precisely precalculated point. By rotating the magnetic head and retracting or extending the Part FIG II 8 of the swivel arm FIG II 4 the workpiece is brought into the desired position. Then it will be right over the container FIG II 7 driven and dropped therein so that it is only in the desired location is stacked here. Should wrong or faulty workpieces on the switch panel FIG II 6 lie, these are recognized by the computer. He then controls the swivel arm with the workpiece not over the container FIG II 7, but another container FIG II 9. The workpieces are not only placed in a targeted manner and in the correct position, but checked for shape and possibly sorted.

Claims (3)

PatentansprücheClaims 1. Anordnung und Verfahren gek. dadurch, daß zum Erkennen der räumlichen Lage und Beschaffenheit von Werkstücken oder ähnlichem eine mit zahlreichen Schaltern versehene Platte gegen das Werkstück gedrückt wird oder das Werkstück auf eine mit zahlreichen Schaltern versehene Platte gelegt wird und die Schalterstellungen elektronisch analysiert werden.1. Arrangement and method gek. Characterized that to recognize the spatial Position and condition of workpieces or the like one with numerous switches provided plate is pressed against the workpiece or the workpiece on a with Numerous switches provided plate is placed and the switch positions electronically to be analyzed. 2. Anordnung gemäß Anspruch 1 gek. dadurch, daß anstelle der Schalter Fühler mit angeschlossenen Meßgeräten wie Drehmelder, Potentiometer u. ä. verwendet werden, um durch die unterschiedliche Verschiebung der Fühler auch die räumliche Beschaffenheit eines Werkstückes abtasten zu können.2. Arrangement according to claim 1, characterized in that instead of the switch Sensors are used with connected measuring devices such as resolvers, potentiometers and the like due to the different displacement of the feelers also the spatial To be able to scan the nature of a workpiece. 3. Anordnung und Verfahren gemäß Anspruch 1 und 2 gek.3. Arrangement and method according to claim 1 and 2 gek. dadurch, daß zum Sortieren und/oder genauen Positionieren von Werkstücken ein computergesteuerter Roboter in Verbindung mit einem Schalterfeld oder Meßinstrumentenfeld verwendet wird. in that for sorting and / or precise positioning of workpieces a computer-controlled robot in connection with a switch panel or measuring instrument panel is used. L e e r s e i t eL e r s e i t e
DE2430059A 1974-06-22 1974-06-22 Workpiece state and position recognition device - has plate with large number of switches to which workpiece is pressed Pending DE2430059A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE2430059A DE2430059A1 (en) 1974-06-22 1974-06-22 Workpiece state and position recognition device - has plate with large number of switches to which workpiece is pressed

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2430059A DE2430059A1 (en) 1974-06-22 1974-06-22 Workpiece state and position recognition device - has plate with large number of switches to which workpiece is pressed

Publications (1)

Publication Number Publication Date
DE2430059A1 true DE2430059A1 (en) 1976-01-08

Family

ID=5918732

Family Applications (1)

Application Number Title Priority Date Filing Date
DE2430059A Pending DE2430059A1 (en) 1974-06-22 1974-06-22 Workpiece state and position recognition device - has plate with large number of switches to which workpiece is pressed

Country Status (1)

Country Link
DE (1) DE2430059A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2854563A1 (en) * 1978-12-18 1980-06-26 Baldus Helmut Checking method for external profiles of mass produced workpieces - using adjustable needles with electrical contacts and common pressure bar
DE19823059A1 (en) * 1998-05-22 1999-11-25 Klaus Eden Method to detect spatial position of object on surface

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2854563A1 (en) * 1978-12-18 1980-06-26 Baldus Helmut Checking method for external profiles of mass produced workpieces - using adjustable needles with electrical contacts and common pressure bar
DE19823059A1 (en) * 1998-05-22 1999-11-25 Klaus Eden Method to detect spatial position of object on surface
DE19823059C2 (en) * 1998-05-22 2000-11-30 Klaus Eden Method and device for detecting the spatial position of a body with an asymmetrical magnetic field distribution and system in such a device

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