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 pressedInfo
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/28—Measuring 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
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)
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)
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 |
-
1974
- 1974-06-22 DE DE2430059A patent/DE2430059A1/en active Pending
Cited By (3)
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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Legal Events
Date | Code | Title | Description |
---|---|---|---|
OHJ | Non-payment of the annual fee |