Article transfer device
申请(专利)号： DE202410212531
专利号： DE102024212531B
4 主分类号： B25J9/16 申请权利人： FANUC
CORPORATION 公开国代码： DE 优先权国家： JP
摘 要：
Article transfer device comprising: at least one robot (10) which is designed to carry out a workpiece removal process in relation to a conveyor device (100) for transferring a plurality of workpieces (W); an image recording device (30) which is designed to successively image receiving the workpieces (W) on the conveying device (100); a workpiece identification means (24c) which is designed to carry out workpiece recognition in the images recorded by the image recording device (30); a workpiece information storage device (24) which is designed to in order to store workpiece information on a position and an angle of each detected workpiece (W) when the workpiece recognition has been carried out by the workpiece identification means (24c); an identical workpiece determination means (24e) which is adapted to store the workpiece information of each of the detected Workpieces (W) in a newly captured image, e.g. u which the
workpiece determination is carried out, to
申请日： 2024-07-27 公开公告日： 2024-09-10
分类号： B25J9/16
发明设计人： TAIKI KATAGARI;
MASAFUMI OOBA; KENTARO KOGA 申请国代码： DE
优先权： 20170803 JP 2017-150629
摘 要 附 图：
compare each of the recorded workpieces (W) in at least one of the previously
recorded images for which the workpiece determination is carried out with the workpiece information, in order to determine whether one or more of the recorded workpieces (W) which are
identical to the detected workpieces (W) in the at least one previously recorded image that are present in the newly
recorded image; a workpiece information selection means (24f) which is designed to make a selection with respect to at least one recorded workpiece (W) which has been determined to be identical by the identical workpiece determining means (24e) to store in the workpiece information storage device (24) only one of the workpiece information relating to the newly captured image and the
workpiece information relating to the at least one of the previously captured
images , the workpiece information to be stored closer to predetermined mmth
reference information lies; an interference area setting means (24g) which is
designed to set an interference area (IA) for each of the detected workpieces (W) in each of the images; and an
interference area determining means (24h) which is designed to determine whether or not the interference area (IA) of the respective detected workpiece (W) interferes with a contour of another detected workpiece (W), the robot (10) performing the workpiece removal process not carried out for detected
workpieces (W) for which a fault has been determined by the interference range determination means (24h). 主权项：
Artikeltransfervorrichtung, umfassend:
wenigstens einen Roboter (10), der dazu ausgebildet ist, eine
Article transfer device
