PL3002102T3 - Robot rozładowujący, mający funkcję rozpoznawania ciężaru wtryśniętego materiału - Google Patents

Robot rozładowujący, mający funkcję rozpoznawania ciężaru wtryśniętego materiału

Info

Publication number
PL3002102T3
PL3002102T3 PL14859009T PL14859009T PL3002102T3 PL 3002102 T3 PL3002102 T3 PL 3002102T3 PL 14859009 T PL14859009 T PL 14859009T PL 14859009 T PL14859009 T PL 14859009T PL 3002102 T3 PL3002102 T3 PL 3002102T3
Authority
PL
Poland
Prior art keywords
function
injected material
unloading robot
sensing weight
sensing
Prior art date
Application number
PL14859009T
Other languages
English (en)
Inventor
Eung-ha JANG
Original Assignee
Hanyang Robotics Co. Ltd.
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 Hanyang Robotics Co. Ltd. filed Critical Hanyang Robotics Co. Ltd.
Publication of PL3002102T3 publication Critical patent/PL3002102T3/pl

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B29C45/7686—Measuring, controlling or regulating the ejected articles, e.g. weight control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/52—Weighing apparatus combined with other objects, e.g. furniture
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G21/00—Details of weighing apparatus
    • G01G21/22—Weigh pans or other weighing receptacles; Weighing platforms
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G23/00—Auxiliary devices for weighing apparatus
    • G01G23/06—Means for damping oscillations, e.g. of weigh beams
    • G01G23/10—Means for damping oscillations, e.g. of weigh beams by electric or magnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76003—Measured parameter
    • B29C2945/7613—Weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76177—Location of measurement
    • B29C2945/7624—Ejection unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76177—Location of measurement
    • B29C2945/76314—Auxiliary devices
    • B29C2945/76317—Auxiliary devices robots, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76344—Phase or stage of measurement
    • B29C2945/76421—Removing or handling ejected articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C37/00—Component parts, details, accessories or auxiliary operations, not covered by group B29C33/00 or B29C35/00
    • B29C37/0003—Discharging moulded articles from the mould
    • B29C37/0017—Discharging moulded articles from the mould by stripping articles from mould cores
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/40—Removing or ejecting moulded articles
    • B29C45/4005—Ejector constructions; Ejector operating mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
    • B29C48/25—Component parts, details or accessories; Auxiliary operations
    • B29C48/92—Measuring, controlling or regulating

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)
  • Manipulator (AREA)
  • Measurement Of Force In General (AREA)
  • Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
PL14859009T 2013-10-30 2014-06-16 Robot rozładowujący, mający funkcję rozpoznawania ciężaru wtryśniętego materiału PL3002102T3 (pl)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20130129733 2013-10-30
KR20140072468 2014-06-13
EP14859009.4A EP3002102B1 (en) 2013-10-30 2014-06-16 Unloading robot having function of sensing weight of injected material
PCT/KR2014/005235 WO2015064880A1 (ko) 2013-10-30 2014-06-16 사출물의 무게감지기능을 구비한 취출로봇

Publications (1)

Publication Number Publication Date
PL3002102T3 true PL3002102T3 (pl) 2018-07-31

Family

ID=53004445

Family Applications (1)

Application Number Title Priority Date Filing Date
PL14859009T PL3002102T3 (pl) 2013-10-30 2014-06-16 Robot rozładowujący, mający funkcję rozpoznawania ciężaru wtryśniętego materiału

Country Status (6)

Country Link
US (1) US9333689B2 (pl)
EP (1) EP3002102B1 (pl)
CN (1) CN105246664B (pl)
PL (1) PL3002102T3 (pl)
TR (1) TR201809664T4 (pl)
WO (1) WO2015064880A1 (pl)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2908038B1 (en) * 2014-02-13 2020-04-01 Airbus Operations GmbH A method and a robotic system for the attachment of an arrangement
KR101641164B1 (ko) * 2014-11-25 2016-07-20 유도스타자동화 주식회사 중량측정장치를 갖춘 다관절 로봇
KR101623455B1 (ko) * 2014-11-25 2016-05-23 유도스타자동화 주식회사 사출 금형 취출로봇의 불량 측정 장치
JP6438525B1 (ja) * 2017-05-26 2018-12-12 ファナック株式会社 物品の重さを測定する重さ測定システムおよび方法
CN107195854B (zh) * 2017-07-03 2023-07-14 包头昊明稀土新电源科技有限公司 水系动力电池注液工艺及装置
CA3109477A1 (en) * 2017-12-24 2019-06-27 Shekel Scales (2008) Ltd Planar load cell assembly
EP3818345A4 (en) 2018-05-16 2022-03-09 Shekel Scales (2008) Ltd. WEIGHING UNITS AND ARRANGEMENTS USING THEM
IL279075B2 (en) 2018-06-06 2024-05-01 Shekel Scales 2008 Ltd Systems and methods for weighing products on a shelf
IT201800006114A1 (it) * 2018-06-07 2019-12-07 Metodo per la manipolazione ed il controllo di prodotti o di materia prima in blocchi o lastre
WO2020003221A1 (en) 2018-06-28 2020-01-02 Shekel Scales (2008) Ltd Systems and methods for weighing products on a shelf
CN111268423B (zh) * 2018-12-04 2021-10-19 菜鸟智能物流控股有限公司 物流对象的真空吸具装置
CN110978023A (zh) * 2019-12-24 2020-04-10 宁波奥克斯电气股份有限公司 夹爪装置及机械手
CN111496760B (zh) * 2020-03-23 2021-08-31 北京全路通信信号研究设计院集团有限公司 一种机器人、其控制方法和使用其测量夹持物质量的方法
KR20220105072A (ko) * 2021-01-19 2022-07-26 주식회사 한화 개선된 암 구조를 구비하는 협동 로봇 및 그 제어방법
CN112977951A (zh) * 2021-02-23 2021-06-18 于艳杰 一种基于颜色识别的物料搬运机器人
CN113843994B (zh) * 2021-08-23 2023-05-26 西诺控股集团有限公司 一种基于注塑成型产品克重的智能注塑机控制***及方法
JP6978631B1 (ja) * 2021-09-21 2021-12-08 株式会社ユーシン精機 成形品取出機、成形品取出機の把持部の質量推定方法及び成形品取出方法
CN114029986B (zh) * 2021-11-22 2024-06-18 中国矿业大学 一种多指协同式末端搬运执行器

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JPH0631667A (ja) * 1992-07-21 1994-02-08 Hitachi Ltd 産業用ロボット
JPH07178688A (ja) * 1993-12-22 1995-07-18 Mazda Motor Corp 産業用ロボット装置
JPH0894424A (ja) * 1994-09-26 1996-04-12 Tohoku Munekata Kk 重量測定装置
KR0175757B1 (ko) * 1996-05-17 1999-05-15 배순훈 로드 셀을 이용한 제품의 중량검사장치
JP3753082B2 (ja) * 2002-02-27 2006-03-08 株式会社島津製作所 はかり
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US9723866B2 (en) * 2004-08-11 2017-08-08 Cornell University System and method for solid freeform fabrication of edible food
JP4516535B2 (ja) * 2006-02-13 2010-08-04 東洋機械金属株式会社 溶融金属成形装置
KR200470230Y1 (ko) * 2008-06-05 2013-12-04 (주)신영프레시젼 금속부재삽입 사출물용 수직형 사출성형시스템
KR20100065950A (ko) 2008-12-09 2010-06-17 엘아이지에이디피 주식회사 불량 램프 취출장치
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JP5977971B2 (ja) * 2012-03-19 2016-08-24 株式会社イシダ 質量測定装置

Also Published As

Publication number Publication date
US20150314507A1 (en) 2015-11-05
US9333689B2 (en) 2016-05-10
EP3002102A1 (en) 2016-04-06
EP3002102B1 (en) 2018-04-11
CN105246664A (zh) 2016-01-13
TR201809664T4 (tr) 2018-07-23
CN105246664B (zh) 2018-01-02
EP3002102A4 (en) 2017-03-29
WO2015064880A1 (ko) 2015-05-07

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