Patent ID: 9002507
Filing Date: 2015-04-07
Classification: B25J,G05B

Abstract:
1. An apparatus for automated detection and removal of workpieces, comprising: an object recognition device for detecting the workpieces; a gripper for gripping the workpieces; and a control for evaluating data of the object recognition device, track planning for the gripper, and controlling the gripper, wherein the object recognition device is arranged at a travel arrangement by which it can be traveled from a rest position into at least one measuring position where it carries out a measurement and then traveled back into the rest position after the measurement, wherein in the rest position, the object recognition device is located outside of a collision region with the gripper, such that no collisions arise between the object recognition device and the gripper in the rest position of the object recognition device, wherein in the at least one measuring position, the object recognition device is located within the collision region with the gripper, and wherein movement of the object recognition device is synchronized with movement of the gripper in order to avoid a collision between the gripper and the object recognition device while the object recognition device is located within the collision region.