METHOD AND INSTALLATION FOR CONSTITUTING A BATCH OF PARTS FROM PARTS LOCATED IN DIFFERENT STORAGE AREAS

摘要

Method of automatically constituting, by means of a polyarticulated system (7) secured to at least one vision system (2), at least one batch of pieces (6) in a receiving zone (10) from of parts located in at least two different storage areas (5, 13), said polyarticulate system comprising at least two separate gripping members, each capable of gripping a part (6) by at least one specific gripping area. According to the invention, the method comprises at least the steps of: - automatically moving the polyarticulate system (7) to a first storage area (5, 13) and: (i) capturing an image of the storage area ( 5, 13) by means of the vision system (2); (ii) processing the information resulting from the image and identifying all the gripping zones of the parts (6) compatible with the gripping members; (iii) locate, in position and orientation, the identified catchment areas; (iv) choosing the gripping zone that has the best chance of being grasped by a gripping member and which presents no collision stress, and automatically calculating, for said corresponding gripping member, a gripping trajectory of the piece by the chosen catch area; (v) gripping the corresponding piece (6) according to the calculated trajectory, and automatically moving the polyarticulate system (7) to the receiving area (10) to deposit said piece (6) therein; - Move automatically the polyarticulate system (7) to a second storage area (5, 13) and perform steps (i) to (v) again.