CN101054149B - 吸爪 - Google Patents
吸爪 Download PDFInfo
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- CN101054149B CN101054149B CN2007101097019A CN200710109701A CN101054149B CN 101054149 B CN101054149 B CN 101054149B CN 2007101097019 A CN2007101097019 A CN 2007101097019A CN 200710109701 A CN200710109701 A CN 200710109701A CN 101054149 B CN101054149 B CN 101054149B
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- 210000000078 claw Anatomy 0.000 title abstract 3
- 238000007789 sealing Methods 0.000 claims abstract description 8
- 230000006698 induction Effects 0.000 claims description 9
- 238000012797 qualification Methods 0.000 claims description 2
- 238000005299 abrasion Methods 0.000 abstract description 4
- 239000002156 adsorbate Substances 0.000 abstract 3
- 239000004033 plastic Substances 0.000 description 4
- 229920003023 plastic Polymers 0.000 description 4
- 230000032683 aging Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035611 feeding Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
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Classifications
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- 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
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- 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
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H3/00—Separating articles from piles
- B65H3/08—Separating articles from piles using pneumatic force
- B65H3/0808—Suction grippers
- B65H3/0883—Construction of suction grippers or their holding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0212—Circular shape
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0293—Single lifting units; Only one suction cup
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Absorbent Articles And Supports Therefor (AREA)
- Inorganic Insulating Materials (AREA)
- Polishing Bodies And Polishing Tools (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
本发明涉及一种用以吸取工件的吸爪,它具有一个真空接口、一个弹性吸附体和一个吸附体保持座,其中,吸附体在其朝向工件的一侧具有限定吸气室边界的密封唇,吸气室与真空接口通流连接,其中,该吸爪具有指示磨损状况的装置,所述装置的颜色可变化。
Description
技术领域
本发明涉及一种用以吸取工件的吸爪,它具有一个真空接口、一个弹性吸附体和一个吸附体保持座,其中,吸附体在其朝向工件的一侧具有限定吸气室边界的密封唇,吸气室与真空接口通流连接。
背景技术
吸爪用于吸取物体或工件,以便以此方式固定和/或搬运它们。如果吸爪位于机械手上,则可以运送被吸取的物体。对此重要的是,正确地吸住物体并且吸气室内有足够高的真空度,以致物体被安全地固定住。使用真空度传感器来测定真空度,这些传感器设置在通向吸爪的真空管路中并将测得的值传送给机器控制系统,从而在达到所需的真空度时该控制系统将真空源关闭或者将真空管路阻断。如果没有达到该真空度,原因可能是吸爪损坏或者磨损,它必须更换。
发明内容
本发明的任务是,这样构造开始所述类型的吸爪,该吸爪一方面价格便宜,但另一方面能立即识别出它是否还具备完全的功能能力。
根据本发明,该任务通过一种用于吸取工件的吸爪解决,它具有一个真空接口、一个弹性的吸附体以及一个吸附体保持座,其中,吸附体在其朝向工件的一侧具有一个限定吸气室的边界的密封唇,该吸气室与真空接口通流连接,其中:该吸爪具有检测或指示磨损状况的 装置,所述装置的颜色可变化。
对于根据本发明的吸爪,不是在不再能达到一个真空度时才判定该吸爪、尤其是吸附体损坏,例如由于密封唇不再密封地封闭吸气室或由于吸附体变得多孔。而是提前就判定达到磨损极限,因为吸爪具有通过颜色变化来显示其磨损状态的装置。这样可以提前采取措施,使得可以在吸爪失效之前采取措施,而不会在吸取工件时发生功能故障,例如由于不能建立真空。指示磨耗的吸爪的磨损状况尤其是对于保持生产设备的安全性而言特别有利。
在一个实施例中,所述装置具有在吸爪被使用时磨耗或者磨损的元件。在该磨损元件上或者通过该磨损元件可提供识别或者指示磨损状况的可能性。在此该磨损元件例如承受磨耗,其中,该元件有利地安置在密封唇的区域内,也就是安置在作用在待抓取工件上或者贴靠在待抓取工件上的区域内。
有利的是,该磨损的元件具有一个具有另一种颜色的覆层。
有利的是,该磨损的元件由另一种或者另一种颜色的塑料构成和/或吸附体是一个双组份注塑件。
在另一实施例中,吸附体至少区段式地具有一个元件,该元件的颜色随着时间进展或者随着交变应力次数或者通过施加真空而变化。通过这种颜色变化能显示吸爪具有何种状况、尤其是何种磨损状况。例如可显示吸爪的老化或者显示吸爪是频繁使用还是很少使用或者显示在吸爪上是否作用了所需的真空从而是否可达到所需的吸力。
有利的是,所述元件为吸附体本身或吸附体的一部分。
附图说明
本发明其它的优点、特征和细节进一步的技术方案以及后面的说明中得出,在该说明中参考附图详细描述了特别有利的实施例。在此,在附图中描绘的以及在说明书和权利要求书中提到的特征分别可以单个地或任意组合地作为本发明实质。
附图中示出:
图1一个吸爪的横剖面。
图2一个具有变色材料的吸爪的示意图。
图3一个在一定真空下变色的吸爪的示意图。
具体实施方式
图1示出整体用10标记的吸爪的一个横剖面,在该图中用附图标记12标记吸附体保持座。该吸附体保持座具有例如设置有内螺纹16的真空接口14。吸附体保持座12的外侧设置有两个周向隆起18,弹性的吸附体20可靠地固定在其上。该吸附体20大致呈钟形构造且具有一个构造成密封唇22的环绕的下边缘。此外,吸附体20还具有一个与真空接口14连通的、中心的通孔24。通孔24通入被密封唇22围绕的吸气室26中,该密封唇座落到工件32的表面30上。
在图2至3中分别在右侧示出吸爪10的磨损后的状况。
图2示出了一个实施例,其中,吸附体20用颜色可变化的塑料制成,该颜色变化与时间相关。以这种方式可以与吸爪10的使用无关地指示其老化。也存在这样的可能性:吸爪10或者吸附体20设置有一个其颜色随时间变化的粘贴物44。该颜色变化例如可通过氧气作用或者紫外光作用引起。
在图3中,吸附体20的材料由着色的塑料构成,该塑料在一定真空度下改变其颜色。如果吸爪10未达到该真空度,则可根据未发生颜色变化推断出达到了磨损极限。用附图标记48标记在吸爪10内的存 在的真空度。
通过本发明吸爪10能够以简单的方式得知磨损极限并且可在达到磨损极限之前更换吸爪10。
Claims (2)
1.用于吸取工件(32)的吸爪(10),具有一个真空接口(14)、一个弹性的吸附体(20)以及一个吸附体保持座(12),其中,吸附体(20)在其朝向工件(32)的一侧具有一个限定吸气室(26)的边界的密封唇(22),该吸气室(26)与真空接口(14)通流连接,其中,该吸爪(10)具有检测或指示磨损状况的装置,所述装置的颜色可变化,其特征在于:吸附体(20)至少区段式地具有一个元件,该元件的颜色在时间进程中或者随负荷应力交变次数或者在施加真空后改变。
2.如权利要求1所述的吸爪,其特征在于:所述元件为吸附体(20)本身或吸附体(20)的一部分。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102006005872.0 | 2006-02-06 | ||
DE102006005872A DE102006005872B3 (de) | 2006-02-06 | 2006-02-06 | Sauggreifer |
Publications (2)
Publication Number | Publication Date |
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CN101054149A CN101054149A (zh) | 2007-10-17 |
CN101054149B true CN101054149B (zh) | 2011-08-10 |
Family
ID=37983336
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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CN2007101097019A Active CN101054149B (zh) | 2006-02-06 | 2007-02-06 | 吸爪 |
CNA2007100879131A Pending CN101015916A (zh) | 2006-02-06 | 2007-02-06 | 吸爪 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
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CNA2007100879131A Pending CN101015916A (zh) | 2006-02-06 | 2007-02-06 | 吸爪 |
Country Status (5)
Country | Link |
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US (2) | US20070187965A1 (zh) |
EP (2) | EP1826160B1 (zh) |
CN (2) | CN101054149B (zh) |
AT (2) | ATE525316T1 (zh) |
DE (3) | DE102006062692B4 (zh) |
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US6656019B1 (en) * | 2000-06-29 | 2003-12-02 | International Business Machines Corporation | Grooved polishing pads and methods of use |
DE10140248B4 (de) * | 2001-08-09 | 2006-09-28 | J. Schmalz Gmbh | Unterdruckhandhabungseinrichtung |
HK1053581A2 (en) * | 2002-08-01 | 2003-10-10 | Golden Peak Plastic Works Ltd | Suction-adhesive device |
US7270890B2 (en) * | 2002-09-23 | 2007-09-18 | Siemens Power Generation, Inc. | Wear monitoring system with embedded conductors |
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DE102005047385B4 (de) * | 2005-09-28 | 2008-04-03 | J. Schmalz Gmbh | Unterdrucksystem |
-
2006
- 2006-02-06 DE DE102006062692A patent/DE102006062692B4/de not_active Expired - Fee Related
- 2006-02-06 DE DE102006005872A patent/DE102006005872B3/de not_active Withdrawn - After Issue
-
2007
- 2007-01-26 EP EP07001686A patent/EP1826160B1/de active Active
- 2007-01-26 AT AT07001687T patent/ATE525316T1/de active
- 2007-01-26 AT AT07001686T patent/ATE405507T1/de not_active IP Right Cessation
- 2007-01-26 DE DE502007000079T patent/DE502007000079D1/de active Active
- 2007-01-26 EP EP07001687A patent/EP1816094B1/de active Active
- 2007-02-05 US US11/702,125 patent/US20070187965A1/en not_active Abandoned
- 2007-02-05 US US11/702,126 patent/US20070262598A1/en not_active Abandoned
- 2007-02-06 CN CN2007101097019A patent/CN101054149B/zh active Active
- 2007-02-06 CN CNA2007100879131A patent/CN101015916A/zh active Pending
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US3261388A (en) * | 1961-11-30 | 1966-07-19 | Goodyear Tire & Rubber | Pneumatic tire |
CN86102911A (zh) * | 1985-04-26 | 1986-12-03 | 艾斯特勒科技公司 | 工业用真空夹持器 |
DE4128659A1 (de) * | 1990-09-06 | 1992-03-12 | Smc Kk | Saugnapf |
CN1626431A (zh) * | 2003-12-08 | 2005-06-15 | 高德斯密特磁性系统Bv公司 | 用于夹持和提升例如板件的物体的夹持装置和提升设备 |
Also Published As
Publication number | Publication date |
---|---|
EP1816094B1 (de) | 2011-09-21 |
ATE525316T1 (de) | 2011-10-15 |
EP1816094A1 (de) | 2007-08-08 |
ATE405507T1 (de) | 2008-09-15 |
US20070262598A1 (en) | 2007-11-15 |
DE502007000079D1 (de) | 2008-10-02 |
DE102006005872B3 (de) | 2008-01-31 |
CN101015916A (zh) | 2007-08-15 |
CN101054149A (zh) | 2007-10-17 |
DE102006062692B4 (de) | 2008-08-21 |
US20070187965A1 (en) | 2007-08-16 |
EP1826160B1 (de) | 2008-08-20 |
DE102006062692A1 (de) | 2007-08-16 |
EP1826160A1 (de) | 2007-08-29 |
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