CN115038663B - 夹持装置以及层叠装置 - Google Patents

夹持装置以及层叠装置

Info

Publication number
CN115038663B
CN115038663B CN202080095444.1A CN202080095444A CN115038663B CN 115038663 B CN115038663 B CN 115038663B CN 202080095444 A CN202080095444 A CN 202080095444A CN 115038663 B CN115038663 B CN 115038663B
Authority
CN
China
Prior art keywords
clamping
tire
sensor
pair
cargo
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
CN202080095444.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN115038663A (zh
Inventor
铃木崇仁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Murata Machinery Ltd
Original Assignee
Murata Machinery 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 Murata Machinery Ltd filed Critical Murata Machinery Ltd
Publication of CN115038663A publication Critical patent/CN115038663A/zh
Application granted granted Critical
Publication of CN115038663B publication Critical patent/CN115038663B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • 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
    • B65G47/905—Control arrangements
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/16—Stacking of articles of particular shape
    • B65G57/20—Stacking of articles of particular shape three-dimensional [3D], e.g. cubiform or cylindrical
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/30—Stacking of articles by adding to the bottom of the stack
    • B65G57/301—Stacking of articles by adding to the bottom of the stack by means of reciprocatory or oscillatory lifting and holding or gripping devices
    • B65G57/303—Stacking of articles by adding to the bottom of the stack by means of reciprocatory or oscillatory lifting and holding or gripping devices the stack being lowered by mobile grippers or holders onto added articles
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • B66C1/10—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 mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • B66C1/445—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated
    • 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
    • B66C1/10—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 mechanical means
    • B66C1/62—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 mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Program control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C5/00—Base supporting structures with legs
    • B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
    • B29D30/00—Producing pneumatic or solid tyres or parts thereof
    • B29D30/0016—Handling tyres or parts thereof, e.g. supplying, storing, conveying
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0273—Tires
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/044—Optical
    • 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
    • B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
    • B65G2814/03—Loading or unloading means
    • B65G2814/0301—General arrangements
    • B65G2814/0304—Stacking devices
    • B65G2814/0305—Adding to the top

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Tyre Moulding (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
CN202080095444.1A 2020-02-06 2020-09-16 夹持装置以及层叠装置 Active CN115038663B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020018905 2020-02-06
JP2020-018905 2020-02-06
PCT/JP2020/035017 WO2021157117A1 (ja) 2020-02-06 2020-09-16 挟持装置及び段積み装置

Publications (2)

Publication Number Publication Date
CN115038663A CN115038663A (zh) 2022-09-09
CN115038663B true CN115038663B (zh) 2025-10-31

Family

ID=77199812

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080095444.1A Active CN115038663B (zh) 2020-02-06 2020-09-16 夹持装置以及层叠装置

Country Status (7)

Country Link
US (1) US11858755B2 (https=)
EP (1) EP4101804A4 (https=)
JP (1) JP7276520B2 (https=)
KR (1) KR102682380B1 (https=)
CN (1) CN115038663B (https=)
TW (1) TWI840651B (https=)
WO (1) WO2021157117A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7192960B2 (ja) * 2019-02-19 2022-12-20 村田機械株式会社 搬送システム
JP7448040B2 (ja) * 2021-01-21 2024-03-12 村田機械株式会社 タイヤ搬送装置
CN116142957B (zh) * 2023-04-21 2023-07-04 河南钰润建筑工程有限公司 一种预制柱吊装装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201012864Y (zh) * 2007-03-12 2008-01-30 江苏天奇物流系统工程股份有限公司 轮胎堆垛机
CN202967877U (zh) * 2012-12-12 2013-06-05 武汉钢铁(集团)公司 卧卷夹钳防夹伤装置
CN113348143A (zh) * 2019-02-19 2021-09-03 村田机械株式会社 输送系统

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JPS59353B2 (ja) * 1980-07-24 1984-01-06 ファナック株式会社 把持装置
US4507078A (en) * 1983-03-28 1985-03-26 Silicon Valley Group, Inc. Wafer handling apparatus and method
USH65H (en) * 1983-05-27 1986-05-06 At&T Bell Laboratories Dynamic optical sensing: Robotic system and manufacturing method utilizing same
JPH072530B2 (ja) * 1984-07-25 1995-01-18 株式会社ブリヂストン タイヤの段積み装置
JPS6171302A (ja) * 1984-09-14 1986-04-12 Toshiba Corp ロボットハンド用近接センサ装置
JPS61176187U (https=) * 1985-04-22 1986-11-04
US4849643A (en) * 1987-09-18 1989-07-18 Eaton Leonard Technologies Optical probe with overlapping detection fields
US5008555A (en) * 1988-04-08 1991-04-16 Eaton Leonard Technologies, Inc. Optical probe with overlapping detection fields
US5177563A (en) * 1989-02-01 1993-01-05 Texas A&M University System Method and apparatus for locating physical objects
JP3734607B2 (ja) * 1997-08-01 2006-01-11 本田技研工業株式会社 タイヤの位置決め搬送装置
JPH11228070A (ja) * 1998-02-19 1999-08-24 Murata Mach Ltd 天井走行車
JP2000247569A (ja) * 1999-03-01 2000-09-12 Nkk Corp 金属帯コイル運搬用リフタ−
TW558058U (en) * 2002-05-03 2003-10-11 Nanya Technology Corp Wafer carrying apparatus
US8078315B2 (en) * 2008-05-08 2011-12-13 Cascade Corporation Control system for a load handling clamp
US9310791B2 (en) * 2011-03-18 2016-04-12 Siemens Healthcare Diagnostics Inc. Methods, systems, and apparatus for calibration of an orientation between an end effector and an article
EP2832676B1 (en) * 2013-07-29 2016-10-19 Siemens Aktiengesellschaft Blade gripping device
JP2015119066A (ja) * 2013-12-19 2015-06-25 株式会社安川電機 検出システムおよび検出方法
JP6270595B2 (ja) * 2014-04-01 2018-01-31 鈴鹿エンヂニヤリング株式会社 ベールゴムの吊り揚げ搬送方法及びその装置
JP6256702B2 (ja) * 2014-12-25 2018-01-10 株式会社ダイフク 物品搬送用容器昇降搬送装置
JP2019028010A (ja) * 2017-08-03 2019-02-21 株式会社ミツトヨ パイプ測定装置
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Publication number Priority date Publication date Assignee Title
CN201012864Y (zh) * 2007-03-12 2008-01-30 江苏天奇物流系统工程股份有限公司 轮胎堆垛机
CN202967877U (zh) * 2012-12-12 2013-06-05 武汉钢铁(集团)公司 卧卷夹钳防夹伤装置
CN113348143A (zh) * 2019-02-19 2021-09-03 村田机械株式会社 输送系统

Also Published As

Publication number Publication date
CN115038663A (zh) 2022-09-09
TW202134163A (zh) 2021-09-16
US20230109072A1 (en) 2023-04-06
JP7276520B2 (ja) 2023-05-18
WO2021157117A1 (ja) 2021-08-12
TWI840651B (zh) 2024-05-01
KR102682380B1 (ko) 2024-07-04
US11858755B2 (en) 2024-01-02
EP4101804A1 (en) 2022-12-14
EP4101804A4 (en) 2024-02-28
KR20220136415A (ko) 2022-10-07
JPWO2021157117A1 (https=) 2021-08-12

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