DE102005014863A1 - Handling device for taking up and conveying loads e.g. bottles, in packaging process, has each linkage supporting prop formed of round pipe of lightweight, high-strength material such as carbon fiber material - Google Patents
Handling device for taking up and conveying loads e.g. bottles, in packaging process, has each linkage supporting prop formed of round pipe of lightweight, high-strength material such as carbon fiber material Download PDFInfo
- Publication number
- DE102005014863A1 DE102005014863A1 DE200510014863 DE102005014863A DE102005014863A1 DE 102005014863 A1 DE102005014863 A1 DE 102005014863A1 DE 200510014863 DE200510014863 DE 200510014863 DE 102005014863 A DE102005014863 A DE 102005014863A DE 102005014863 A1 DE102005014863 A1 DE 102005014863A1
- Authority
- DE
- Germany
- Prior art keywords
- strut
- piece
- struts
- support
- lifting head
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
- B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
Abstract
Description
Die Erfindung betrifft eine Vorrichtung zur Handhabung von Lasten, insbesondere zum Aufnehmen und Fördern von Gegenständen in der Verpackungstechnik, mit einem Handhabungsgestänge aus mehreren schwenkbaren Streben bzw. Armen, an deren einem Ende ein Hubkopf zum Erfassen und Halten von Gegenständen angebracht ist.The The invention relates to a device for handling loads, in particular for recording and conveying of objects in packaging technology, with a handling linkage a plurality of pivotable struts or arms, at one end of a Lifting head is mounted for detecting and holding objects.
Derartige "Pick-and-Place"-Roboter werden vorwiegend in der Verpackungsindustrie eingesetzt. Der Hubkopf ist so ausgebildet, dass automatisch Gegenstände bzw. eine Gruppe von Gegenständen erfasst, angehoben, gefördert und in einem Verpackungsbehälter abgesetzt werden. Der Einsatz derartiger Handhabungsgeräte erfordert kurze Arbeitstakte und damit hohe Bewegungsgeschwindigkeiten der Organe, insbesondere der Streben bzw. Arme.Such "pick-and-place" robots become predominantly used in the packaging industry. The lifting head is designed that automatically objects or a group of objects, raised, promoted and in a packaging container be dropped off; be discontinued; be deducted; be dismissed. The use of such handling equipment requires short work cycles and thus high movement speeds of Organs, in particular the struts or arms.
Der Erfindung liegt die Aufgabe zugrunde, ein derartiges Handhabungsgerät so auszubilden, dass bei kurzen Arbeitstakten, also hohen Geschwindigkeiten der bewegbaren Organe, ein präziser Bewegungsablauf gewährleistet ist.Of the Invention is based on the object, such a handling device in such a way that at short power strokes, so high speeds of the movable Organs, a precise one Movement guaranteed is.
Zur Lösung dieser Aufgabe ist die erfindungsgemäße Vorrichtung dadurch gekennzeichnet, dass die Streben bzw. Arme als Hohlkörper, insbesondere als runde Rohre ausgebildet sind und aus hochfestem Material mit geringem Eigengewicht, insbesondere aus Kohlefasermaterial, bestehen.to solution This object is the device according to the invention characterized in that the struts or arms as hollow bodies, are designed in particular as round tubes and made of high-strength Low-weight material, especially carbon fiber material, consist.
Der Erfindung liegt die Erkenntnis zugrunde, dass die bewegbaren und belasteten Organe, nämlich insbesondere die durch die Lasten beanspruchten Arme oder Streben, eine hohe mechanische Belastbarkeit einerseits und ein sehr geringes Eigengewicht andererseits aufweisen sollten. Das geringe Eigengewicht verringert die zu bewegenden Massen.Of the Invention is based on the finding that the movable and burdened organs, namely in particular the arms or struts stressed by the loads, a high mechanical load on the one hand and a very low Self-weight should have on the other hand. The low weight reduces the masses to be moved.
Die erfindungsgemäß aus Kohlefasermaterial bestehenden Rohre sind an ihren Enden mit Verbindungs- bzw. Kupplungsstücken aus geeignetem Material, insbesondere aus Aluminium, versehen. Kupplungsstücke einerseits und Streben andererseits sind in der Weise miteinander verbunden, dass die Kupplungsstücke Endbereiche der Rohre außen umfassen. Die Rohre sind durch Klebung oder auf ähnliche Weise mit den Kupplungsstücken verbunden.The According to the invention of carbon fiber material existing tubes are at their ends with connecting or coupling pieces suitable material, in particular made of aluminum. Couplings on the one hand and struts, on the other hand, are interconnected that the coupling pieces Include end portions of the tubes outside. The pipes are connected by gluing or in a similar way to the coupling pieces.
Die besondere Ausführung des Handhabungsgerätes besteht aus zwei konvergierend angeordneten Tragstreben, die einerseits gelenkig mit dem Hubkopf bzw. mit einem Tragstück desselben und andererseits mit gesteuert schwenkbaren Betätigungsorganen verbunden sind. Des Weiteren ist eine Ausgleichsstrebe zur Gewährleistung einer bestimmten, insbesondere horizontal gerichteten Relativstellung des Hubkopfes ebenfalls als Rohr aus Kohlefasermaterial ausgebildet.The special design of the handling device consists of two converging arranged support struts, on the one hand articulated with the lifting head or with a support piece thereof and on the other hand with controlled pivoting actuators are connected. Furthermore, a compensation strut to ensure a particular, in particular horizontally directed relative position the lifting head also designed as a pipe made of carbon fiber material.
Eine weitere Besonderheit besteht darin, dass über die Ausgleichsstrebe unterschiedliche Relativstellungen des Hubkopfes durch einen Zwischenarm möglich sind.A Another special feature is that on the balance strut different Relative positions of the lifting head by an intermediate arm are possible.
Weitere Einzelheiten der Erfindung werden nachfolgend anhand von in den Zeichnungen dargestellten Ausführungsbeispielen des Handhabungsgerätes erläutert. Es zeigt:Further Details of the invention are described below with reference to the Drawings illustrated embodiments of the handling device explained. It shows:
Das
in den Zeichnungen dargestellte Ausführungsbeispiel eines Pick-and-Place-Roboters dient zur
Aufnahme von Lasten in der Verpackungstechnik. Bei dem konkreten
Beispiel wird eine Gruppe von Gegenständen
Das
ortsfest installierte Handhabungsgerät besteht aus einem bewegbaren
Gestänge
Andere
Enden der Tragstreben
Zu
dem Gestänge
Eine
Besonderheit sind Form und Material der Streben. Mindestens die
besonders belasteten Tragstreben
Eine
Besonderheit ist die Verbindung der Streben mit Beschlägen, insbesondere
Gelenkstücken.
Diese bestehen aus einem anderen Werkstoff, insbesondere aus (Guss-)Aluminium.
Vorzugsweise
sind beide Gelenkstücke
Die
oberen Gelenkstücke
Das
Tragstück
Für die Ausgleichsstrebe
Das
Kupplungsstück
Eine
weitere Besonderheit sind Ausgestaltung und Versorgung des Hubkopfes
Zur
Zuführung
von Saugluft zum Hubkopf
In
In
Zu
diesem Zweck ist die Verbindungsstrebe
Die
geometrische Form der Streben
Eine
weitere Besonderheit besteht darin, dass zur Verminderung der Masse
der belasteten Tragstreben
Das
Ausgleichsgetriebe mit Ausgleichsstrebe
In
Abweichung von den gezeigten Beispielen kann bei entsprechender
Bemessung einer Tragstrebe, insbesondere der Tragstrebe
- 1010
- Gegenstandobject
- 1111
- Zufördererfeeder
- 1212
- Traytray
- 1313
- Gestängelinkage
- 1414
- Hubkopflifting head
- 1515
- Tragstrebesupporting strut
- 1616
- Tragstrebesupporting strut
- 1717
- Tragstücksupporting piece
- 1818
- Verbindungsstückjoint
- 1919
- Gelenkjoint
- 2020
- Gelenkjoint
- 2121
- Betätigungsarmactuating arm
- 2222
- Betätigungsarmactuating arm
- 2323
- Schwenklagerpivot bearing
- 2424
- Schwenklagerpivot bearing
- 2525
- TragersTragers
- 2626
- Servomotorservomotor
- 2727
- Servomotorservomotor
- 2828
- Wellenzapfenshaft journal
- 2929
- Anschlagattack
- 3030
- Anschlagattack
- 3131
- Ausgleichsstrebebalance beam
- 3232
- Verbindungsarmconnecting arm
- 3333
- Übertragungsstücktransmission piece
- 3434
- Gelenkjoint
- 3535
- Gelenkjoint
- 3636
- Gelenkjoint
- 3737
- Verbindungsstrebeconnecting strut
- 3838
- Gelenkstückjoint piece
- 3939
- Anschlussstückconnector
- 4040
- KleberGlue
- 4141
- Schenkelleg
- 4242
- Schenkelleg
- 4343
- Stegweb
- 4444
- Stegweb
- 4545
- Kupplungsstückcoupling
- 4646
- Anschlussstückconnector
- 4747
- Endstücktail
- 4848
- StellstückDeputy piece
- 4949
- Gewindeschaftthreaded shaft
- 5050
- Muttermother
- 5151
- Gelenkaugejoint eye
- 5252
- SaughalterSuction cup
- 5353
- Versorgungsstrangsupply line
- 5454
- Halterungbracket
- 5555
- Kartoncarton
- 5656
- Zwischenarmintermediate arm
- 5757
- Drehlagerpivot bearing
Claims (12)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200510014863 DE102005014863A1 (en) | 2005-03-30 | 2005-03-30 | Handling device for taking up and conveying loads e.g. bottles, in packaging process, has each linkage supporting prop formed of round pipe of lightweight, high-strength material such as carbon fiber material |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200510014863 DE102005014863A1 (en) | 2005-03-30 | 2005-03-30 | Handling device for taking up and conveying loads e.g. bottles, in packaging process, has each linkage supporting prop formed of round pipe of lightweight, high-strength material such as carbon fiber material |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102005014863A1 true DE102005014863A1 (en) | 2006-10-05 |
Family
ID=36998862
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE200510014863 Withdrawn DE102005014863A1 (en) | 2005-03-30 | 2005-03-30 | Handling device for taking up and conveying loads e.g. bottles, in packaging process, has each linkage supporting prop formed of round pipe of lightweight, high-strength material such as carbon fiber material |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102005014863A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009089916A1 (en) * | 2008-01-18 | 2009-07-23 | Fundacion Fatronik | Two degree-of-freedom parallel manipulator |
DE102008019709A1 (en) * | 2008-04-18 | 2009-10-29 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Robot for moving and positioning goods to be packed for packaging machine, has robot arm with two arm sections, which are connected with each other by hinge |
CN103009377A (en) * | 2012-08-23 | 2013-04-03 | 杭州永创智能设备股份有限公司 | Mechanical hand |
DE102011115980A1 (en) | 2011-10-13 | 2013-04-18 | Weber Maschinenbau Gmbh Breidenbach | Robot used for displacing food product, has jacket that is provided along longitudinal extension to enclose inner portion of structural element made of fiber reinforced material |
CN107378925A (en) * | 2016-05-17 | 2017-11-24 | 湖南工业大学 | A kind of mechanical arm for shield machine tool changing |
DE102018006001A1 (en) * | 2018-07-28 | 2020-01-30 | Evgeniy Zharovsky | DELTA ROBOT WITH ACTIVE EFFECTOR TILT CONTROL |
US11713147B2 (en) | 2019-07-30 | 2023-08-01 | Anheuser-Busch Inbev S.A. | Article picking and treating apparatus |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3636462C2 (en) * | 1986-10-25 | 1991-09-19 | Oskar Frech Gmbh + Co, 7060 Schorndorf, De | |
EP1234642A1 (en) * | 2001-02-21 | 2002-08-28 | A + F Automation + Fördertechnik GmbH | Manipulator with two articulated arms |
DE202004017445U1 (en) * | 2004-11-10 | 2005-01-20 | Springer Gmbh | Device for joining operating element to performing element, comprising shaft and functional area made of different materials and glued together |
-
2005
- 2005-03-30 DE DE200510014863 patent/DE102005014863A1/en not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3636462C2 (en) * | 1986-10-25 | 1991-09-19 | Oskar Frech Gmbh + Co, 7060 Schorndorf, De | |
EP1234642A1 (en) * | 2001-02-21 | 2002-08-28 | A + F Automation + Fördertechnik GmbH | Manipulator with two articulated arms |
DE202004017445U1 (en) * | 2004-11-10 | 2005-01-20 | Springer Gmbh | Device for joining operating element to performing element, comprising shaft and functional area made of different materials and glued together |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009089916A1 (en) * | 2008-01-18 | 2009-07-23 | Fundacion Fatronik | Two degree-of-freedom parallel manipulator |
JP2011509837A (en) * | 2008-01-18 | 2011-03-31 | ファンダシオン ファトロニック | 2-DOF parallel manipulator |
DE102008019709A1 (en) * | 2008-04-18 | 2009-10-29 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Robot for moving and positioning goods to be packed for packaging machine, has robot arm with two arm sections, which are connected with each other by hinge |
DE102011115980A1 (en) | 2011-10-13 | 2013-04-18 | Weber Maschinenbau Gmbh Breidenbach | Robot used for displacing food product, has jacket that is provided along longitudinal extension to enclose inner portion of structural element made of fiber reinforced material |
CN103009377A (en) * | 2012-08-23 | 2013-04-03 | 杭州永创智能设备股份有限公司 | Mechanical hand |
CN107378925A (en) * | 2016-05-17 | 2017-11-24 | 湖南工业大学 | A kind of mechanical arm for shield machine tool changing |
DE102018006001A1 (en) * | 2018-07-28 | 2020-01-30 | Evgeniy Zharovsky | DELTA ROBOT WITH ACTIVE EFFECTOR TILT CONTROL |
US11713147B2 (en) | 2019-07-30 | 2023-08-01 | Anheuser-Busch Inbev S.A. | Article picking and treating apparatus |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
OM8 | Search report available as to paragraph 43 lit. 1 sentence 1 patent law | ||
R005 | Application deemed withdrawn due to failure to request examination |
Effective date: 20120331 |