DE102007054867A1 - Workpiece i.e. cup, gripping device, has rolling module and suction module engaged at workpiece at same time or one after other, where suction module is formed from surface suction gripper - Google Patents
Workpiece i.e. cup, gripping device, has rolling module and suction module engaged at workpiece at same time or one after other, where suction module is formed from surface suction gripper Download PDFInfo
- Publication number
- DE102007054867A1 DE102007054867A1 DE200710054867 DE102007054867A DE102007054867A1 DE 102007054867 A1 DE102007054867 A1 DE 102007054867A1 DE 200710054867 DE200710054867 DE 200710054867 DE 102007054867 A DE102007054867 A DE 102007054867A DE 102007054867 A1 DE102007054867 A1 DE 102007054867A1
- Authority
- DE
- Germany
- Prior art keywords
- module
- workpiece
- suction
- gripping device
- rolling
- 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.)
- Ceased
Links
Classifications
-
- 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
-
- 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
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
-
- 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/023—De-stacking from the top of the stack by means insertable between the stacked articles or layers
-
- 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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Die Erfindung betrifft eine Greifvorrichtung zum Ergreifen, Anheben und Transportieren von Werkstücken.The The invention relates to a gripping device for gripping, lifting and transporting workpieces.
Derartige Greifvorrichtungen sind in den unterschiedlichsten Ausführungsformen bekannt. Sie dienen zum manuellen oder insbesondere zum automatischen Greifen von Werkstücken, die dann kraftunterstützt angehoben und transportiert werden können. So können Werkstücke kommissioniert, depalettiert, verpackt oder auf andere Weise gehandhabt werden. Insbesondere bei gestapelten Werkstücken können Probleme dann auftreten, wenn lediglich die oberste Lage ergriffen und angehoben werden soll. Hierfür werden mitunter Aufwälzgreifer verwendet, welche Wälzelemente in Form von Rollen, Rollen mit einem sich daran anschließenden Abstützblech oder keilförmige Laufbänder besitzen. Diese Aufwälzgreifer werden seitlich ans Werkstück herangeführt und das Wälzelement derart in Drehung versetzt, dass das Werkstück aufgrund der Reibungskräfte bis über das Wälzelement angehoben wird. Sodann fährt das Wälzelement unter das Werkstück und zieht dieses über sich. So kann zum Beispiel ein mit Bechern (Yoghurtbecher) bestücktes Tray (Dosen- oder Becherträger) angehoben und transportiert werden. Werkstückabhängig kann es jedoch vorkommen, dass das Aufnehmen des Werkstücks problematisch ist, insbesondere dann, wenn das Werkstück sehr labil ist.such Gripping devices are in a variety of embodiments known. They are used for manual or automatic Gripping workpieces, then the power supported can be lifted and transported. For example, workpieces can be picked, depalletised, packed or otherwise handled. Especially at Stacked workpieces can be problems occur when only the topmost layer is grasped and raised shall be. Therefor sometimes become rolling grippers uses which rolling elements in the form of rollers, rollers with an adjoining support plate or wedge-shaped Treadmills have. These rolling grippers become laterally to the workpiece brought and the rolling element rotated in such a way that the workpiece due to the frictional forces over the rolling is raised. Then it drives the rolling element under the workpiece and pull this over yourself. For example, a tray filled with cups (yoghurt cups) can be used (Can or cup carrier) be lifted and transported. Depending on the workpiece, however, it may happen that picking up the workpiece is problematic, especially if the workpiece is very is unstable.
Der Erfindung liegt daher die Aufgabe zugrunde, eine Greifvorrichtung bereitzustellen, mit welcher auch schwierig zu handhabende Werkstücke, insbesondere labile Werkstücke, welche übereinander gestapelt sind, einfacher aufzunehmen und zu handhaben sind.Of the The invention is therefore based on the object, a gripping device to provide, with which also difficult-to-handle workpieces, in particular unstable workpieces, which one above the other stacked, easier to pick up and handle.
Diese Aufgabe wird mit einer Greifvorrichtung zum Ergreifen, Anheben und Transportieren von Werkstücken gelöst, welche wenigstens ein am Werkstück angreifendes Aufwälzmodul sowie wenigstens ein zusätzlich am Werkstück angreifendes Saugmodul besitzt.These Task is with a gripping device for gripping, lifting and Transporting workpieces solved, which at least one on the workpiece attacking rolling module and at least one additional on the workpiece has attacking suction module.
Bei der erfindungsgemäßen Greifvorrichtung wird in vorteilhafter Weise der Greifvorgang des Aufwälzgreifers durch das Saugmodul unterstützt, indem das Werkstück nicht ausschließlich mittels des Aufwälzgreifers von einem darunter liegenden Werkstück selektiert, ergriffen, angehoben und transportiert wird. Das Saugmodul dient als unterstützende Einrichtung, wobei es insbesondere labile Werkstücke stabilisiert.at the gripping device according to the invention is Advantageously, the gripping operation of Aufwälzgreifers by the suction module support by the workpiece not exclusively by means of the rolling gripper selected from an underlying workpiece, taken, raised and transported. The suction module serves as a supporting device, whereby it stabilizes in particular labile workpieces.
Dabei kann das Saugmodul von einem Flächensauggreifer oder von einer Vielzahl einzelner, nebeneinander angeordneter Sauggreifer gebildet werden. Flächensauggreifer besitzen den Vorteil, dass sie nicht nur preiswert sondern auch aufgrund ihrer Saugmatte in sich relativ stabil sind und dadurch Werkstückeinzelteile relativ gut stabilisiert werden. Einzelne Sauggreifer besitzen den Vorteil, dass sie gezielt zu- oder abgeschaltet werden können, so dass der Luftverbrauch optimiert werden kann.there Can the suction module of a surface suction or a plurality of individual, juxtaposed suction pads be formed. area vacuum have the advantage that they are not only cheap but also due to their absorbent mat are relatively stable in itself and thereby workpiece items be stabilized relatively well. Individual suction pads own the Advantage that they can be selectively switched on or off, so that the air consumption can be optimized.
Bei einem besonders bevorzugten Ausführungsbeispiel greifen das Aufwälzmodul und das Saugmodul gleichzeitig am Werkstück an. Beide Module dienen zum Separieren einzelner Werkstücke, wobei das Saugmodul zusammen mit dem Werkstück verfahren wird.at a particularly preferred embodiment grab the rolling module and the suction module at the same time on the workpiece. Both modules are used for separating individual workpieces, wherein the suction module is moved together with the workpiece.
Die beiden Module können auch nacheinander am Werkstück angreifen, insbesondere wird das Werkstück mittels des Aufwälzmoduls separiert und an das Saugmodul herangeführt, so dass es dann nach dem Kontaktieren des Saugmoduls angesaugt und zusammen mit den beiden Modulen transportiert werden kann. Das Werkstück kann auch vom Saugmodul angesaugt und mittels dieses Saugmodul angehoben werden, so dass ein Aufwälzmodul unter das Werkstück greifen kann.The both modules can also successively on the workpiece attack, in particular, the workpiece by means of the rolling module separated and brought to the suction module, so that it then after the Contact the suction module sucked and together with the two Modules can be transported. The workpiece can also be from the suction module be sucked and lifted by means of this suction module, so that a rolling module under the workpiece can grab.
Um das Werkstück von einem Werkstückstapel zu separieren, können das Aufwälzmodul und das Saugmodul an der gleichen Seitenfläche des Werkstücks angreifen. Hierdurch ist sichergestellt, dass nach dem Ansaugen des Werkstücks dieses von den Wälzelementen des Aufwälzmoduls und vom Saugelement bewegt wird. Insbesondere bei labilen Werkstücken bietet diese Variante besondere Vorteile, da die bewegenden Kräfte von unterschiedlich arbeitenden Modulen aufgebracht werden, so dass zum Beispiel auch bei Werkstücken mit rauen Oberflächen, bei welchen die Wälzelemente aufgrund hoher Reibungskräfte relativ gut arbeiten, oder bei extrem glatten Oberflächen, welche optimal von Saugelementen angesaugt werden können, sehr gute Ergebnisse erzielt werden können. Insbesondere kann das Werkstück vom Saugmodul an das Wälzmodul herangezogen werden.Around the workpiece from a stack of workpieces to be able to separate the rolling module and attack the suction module on the same side surface of the workpiece. This ensures that after sucking the workpiece this from the rolling elements of the rolling module and is moved by the suction element. Especially for unstable workpieces offers This variant has special advantages, as the moving forces of be applied differently working modules, so that for example, also for workpieces with rough surfaces, at which the rolling elements due to high frictional forces work relatively well, or on extremely smooth surfaces, which can be sucked in optimally by suction elements, very good results can be achieved. In particular, the workpiece can from the suction module to the rolling module be used.
Eine Variante sieht vor, dass das Aufwälzmodul und das Saugmodul an gegenüberliegenden Seiten des Werkstücks oder an winklig zueinander stehenden Seiten angreifen. Dabei kann das Saugmodul auch als Gegenhalter für das Aufwälzmodul dienen, so dass Werkstück optimal aufgewälzt werden kann und nicht entweicht oder ausweicht.A Variant provides that the rolling module and the suction module on opposite Sides of the workpiece or attack at angled sides. It can The suction module also serve as a counterhold for the rolling module, so that workpiece optimally been circulated can be and does not escape or evade.
Bei einer Variante sind wenigstens zwei Saugmodule vorgesehen, die an unterschiedlichen, insbesondere nicht parallelen, zum Beispiel rechtwinklig zueinander stehenden Seiten, am Werkstück angreifen. Mittels dieser zwei Saugmodule können extrem labile Werkstücke in ihrer Form stabilisiert werden, so dass sie anschließend ohne Schwierigkeiten aufgewälzt werden können. Insbesondere kann das Saugmodul an einer oberen oder einer seitlichen Fläche des Werkstücks angreifen.In a variant, at least two suction modules are provided, which engage at different, in particular non-parallel, for example, right angles to each other standing sides, on the workpiece. By means of these two suction modules extremely labile workpieces can be stabilized in their shape, so that they can then be rolled up without difficulty. Especially For example, the suction module may engage an upper or a lateral surface of the workpiece.
Bei einer Weiterbildung der Erfindung ist vorgesehen, dass das Saugmodul wenigstens einen Sensor aufweist, der mit einer Steuerung für das Aufwälzmodul verbunden ist und Daten zur Ansteuerung des Aufwälzmoduls und gegebenenfalls des Saugmoduls liefert. Auf diese Weise kann der Aufwälzvorgang, insbesondere bei der Verwendung mehrerer Aufwälzgreifer, überwacht werden, so dass vorauseilende Aufwälzgreifer gebremst beziehungsweise nacheilende Aufwälzgreifer beschleunigt werden können, beziehungsweise dass das Werkstück zum Beispiel waagerecht angehoben wird, indem dessen Oberseite mittels einzelner Sauggreifer überwacht wird. Dabei kann der Sensor ein Unterdrucksensor oder ein Strömungssensor sein, so dass die einzelnen Sauggreifer mit diesen Sensoren bestückt werden können und hierfür kein zusätzlicher Platz benötigt wird. Es können auch Unterdruck unabhängige Sensoren, wie Annäherungssensoren und dergleichen, verwendet werden.at A development of the invention is provided that the suction module having at least one sensor, which is provided with a controller for the Aufwälzmodul is connected and data for controlling the Aufwälzmoduls and optionally of the suction module supplies. In this way, the rolling process, especially when using multiple Auflzzgreifer, be monitored, so that anticipatory Aufwälzgreifer braked or lagging Auflaufälgreifer can be accelerated, respectively that the workpiece for example, being raised horizontally by using its top individual suction pad is monitored. The sensor may be a vacuum sensor or a flow sensor be, so that the individual suction pads are equipped with these sensors can and for this no additional Space needed becomes. It can also negative pressure independent sensors, like proximity sensors and the like.
Unterschiedliche Varianten der Erfindung sehen vor, dass das Aufwälzmodul bezüglich des Saugmoduls in einer Richtung, in einer Ebene oder im Raum verfahrbar ist. Hierdurch kann das Aufwälzmodul nicht nur seitlich an das Werkstück herangefahren, sondern auch unter das Werkstück gefahren werden und kann das Werkstück zusammen mit dem Aufwälzmodul an das Saugmodul angenähert werden. Zur Lageoptimierung von Werkstück und Saugmodul kann das Aufwälzmodul auch in einer dritten Dimension bewegt werden, so dass auch verrutschte Stapel von Werkstücken depalettiert werden können. Denkbar ist auch ein Verschwenken des Aufwälzmoduls um einen, zwei oder um drei Raumwinkel. Gleichermaßen denkbar ist die bewegliche Lagerung des Saugmoduls.different Variants of the invention provide that the Aufwälzmodul with respect to the suction module in a Direction, in a plane or in space is movable. hereby can the rolling module not just on the side of the workpiece moved up, but can also be driven under the workpiece and can the workpiece together with the rolling module approximated to the suction module become. For optimizing the position of workpiece and suction module, the rolling module also be moved in a third dimension, so that even slipped stacks of workpieces can be depalletized. Conceivable is also a pivoting of the Aufwälzmoduls by one, two or around three solid angles. equally conceivable is the movable storage of the suction module.
Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus den Unteransprüchen sowie der nachfolgenden Beschreibung, in der unter Bezugnahme auf die Zeichnung besonders bevorzugte Ausführungsbeispiele im Einzelnen beschrieben sind. Dabei können die in der Zeichnung dargestellten sowie in der Beschreibung und in den Ansprüchen erwähnten Merkmale jeweils einzeln für sich oder in beliebiger Kombination erfindungswesentlich sein.Further Advantages, features and details of the invention will become apparent the dependent claims as well as the following description, with reference to FIG the drawing particularly preferred embodiments in detail are described. It can those shown in the drawing and in the description and in the claims mentioned Features individually for themselves or be essential to the invention in any combination.
In der Zeichnung zeigen:In show the drawing:
Die
Nachdem
die Greifvorrichtung an das Werkstück
Die
Die
Die
Die
Die
Befindet
sich das Werkstück
Eine
andere Steuerungsvariante sieht vor, dass das rechte Aufwälzmodul
Die
Beim
Ausführungsbeispiel
der
Beim
Ausführungsbeispiel
der
Die
Gemäß
Das
Aufwälzmodul
Befindet
sich das Werkstück
Außerdem können die
Bewegungen von Aufwälzmodul
Durch
die Verwendung eines oder mehrerer zusätzlicher Saugmodule
Claims (16)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE200710054867 DE102007054867A1 (en) | 2007-11-07 | 2007-11-07 | Workpiece i.e. cup, gripping device, has rolling module and suction module engaged at workpiece at same time or one after other, where suction module is formed from surface suction gripper |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200710054867 DE102007054867A1 (en) | 2007-11-07 | 2007-11-07 | Workpiece i.e. cup, gripping device, has rolling module and suction module engaged at workpiece at same time or one after other, where suction module is formed from surface suction gripper |
Publications (1)
Publication Number | Publication Date |
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DE102007054867A1 true DE102007054867A1 (en) | 2009-05-20 |
Family
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DE200710054867 Ceased DE102007054867A1 (en) | 2007-11-07 | 2007-11-07 | Workpiece i.e. cup, gripping device, has rolling module and suction module engaged at workpiece at same time or one after other, where suction module is formed from surface suction gripper |
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Cited By (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012156355A1 (en) * | 2011-05-17 | 2012-11-22 | Swisslog Ag | Method for storing and/or order‑picking product units |
WO2014161646A1 (en) * | 2013-04-04 | 2014-10-09 | Atlantic C Handels- Und Beratungs Gmbh | Method and gripper head for removing parcelled goods packages from a stack |
US20150078877A1 (en) * | 2011-12-20 | 2015-03-19 | Ludwig Brandmüller | Depalletizing System and Removal Unit |
EP3020515A1 (en) * | 2014-11-13 | 2016-05-18 | Kabushiki Kaisha Toshiba | Transfer apparatus and article taking-out method |
CN106115261A (en) * | 2016-08-17 | 2016-11-16 | 苏州冠科工业设备有限公司 | A kind of row cup machine of medical PP cup |
EP2945894A4 (en) * | 2013-01-20 | 2017-05-24 | Wynright Corporation | Automated truck unloader for unloading/unpacking product from trailers and containers |
DE102017115854A1 (en) | 2017-07-14 | 2019-01-17 | BIBA - Bremer Institut für Produktion und Logistik GmbH | Manipulator gripper, manipulator gripper system module and modular manipulator gripper system therefrom |
WO2019028146A1 (en) * | 2017-08-02 | 2019-02-07 | Berkshire Grey, Inc. | Systems and methods for acquiring and moving objects having complex outer surfaces |
US10315315B2 (en) | 2015-09-08 | 2019-06-11 | Berkshire Grey, Inc. | Systems and methods for providing dynamic vacuum pressure in an articulated arm end effector |
US10335956B2 (en) | 2016-01-08 | 2019-07-02 | Berkshire Grey, Inc. | Systems and methods for acquiring and moving objects |
EP3505470A1 (en) * | 2017-12-11 | 2019-07-03 | Linde Material Handling GmbH | Handling device, mobile autonomous industrial truck, stationary picking facility and a method for operating the handling device |
US10350755B2 (en) | 2016-02-08 | 2019-07-16 | Berkshire Grey, Inc. | Systems and methods for providing processing of a variety of objects employing motion planning |
EP3566984A1 (en) * | 2018-05-09 | 2019-11-13 | Intelligrated Headquarters LLC | Method and system for manipulating articles |
CN110713016A (en) * | 2018-07-11 | 2020-01-21 | 江苏扬子净化工程有限公司 | Full-automatic unstacking and stacking mechanism for color steel composite boards |
US10632610B2 (en) | 2017-03-20 | 2020-04-28 | Berkshire Grey, Inc. | Systems and methods for processing objects including a zone gantry system |
US10639787B2 (en) | 2017-03-06 | 2020-05-05 | Berkshire Grey, Inc. | Systems and methods for efficiently moving a variety of objects |
US10647005B2 (en) | 2015-08-26 | 2020-05-12 | Berkshire Grey, Inc. | System and methods for providing vacuum valve assemblies for end effectors |
US10822177B2 (en) | 2018-05-09 | 2020-11-03 | Intelligrated Headquarters, Llc | Method and system for manipulating articles |
DE102019003868B4 (en) * | 2018-06-21 | 2020-11-19 | Canon Kabushiki Kaisha | INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHODS AND STORAGE MEDIUM |
FR3110153A1 (en) * | 2020-05-14 | 2021-11-19 | Jean Ferras | Tray Distributor |
US11318620B2 (en) | 2018-05-09 | 2022-05-03 | Intelligrated Headquarters, Llc | Method and system for manipulating items |
CN115215107A (en) * | 2022-07-13 | 2022-10-21 | 泉州市科盛包装机械有限公司 | Automatic stacking method |
WO2022248150A1 (en) | 2021-05-26 | 2022-12-01 | Premium Robotics Gmbh | Gripping device and a manipulator unit having the gripping device |
WO2023144474A1 (en) * | 2022-01-28 | 2023-08-03 | Psa Automobiles Sa | Device for manipulating turnable parts |
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CN103764523A (en) * | 2011-05-17 | 2014-04-30 | 瑞仕格公司 | Method for storing and/or order-picking product units |
WO2012156355A1 (en) * | 2011-05-17 | 2012-11-22 | Swisslog Ag | Method for storing and/or order‑picking product units |
US20150078877A1 (en) * | 2011-12-20 | 2015-03-19 | Ludwig Brandmüller | Depalletizing System and Removal Unit |
US9481530B2 (en) * | 2011-12-20 | 2016-11-01 | Ludwig Brandmüller | Depalletizing system and removal unit |
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US10315315B2 (en) | 2015-09-08 | 2019-06-11 | Berkshire Grey, Inc. | Systems and methods for providing dynamic vacuum pressure in an articulated arm end effector |
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