DE102011083451A1 - Device for gripping flexible solid object in automatic separation system, has needles moving workpiece extended and retracted into/from housing, and electric drive moving needles and exhibiting stroke adjusted by voltage and/or current - Google Patents
Device for gripping flexible solid object in automatic separation system, has needles moving workpiece extended and retracted into/from housing, and electric drive moving needles and exhibiting stroke adjusted by voltage and/or current Download PDFInfo
- Publication number
- DE102011083451A1 DE102011083451A1 DE102011083451A DE102011083451A DE102011083451A1 DE 102011083451 A1 DE102011083451 A1 DE 102011083451A1 DE 102011083451 A DE102011083451 A DE 102011083451A DE 102011083451 A DE102011083451 A DE 102011083451A DE 102011083451 A1 DE102011083451 A1 DE 102011083451A1
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- Germany
- Prior art keywords
- needles
- drive
- electric drive
- housing
- retracted
- 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
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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
- B25J15/0071—Gripping heads and other end effectors with needles engaging into objects to be gripped
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44C—PRODUCING DECORATIVE EFFECTS; MOSAICS; TARSIA WORK; PAPERHANGING
- B44C5/00—Processes for producing special ornamental bodies
- B44C5/04—Ornamental plaques, e.g. decorative panels, decorative veneers
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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
- B65H3/22—Separating articles from piles by needles or the like engaging the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2403/00—Power transmission; Driving means
- B65H2403/50—Driving mechanisms
- B65H2403/53—Articulated mechanisms
- B65H2403/533—Slotted link mechanism
- B65H2403/5331—Slotted link mechanism with sliding slotted link
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2555/00—Actuating means
- B65H2555/10—Actuating means linear
- B65H2555/13—Actuating means linear magnetic, e.g. induction motors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Description
Die Erfindung betrifft eine Vorrichtung zum Greifen von Werkstücken, mit einem Gehäuse und mehreren aus dem Gehäuse aus- beziehungsweise einfahrbaren, das Werkstück ergreifenden Nadeln, sowie einem die Nadeln bewegenden Antrieb.The invention relates to a device for gripping workpieces, with a housing and a plurality of out of the housing or retractable, the workpiece-engaging needles, and a needles moving drive.
Es ist bekannt, mit Nadelgreifern Werkstücke von einem Werkstückstapel aufzunehmen. Um dieses Aufnehmen bei sicherer Vereinzelung der Werkstücke störungsfrei durchführen zu können, bedarf das schräge Einführen der Nadeln in das zu greifende und gegebenenfalls zu vereinzelnde Werkstück, insbesondere in ein Stoffteil, einer genauen Einstellung der Nadeleindringtiefe in Abhängigkeit von der Dichte des Werkstücks. Mit der
Dies trifft auch für einen Nadelgreifer zu, wie er aus der
Der Erfindung liegt daher die Aufgabe zugrunde, eine Vorrichtung zur Ergreifung von Werkstücken der eingangs genannten Art vorzuschlagen, mit welcher feinfühlig Werkstücke ergriffen und vereinzelt werden können.The invention is therefore based on the object to propose a device for gripping workpieces of the type mentioned, with which sensitive workpieces can be taken and separated.
Diese Aufgabe wird mit einer Vorrichtung der eingangs genannten Art erfindungsgemäß dadurch gelöst, dass deren Antrieb ein elektrischer Antrieb ist.This object is achieved with a device of the type mentioned according to the invention in that the drive is an electric drive.
Steuerbare elektrische Antriebe besitzen den wesentlichen Vorteil, dass sie auch Zwischenstellungen einnehmen können, das heißt nicht nur bis in ihre Endlagen verfahrbar sind. Als elektrische Antriebe werden Hubmagnete beziehungsweise Elektromagnete, die gegebenenfalls mit einer Federrückstellung versehen sind, vorgeschlagen. Jedoch eignen sich auch Linearmotoren beziehungsweise Lineardirektantriebe sowie Piezoantriebe, etc.. Wird die Rotation eines Elektromotors in eine lineare Bewegung überführt, wofür Getriebe verwendet werden können, so eignen sich auch Schrittmotoren, Servomotoren, Elektromotoren, Synchronmotoren sowie Asynchronmotoren. Als Wandlungselemente eignen sich Zahnstangenantriebe, wie Ritzel-Zahnstangen, Kurbelgewindetriebe, zum Beispiel mit einem Mutter-Spindelantrieb, Zahnriemen sowie Kurbelgetriebe beziehungsweise Exzenter. Diese Funktionen finden sich z.B. in Elektrozylindern bzw. elektromagnetischen Zylindern wieder. Die Aufgabe lässt sich generell mit einem Elektromotor bzw. mit einer elektromagnetischen Antriebskomponente lösen. Mit diesen elektrischen Antrieben können die Nadeln in beliebige Zwischenstellungen gefahren werden, so dass die zu greifenden Gegenstände optimal ergriffen und somit vereinzelt werden können.Controllable electric drives have the significant advantage that they can also assume intermediate positions, that is not only be moved to their final positions. As electric drives are solenoids or solenoids, which are optionally provided with a spring return proposed. However, linear motors or linear direct drives as well as piezo drives, etc. are also suitable. If the rotation of an electric motor is converted into a linear movement for which gears can be used, stepping motors, servomotors, electric motors, synchronous motors and asynchronous motors are also suitable. As a conversion elements are rack drives, such as pinion racks, crank flights, for example with a nut-spindle drive, timing belt and crank gear or eccentric. These functions can be found e.g. in electric cylinders or electromagnetic cylinders again. The task can generally be solved with an electric motor or with an electromagnetic drive component. With these electric drives, the needles can be moved into any intermediate positions, so that the objects to be gripped optimally gripped and thus can be isolated.
Vorteilhaft kann der Hub des elektrischen Antriebs mittels der Spannung und/oder des Stroms eingestellt werden. Hierdurch ist eine exakte Position der Nadeln auf einfache Weise möglich. Bei einer anderen Ausführungsform wird der Hub über die Zeit eingestellt. Es wird z.B. bestimmt, wie lange ein gewisser Strom oder eine bestimmte Spannung oder ein anderes Signal anliegt, um den Hub zu verstellen.Advantageously, the stroke of the electric drive can be adjusted by means of the voltage and / or the current. As a result, an exact position of the needles in a simple manner possible. In another embodiment, the stroke is adjusted over time. It is e.g. Determines how long a certain amount of current or voltage or other signal is applied to adjust the stroke.
Diese Position wird zum Beispiel mittels eines Messsystems überwacht und gegebenenfalls korrigiert. Dadurch lässt sich auch der Nadelhub feststellen und überwachen. Regelschaltungen sind ebenfalls möglich. Somit ist die erfindungsgemäße Vorrichtung auch in automatischen Vereinzelungsanlagen einsetzbar. Je nach Bedarf ist eine analoge oder digitale Ansteuereinrichtung vorgesehen, so dass zum Beispiel auch Servomotoren verwendet werden können.This position is monitored, for example by means of a measuring system and corrected if necessary. As a result, the needle stroke can be detected and monitored. Control circuits are also possible. Thus, the device according to the invention can also be used in automatic separation systems. Depending on requirements, an analog or digital control device is provided, so that, for example, servomotors can be used.
Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus den Unteransprüchen sowie der nachfolgenden Beschreibung, in der unter Bezugnahme auf die Zeichnung ein besonders bevorzugtes Ausführungsbeispiel im Einzelnen beschrieben ist. Dabei können die in der Zeichnung dargestellten sowie in der Beschreibung und in den Ansprüchen erwähnten Merkmale jeweils einzeln oder für sich oder in beliebiger Kombination erfindungswesentlich sein.Further advantages, features and details of the invention will become apparent from the subclaims and the following description in which, with reference to the drawing, a particularly preferred embodiment is described in detail. The features shown in the drawing and mentioned in the description and in the claims may be essential to the invention individually or individually or in any combination.
In der Zeichnung zeigen:In the drawing show:
Die
Wird der elektrische Antrieb
Die
Nach dem Aufsetzen der Vorrichtung
Die Vorrichtung
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102011010326 A1 [0002] DE 102011010326 A1 [0002]
- DE 202004009826 U1 [0003] DE 202004009826 U1 [0003]
Claims (6)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE202011110569.9U DE202011110569U1 (en) | 2011-09-26 | 2011-09-26 | Device for gripping workpieces |
DE102011083451A DE102011083451A1 (en) | 2011-09-26 | 2011-09-26 | Device for gripping flexible solid object in automatic separation system, has needles moving workpiece extended and retracted into/from housing, and electric drive moving needles and exhibiting stroke adjusted by voltage and/or current |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011083451A DE102011083451A1 (en) | 2011-09-26 | 2011-09-26 | Device for gripping flexible solid object in automatic separation system, has needles moving workpiece extended and retracted into/from housing, and electric drive moving needles and exhibiting stroke adjusted by voltage and/or current |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102011083451A1 true DE102011083451A1 (en) | 2013-03-28 |
Family
ID=69144014
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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DE102011083451A Ceased DE102011083451A1 (en) | 2011-09-26 | 2011-09-26 | Device for gripping flexible solid object in automatic separation system, has needles moving workpiece extended and retracted into/from housing, and electric drive moving needles and exhibiting stroke adjusted by voltage and/or current |
DE202011110569.9U Expired - Lifetime DE202011110569U1 (en) | 2011-09-26 | 2011-09-26 | Device for gripping workpieces |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
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DE202011110569.9U Expired - Lifetime DE202011110569U1 (en) | 2011-09-26 | 2011-09-26 | Device for gripping workpieces |
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Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015049141A1 (en) * | 2013-10-01 | 2015-04-09 | J. Schmalz Gmbh | Needle gripper |
EP2926956A1 (en) * | 2014-04-01 | 2015-10-07 | J. Schmalz GmbH | Gripping device |
CN105217109A (en) * | 2015-09-29 | 2016-01-06 | 广东溢达纺织有限公司 | Automated sewing shipping mark method |
US20160213161A1 (en) * | 2015-01-23 | 2016-07-28 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
WO2016118830A1 (en) * | 2015-01-23 | 2016-07-28 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
US9592845B2 (en) | 2015-01-23 | 2017-03-14 | Dreamwell, Ltd. | Staging cart for transporting mattresses |
CN106586664A (en) * | 2017-01-23 | 2017-04-26 | 营口经济技术开发区明成实业有限公司 | Needling separation device for stacked fabric |
US9839301B2 (en) | 2015-01-23 | 2017-12-12 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
CN108789460A (en) * | 2017-04-28 | 2018-11-13 | 奥尔布雷克特·鲍默两合公司特殊机械制造 | For the needle holder by clamping needle workpiece manipulation |
CN108861548A (en) * | 2018-07-04 | 2018-11-23 | 宁波贝克韦尔智能科技有限公司 | A kind of cloth gripping device |
US10272611B2 (en) | 2015-01-23 | 2019-04-30 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
CN109719038A (en) * | 2019-03-12 | 2019-05-07 | 广州盛原成自动化科技有限公司 | Cloth gripping device |
US10365638B2 (en) | 2015-01-23 | 2019-07-30 | Dreamwell, Ltd. | Scheduling process for automated mattress manufacturing |
US10455950B2 (en) | 2015-01-23 | 2019-10-29 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
US10525557B2 (en) | 2015-01-23 | 2020-01-07 | Dreamwell, Ltd. | Automated mattress manufacturing process and apparatus |
US10696540B2 (en) | 2015-04-15 | 2020-06-30 | Dreamwell, Ltd. | Coil string staging area apparatus and method |
CN114616079A (en) * | 2019-11-04 | 2022-06-10 | 专业成型有限公司 | Apparatus and method for automatically applying rubber elements to die cutting tools |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015202604B4 (en) | 2015-02-12 | 2020-12-24 | J. Schmalz Gmbh | Drive device, needle gripper with such a drive device and method for operating a drive device |
US11259531B2 (en) | 2015-03-02 | 2022-03-01 | Valka Ehf | Apparatus for processing and grading food articles and related methods |
WO2016139611A2 (en) * | 2015-03-02 | 2016-09-09 | Valka Ehf | Apparatus for processing and grading food articles and related methods |
US11357237B2 (en) | 2015-03-02 | 2022-06-14 | Valka Ehf | Apparatus for processing and grading food articles and related methods |
GB201906418D0 (en) | 2019-05-07 | 2019-06-19 | Valka Ehf | Conveyor system and method |
EP4119307A1 (en) | 2021-07-14 | 2023-01-18 | UNISTAR Sp. z o.o. | Needle gripper |
IT202100019121A1 (en) | 2021-07-20 | 2023-01-20 | Pro Form S R L | Apparatus and method for automatically applying rubber elements on a die |
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DE8717528U1 (en) * | 1986-12-03 | 1989-01-12 | Antogi Ag, Mauren, Li | |
DE202004009826U1 (en) | 2004-06-22 | 2004-09-16 | Naiss Gmbh | Clamping device, in particular suitable for soft or air permeable work-pieces, working with pneumatically operated needles |
DE102011010326A1 (en) | 2010-02-04 | 2011-08-04 | GIMATIC S.p.A., Brescia | Pneumatic needle gripper |
-
2011
- 2011-09-26 DE DE102011083451A patent/DE102011083451A1/en not_active Ceased
- 2011-09-26 DE DE202011110569.9U patent/DE202011110569U1/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE8717528U1 (en) * | 1986-12-03 | 1989-01-12 | Antogi Ag, Mauren, Li | |
DE202004009826U1 (en) | 2004-06-22 | 2004-09-16 | Naiss Gmbh | Clamping device, in particular suitable for soft or air permeable work-pieces, working with pneumatically operated needles |
DE102011010326A1 (en) | 2010-02-04 | 2011-08-04 | GIMATIC S.p.A., Brescia | Pneumatic needle gripper |
Cited By (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9758323B2 (en) | 2013-10-01 | 2017-09-12 | J. Schmalz Gmbh | Needle gripper |
WO2015049141A1 (en) * | 2013-10-01 | 2015-04-09 | J. Schmalz Gmbh | Needle gripper |
CN105555688A (en) * | 2013-10-01 | 2016-05-04 | J.施迈茨有限公司 | Needle gripper |
EP2926956A1 (en) * | 2014-04-01 | 2015-10-07 | J. Schmalz GmbH | Gripping device |
US9839301B2 (en) | 2015-01-23 | 2017-12-12 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
US10365638B2 (en) | 2015-01-23 | 2019-07-30 | Dreamwell, Ltd. | Scheduling process for automated mattress manufacturing |
US9592845B2 (en) | 2015-01-23 | 2017-03-14 | Dreamwell, Ltd. | Staging cart for transporting mattresses |
CN107207239B (en) * | 2015-01-23 | 2020-10-23 | 美梦有限公司 | Mattress manufacturing method and apparatus |
US20160213161A1 (en) * | 2015-01-23 | 2016-07-28 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
CN107207239A (en) * | 2015-01-23 | 2017-09-26 | 美梦有限公司 | Mattress manufacture method and apparatus |
US10525557B2 (en) | 2015-01-23 | 2020-01-07 | Dreamwell, Ltd. | Automated mattress manufacturing process and apparatus |
US9862553B2 (en) | 2015-01-23 | 2018-01-09 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
US10455950B2 (en) | 2015-01-23 | 2019-10-29 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
WO2016118830A1 (en) * | 2015-01-23 | 2016-07-28 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
US10172474B2 (en) | 2015-01-23 | 2019-01-08 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
US10272611B2 (en) | 2015-01-23 | 2019-04-30 | Dreamwell, Ltd. | Mattress manufacturing process and apparatus |
US10696540B2 (en) | 2015-04-15 | 2020-06-30 | Dreamwell, Ltd. | Coil string staging area apparatus and method |
CN105217109A (en) * | 2015-09-29 | 2016-01-06 | 广东溢达纺织有限公司 | Automated sewing shipping mark method |
CN106586664A (en) * | 2017-01-23 | 2017-04-26 | 营口经济技术开发区明成实业有限公司 | Needling separation device for stacked fabric |
CN108789460A (en) * | 2017-04-28 | 2018-11-13 | 奥尔布雷克特·鲍默两合公司特殊机械制造 | For the needle holder by clamping needle workpiece manipulation |
CN108861548A (en) * | 2018-07-04 | 2018-11-23 | 宁波贝克韦尔智能科技有限公司 | A kind of cloth gripping device |
CN109719038A (en) * | 2019-03-12 | 2019-05-07 | 广州盛原成自动化科技有限公司 | Cloth gripping device |
CN114616079A (en) * | 2019-11-04 | 2022-06-10 | 专业成型有限公司 | Apparatus and method for automatically applying rubber elements to die cutting tools |
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DE202011110569U1 (en) | 2014-10-09 |
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