DE20309982U1 - Robotic pick-up arm for textile has two curved needles back to back mounted on short beams pivoting about their centre point - Google Patents

Robotic pick-up arm for textile has two curved needles back to back mounted on short beams pivoting about their centre point

Info

Publication number
DE20309982U1
DE20309982U1 DE20309982U DE20309982U DE20309982U1 DE 20309982 U1 DE20309982 U1 DE 20309982U1 DE 20309982 U DE20309982 U DE 20309982U DE 20309982 U DE20309982 U DE 20309982U DE 20309982 U1 DE20309982 U1 DE 20309982U1
Authority
DE
Germany
Prior art keywords
needle
housing
gripper according
swivel
lever
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.)
Expired - Lifetime
Application number
DE20309982U
Other languages
German (de)
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.)
JUERGENS AXEL
Original Assignee
JUERGENS AXEL
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 JUERGENS AXEL filed Critical JUERGENS AXEL
Priority to DE20309982U priority Critical patent/DE20309982U1/en
Publication of DE20309982U1 publication Critical patent/DE20309982U1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

An industrial robot has a pick-up employing a curved needle (20) embedded in a short pivoting (12) spar. The needle is located one end of the spar opposite to a lift/lowering hole (12). Two such needle spars are placed back-to-back on the same lift/lowering pushrod, each pivoting and sliding along a pivot in a slit (14). The distance between the swivel-lever swivel-axis and the needle root is approx. the same as the needle radius of curvature. The two needle arms and needles are fully enclosed within a housing when retracted, with apertures for extension and retraction of the needles. The needles are raised and lowered by a fork-ended pushrod.

Description

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßtThe description text was not recorded electronically

Claims (10)

1. Nadelgreifer insbesondere für Roboter oder andere Greifsyste­ me, bei dem mindestens eine gekrümmte Nadel (20, 20') mittels eines Antriebs in einer vorgegebenen Ebene zwischen einer aus einem Durchbruch eines Gehäuses (42) ausgefahrenen und ei­ ner in das Gehäuse zurückgezogenen Position hin und her be­ wegbar ist und bei dem die Spitze der Nadel(n) während der Bewegung einer gekrümmten Bahn folgt und selbst in Richtung dieser Bahn gekrümmt ist, dadurch gekennzeichnet, dass jede Nadel von ihrem ihrer Spitze abgekehrten Ende im ei­ nen Endbereich je eines Schwenkhebels (10, 10') an diesem be­ festigt, der Schwenkhebel in seinem anderen Endbereich inner­ halb des Gehäuses in der Schwenkhebelebene verschwenkbar gelagert und der Antrieb mit dem bzw. mit jedem Schwenkhebel gekoppelt ist.1. Needle gripper, in particular for robots or other gripping systems, in which at least one curved needle (20, 20 ') is driven in a predetermined plane by means of a drive between an opening in a housing (42) and is retracted into the housing and be be movable and in which the tip of the needle (s) follows a curved path during the movement and is itself curved in the direction of this path, characterized in that each needle from its tip end in egg n end portion of a pivot lever (10, 10 ') on this be fastened, the pivot lever in its other end region within the housing in the pivot lever plane pivotally mounted and the drive is coupled to or with each pivot lever. 2. Nadelgreifer nach Anspruch 1, dadurch gekennzeichnet, dass der Abstand zwischen der Schwenkachse des Schwenk­ hebels und der Stelle der Befestigung der Nadel am Schwenk­ hebel etwa gleich dem Krümmungsradius der Nadel ist.2. needle gripper according to claim 1, characterized in that the distance between the pivot axis of the pivot lever and the place of attachment of the needle to the swivel lever is approximately equal to the radius of curvature of the needle. 3. Nadelgreifer nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das Gehäuse (42) ein geschlossenes Gehäuse ist, dessen freie Stirnfläche eine Arbeitsfläche mit dem Durchbruch für den Austritt der Nadel(n) bildet und an seinem der Arbeitsfläche ge­ genüberliegenden Ende eine Öffnung (48) aufweist, durch die der Antrieb auf den bzw. auf jeden Schwenkhebel einwirkt.3. needle gripper according to claim 1 or 2, characterized in that the housing (42) is a closed housing, the free face a work surface with the breakthrough for the Exit of the needle (s) forms and on its the working surface opposite end has an opening (48) through which the drive acts on or on each swivel lever. 4. Nadelgreifer nach mindestens einem der vorhergehenden An­ sprüche, dadurch gekennzeichnet, dass jeder Schwenkhebel (10, 10') im Bereich zwischen seiner Schwenkachse und der Nadel mit einem Langloch (14) verse­ hen ist, in welches der Antrieb (Gabelbolzen 36) eingreift.4. needle gripper according to at least one of the preceding An sayings, characterized, that each pivot lever (10, 10 ') in the area between its  Swivel axis and the needle with an elongated hole (14) verse hen, in which the drive (fork pin 36) engages. 5. Nadelgreifer nach Anspruch 4, dadurch gekennzeichnet, dass der Antrieb eine in das Gehäuse hineinreichende Stange (30) aufweist, die mit einem im Gehäuse geführten, zwischen der Öffnung und dem Durchbruch längs beweglichen Gabelkopf (24) verbunden ist und dass ein im Gabelkopf angeordneter Ga­ belbolzen (36) das Langloch des bzw. jedes Schwenkhebels durchsetzt.5. needle gripper according to claim 4, characterized in that the drive is a rod that extends into the housing (30), which with a guided in the housing, between the opening and the breakthrough longitudinally movable clevis (24) and that a Ga belbolzen (36) the slot of the or each pivot lever interspersed. 6. Nadelgreifer nach Anspruch 1-5, dadurch gekennzeichnet, dass im Gehäuse zwei gegenläufig bewegbare Schwenkhebel mit Nadeln vorgesehen sind und die Nadeln aus dem Durch­ bruch in entgegengesetzte Richtungen herausbewegbar sind.6. needle gripper according to claim 1-5, characterized in that in the housing two counter-rotating swivel levers are provided with needles and the needles from the through can be moved out in opposite directions. 7. Nadelgreifer nach Anspruch 1-6, dadurch gekennzeichnet, dass die Nadel jedes Schwenkhebels an diesem mittels mindes­ tens einer Klemmschraube befestigt ist und dass das Gehäuse je Klemmschraube einen bei ausgefahrener Nadel in der Achse der Klemmschraube verlaufenden Kanal (Schlitz 60, 62) zum Betätigen der Klemmschraube aufweist.7. needle gripper according to claim 1-6, characterized in that the needle of each swivel lever on this by means of at least tens of a clamping screw is attached and that the housing one for each clamping screw with the needle extended in the axis the clamping screw channel (slot 60, 62) to Actuation of the clamping screw. 8. Nadelgreifer nach mindestens einem der vorstehenden Ansprü­ che, dadurch gekennzeichnet, dass das Gehäuse parallel zur vorgegebenen Ebene geteilt ist, aus zwei identischen Hälften (38, 40) besteht und in jeder Hälfte eine einen Schwenkhebel aufnehmenden Einsenkung (50) mit einer Tiefe vorgesehen ist, die etwa gleich der Dicke (H) des Schwenkhebels ist.8. needle gripper according to at least one of the preceding claims che, characterized, that the housing is divided parallel to the specified level, consists of two identical halves (38, 40) and in each half a depression (50) receiving a swivel lever a depth is provided which is approximately equal to the thickness (H) of the Swivel lever is. 9. Nadelgreifer nach mindestens einem der vorstehenden Ansprü­ che, dadurch gekennzeichnet, dass der Antrieb im Gehäuse eine Zahnstange aufweist, die in eine Verzahnung des/der Schwenkhebel zu dessen Verschwen­ kung eingreift.9. needle gripper according to at least one of the preceding claims che, characterized,  that the drive in the housing has a rack that in a toothing of the / the pivot lever to its swiveling intervenes. 10. Nadelgreifer nach mindestens einem der vorhergehenden An­ sprüche, gekennzeichnet durch mindestens eine in das Gehäu­ se eingreifende Stellschraube für die einstellbare Begrenzung der Hubbewegung der Schwenkhebel.10. needle gripper according to at least one of the preceding An sayings, characterized by at least one in the casing engaging adjusting screw for the adjustable limitation the lifting movement of the swivel levers.
DE20309982U 2003-06-27 2003-06-27 Robotic pick-up arm for textile has two curved needles back to back mounted on short beams pivoting about their centre point Expired - Lifetime DE20309982U1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE20309982U DE20309982U1 (en) 2003-06-27 2003-06-27 Robotic pick-up arm for textile has two curved needles back to back mounted on short beams pivoting about their centre point

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE20309982U DE20309982U1 (en) 2003-06-27 2003-06-27 Robotic pick-up arm for textile has two curved needles back to back mounted on short beams pivoting about their centre point

Publications (1)

Publication Number Publication Date
DE20309982U1 true DE20309982U1 (en) 2003-11-20

Family

ID=29594761

Family Applications (1)

Application Number Title Priority Date Filing Date
DE20309982U Expired - Lifetime DE20309982U1 (en) 2003-06-27 2003-06-27 Robotic pick-up arm for textile has two curved needles back to back mounted on short beams pivoting about their centre point

Country Status (1)

Country Link
DE (1) DE20309982U1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4119307A1 (en) 2021-07-14 2023-01-18 UNISTAR Sp. z o.o. Needle gripper

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4119307A1 (en) 2021-07-14 2023-01-18 UNISTAR Sp. z o.o. Needle gripper

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Legal Events

Date Code Title Description
R207 Utility model specification

Effective date: 20031224

R163 Identified publications notified

Effective date: 20040202

R150 Term of protection extended to 6 years

Effective date: 20070103

R157 Lapse of ip right after 6 years

Effective date: 20100101