DE3788286D1 - Handmechanismus. - Google Patents

Handmechanismus.

Info

Publication number
DE3788286D1
DE3788286D1 DE90201735T DE3788286T DE3788286D1 DE 3788286 D1 DE3788286 D1 DE 3788286D1 DE 90201735 T DE90201735 T DE 90201735T DE 3788286 T DE3788286 T DE 3788286T DE 3788286 D1 DE3788286 D1 DE 3788286D1
Authority
DE
Germany
Prior art keywords
hand mechanism
hand
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 - Fee Related
Application number
DE90201735T
Other languages
English (en)
Other versions
DE3788286T2 (de
Inventor
Shinichiro No
Minao Kimura
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.)
Yakult Honsha Co Ltd
Original Assignee
Yakult Honsha Co 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
Priority claimed from JP1986137288U external-priority patent/JPH074140Y2/ja
Priority claimed from JP1986140590U external-priority patent/JPH047909Y2/ja
Application filed by Yakult Honsha Co Ltd filed Critical Yakult Honsha Co Ltd
Publication of DE3788286D1 publication Critical patent/DE3788286D1/de
Application granted granted Critical
Publication of DE3788286T2 publication Critical patent/DE3788286T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • 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
    • 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
    • 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
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • 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
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
    • 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
    • B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
    • B65G2249/04—Arrangements of vacuum systems or suction cups
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/902—Gripping element

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
DE90201735T 1986-09-09 1987-09-09 Handmechanismus. Expired - Fee Related DE3788286T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP1986137288U JPH074140Y2 (ja) 1986-09-09 1986-09-09 真空吸着ハンド
JP1986140590U JPH047909Y2 (de) 1986-09-16 1986-09-16

Publications (2)

Publication Number Publication Date
DE3788286D1 true DE3788286D1 (de) 1994-01-05
DE3788286T2 DE3788286T2 (de) 1994-03-31

Family

ID=26470653

Family Applications (2)

Application Number Title Priority Date Filing Date
DE90201735T Expired - Fee Related DE3788286T2 (de) 1986-09-09 1987-09-09 Handmechanismus.
DE8787307981T Expired - Fee Related DE3785712T2 (de) 1986-09-09 1987-09-09 Vakuumsaugvorrichtung.

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE8787307981T Expired - Fee Related DE3785712T2 (de) 1986-09-09 1987-09-09 Vakuumsaugvorrichtung.

Country Status (6)

Country Link
US (1) US4828304A (de)
EP (2) EP0396210B1 (de)
KR (1) KR950005123B1 (de)
AU (2) AU592667B2 (de)
CA (1) CA1308763C (de)
DE (2) DE3788286T2 (de)

Families Citing this family (67)

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DE3817615A1 (de) * 1988-05-25 1989-08-24 Daimler Benz Ag Sauggreifer
US5018937A (en) * 1988-10-05 1991-05-28 Grumman Aerospace Corporation Shearclip-handling tool
EP0375209B1 (de) * 1988-12-20 1994-10-26 Texas Instruments Incorporated Vorrichtung zum Aufheben eines Halbleiterplättchens
US5161847A (en) * 1989-09-07 1992-11-10 Canon Kabushiki Kaisha Robot hand
GB9017791D0 (en) * 1990-08-14 1990-09-26 Portsmouth Tech Consult Vacuum gripper devices
DE69207136T2 (de) * 1991-09-30 1996-05-15 Gisulfo Baccini Vorrichtung zur Bearbeitung von elektrischen Schaltungen
EP0554592B1 (de) * 1992-02-04 1995-12-13 House Food Industrial Co., Ltd. Sauggreifer für Roboter
ES2107700T3 (es) * 1993-03-24 1997-12-01 Hauni Maschinenbau Ag Brazo de robot de un robot de porticos de superficie.
US5330311A (en) * 1993-05-14 1994-07-19 Ohmstede-Cawley, Ltd. Robot means for unloading open boxes
EP0726869B1 (de) * 1993-11-04 2001-03-14 Comalco Aluminium, Ltd. Vakuumhebevorrichtung
US5387068A (en) * 1993-12-06 1995-02-07 Ford Motor Company Method and system for loading rigid sheet material into shipping containers at a work station and end effector for use therein
DE4425127A1 (de) * 1994-07-15 1996-01-18 Dreier Systemtechnik Ag Lageranlage zum Kommissionieren
US5664617A (en) * 1995-03-24 1997-09-09 Columbia Aluminum Corporation Sow lifter
US5632590A (en) * 1995-06-30 1997-05-27 Ford Motor Company Method and system for loading panels into shipping containers at a work station and end effector for use therein
WO1998034453A1 (de) * 1997-01-30 1998-08-06 Siemens Aktiengesellschaft Saugpipette zum greifen von elektrischen bauelementen
DE19752896A1 (de) * 1997-11-28 1999-06-02 Focke & Co Verfahren und Vorrichtung zum Handhaben von Folien-Weichpackungen
WO1999056518A1 (en) * 1998-04-28 1999-11-04 Koninklijke Philips Electronics N.V. Component-handling machine
EP1083032A1 (de) * 1999-09-09 2001-03-14 Tegulas GmbH Saugkopf
US6364387B1 (en) * 1999-11-10 2002-04-02 Data I/O Corporation Pick and place system and unit therefor
US6264185B1 (en) * 2000-04-19 2001-07-24 Shoda Iron Works Co., Ltd. Suction pad
US6467824B2 (en) * 2001-03-13 2002-10-22 Data I/O Corporation Floating seal pick and place system and unit therefor
GB0113402D0 (en) * 2001-06-02 2001-07-25 Tickhill Eng Co Ltd Gripper in or for a robot
US6860531B2 (en) * 2001-12-20 2005-03-01 Abb Inc. Gripping and vacuum end effector for transferring articles
ITBS20020083A1 (it) * 2002-09-11 2004-03-12 Automazioni Ind S R L Unita' di manipolazione configurabile per macchine da taglio
US6988879B2 (en) * 2002-10-18 2006-01-24 Asm Technology Singapore Pte Ltd Apparatus and method for reducing substrate warpage
US7766596B2 (en) * 2004-03-30 2010-08-03 Jlg Industries, Inc. Attachment for a telescopic material handler for manipulating a load with five degrees of freedom
US20050220599A1 (en) * 2004-04-02 2005-10-06 Job Matthew A Clamshell and fork-style material handling apparatus
CA2579730C (en) * 2004-09-13 2010-04-13 Meadwestvaco Corporation Banded envelopes and method for assembling a package of banded envelopes
US7789226B2 (en) * 2004-09-13 2010-09-07 Meadwestvaco Corporation Packaged banded envelopes
US7637711B2 (en) * 2005-02-08 2009-12-29 Meadwestvaco Corporation Apparatus with suction head for moving envelopes
US7481472B2 (en) * 2005-03-15 2009-01-27 Sage Automation, Inc. Layer picking end effector system, apparatus and method
DE102006022278A1 (de) * 2006-05-11 2007-11-15 Deutsche Post Ag Greifsystem für gestapeltes Stückgut
US7409812B2 (en) * 2006-06-29 2008-08-12 Smart Motion Robotics, Inc. Robotic packaging device and method
US20080187428A1 (en) * 2007-02-02 2008-08-07 Prototier-1 Inc. Lift mechanism for a vacuum system
US8414042B2 (en) * 2007-10-15 2013-04-09 Delaware Capital Formation, Inc. Articulating package palletizing system
DE102009011301B4 (de) * 2009-03-02 2020-11-26 Kuka Roboter Gmbh Verfahren und Greifer zur Handhabung eines Gebindes mittels eines Manipulators
PT2236252E (pt) * 2009-03-30 2013-01-22 Carel Johannes Wilhelm Theodoor Van Sorgen Dispositivo para segurar um objecto por sucção
US8328252B2 (en) * 2010-03-31 2012-12-11 G.T. Line S.R.L. Grip assembly, particularly for suitcases and trunks
EP2383081B1 (de) * 2010-04-29 2014-06-04 Trumpf Sachsen GmbH Fertigungsverfahren zur Erzeugung eines Handhabungsproduktes
US20130015675A1 (en) * 2011-07-15 2013-01-17 Douglas Pickard Apparatus, system, and method for layer picking and order fulfillment for items stored in a warehouse
DE102011111768A1 (de) 2011-08-24 2013-02-28 Robert Bosch Gmbh Bernoulli-Greifer mit vollflächiger Werkstückanlage
KR101969839B1 (ko) * 2012-05-07 2019-04-18 삼성디스플레이 주식회사 패널 이송용 흡착기
JP5961064B2 (ja) * 2012-07-31 2016-08-02 三星ダイヤモンド工業株式会社 吸着テーブルの製造方法並びに吸着テーブル
JP6215333B2 (ja) 2012-10-19 2017-10-18 ダウ グローバル テクノロジーズ エルエルシー 形成可能および／または折り畳み可能な部品の持ち上げおよび移動のための装置、システム、および方法
FR2997031B1 (fr) * 2012-10-23 2016-07-01 Bel Fromageries Dispositif de prehension d'au moins un produit deformable.
CN103192402B (zh) * 2013-04-14 2014-12-10 苏州科技学院 一种压电超声振动吸附拾取器
DE102013109948B3 (de) * 2013-09-11 2014-09-04 Phoenix Contact Gmbh & Co. Kg Handhabungsvorrichtung und Verfahren zum Handhaben einer unverschlossenen Faltschachtel und zum Handhaben von in die Faltschachtel einzulegendem Stückgut
JP6383537B2 (ja) * 2013-12-10 2018-08-29 川崎重工業株式会社 ロボットハンド、ロボット、およびロボットセル
CN105764655B (zh) * 2013-12-10 2017-06-27 Nok株式会社 覆盖材料及机器人把持部的覆盖构造
KR101500385B1 (ko) * 2013-12-31 2015-03-09 현대자동차 주식회사 무빙파트 핸들링 장치
WO2016058629A1 (de) * 2014-10-13 2016-04-21 J. Schmalz Gmbh Batteriegreifer
CN114290355B (zh) 2015-09-08 2023-08-11 伯克希尔格雷营业股份有限公司 用于在活节臂末端执行器中提供动态真空压力的系统和方法
CN108349083B (zh) 2015-11-13 2021-09-21 伯克希尔格雷股份有限公司 用于提供各种物体的分拣的分拣系统和方法
US10011020B2 (en) 2016-01-08 2018-07-03 Berkshire Grey, Inc. Systems and methods for acquiring and moving objects
CN105798939A (zh) * 2016-04-19 2016-07-27 中国工程物理研究院激光聚变研究中心 大口径光学元件真空抓取系统
CN106185313B (zh) * 2016-08-30 2019-01-25 苏州万商集包装设备有限公司 夹持机构
EP3592510B1 (de) 2017-03-06 2023-09-06 Berkshire Grey Operating Company, Inc. Systeme und verfahren zum effizienten bewegen einer varietät von objekten
JP6702909B2 (ja) * 2017-04-12 2020-06-03 ファナック株式会社 ロボットシステム
EP3661704A1 (de) * 2017-08-03 2020-06-10 Soft Robotics, Inc. Robotergreifer zum handhaben von fleischprodukten
EP3706966A2 (de) 2017-11-07 2020-09-16 Berkshire Grey, Inc. Systeme und verfahren zur bereitstellung von dynamischem vakuumdruck an einem endeffektor unter verwendung einer einzigen vakuumquelle
CN107953357A (zh) * 2017-12-25 2018-04-24 无锡特恒科技有限公司 一种快速抓取装置
CA3107825C (en) 2018-07-27 2023-06-13 Berkshire Grey, Inc. Systems and methods for efficiently exchanging end effector tools
CA3150291A1 (en) 2019-08-08 2021-02-11 Berkshire Grey, Inc. Systems and methods for providing, in programmable motion devices, compliant end effectors with noise mitigation
WO2022020157A1 (en) 2020-07-22 2022-01-27 Berkshire Grey, Inc. Systems and methods for object processing using a passively folding vacuum gripper
US20220024705A1 (en) 2020-07-22 2022-01-27 Berkshire Grey, Inc. Systems and methods for object processing using a vacuum gripper that provides object retention by evacuation
US20220212352A1 (en) * 2021-01-04 2022-07-07 The Boeing Company Part transfer system
CN114476743B (zh) * 2022-01-19 2024-01-30 业成科技（成都）有限公司 片材抓放装置

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US2783078A (en) * 1952-03-07 1957-02-26 Vacuum Concrete Inc Handling apparatus
US3387718A (en) * 1966-03-10 1968-06-11 Alvey Conveyor Mfg Company Pallet loading and unloading apparatus
US3651957A (en) * 1970-03-02 1972-03-28 Motorola Inc Chip packaging and transporting apparatus
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US4355936A (en) * 1980-08-28 1982-10-26 Diamond International Corporation Egg transfer apparatus
DE3312483A1 (de) * 1983-04-07 1984-10-11 Blohm + Voss Ag, 2000 Hamburg Greifer fuer industrieroboter
DD220799A1 (de) * 1984-01-26 1985-04-10 Smab Forsch Entw Rat Greiforgan fuer rotationssymmetrische und prismatische teile
FR2561564B1 (fr) * 1984-03-26 1987-07-03 Syspro Dispositif de prehension par ventouse pneumatique
US4627785A (en) * 1984-05-14 1986-12-09 Monforte Robotics, Inc. Exchangeable multi-function end effector tools
DD224801B1 (de) * 1984-06-21 1988-03-23 Bmk Sued Kb Ipro Dresden Veb Saugkopf fuer bohrmanipulator

Also Published As

Publication number Publication date
EP0260128B1 (de) 1993-05-05
EP0260128A3 (en) 1988-04-27
US4828304A (en) 1989-05-09
DE3785712D1 (de) 1993-06-09
AU612527B2 (en) 1991-07-11
EP0396210B1 (de) 1993-11-24
AU7819087A (en) 1988-03-17
EP0396210A2 (de) 1990-11-07
EP0260128A2 (de) 1988-03-16
CA1308763C (en) 1992-10-13
DE3785712T2 (de) 1993-08-19
KR880003713A (ko) 1988-05-28
AU4447389A (en) 1990-03-01
EP0396210A3 (en) 1990-12-12
AU592667B2 (en) 1990-01-18
KR950005123B1 (ko) 1995-05-18
DE3788286T2 (de) 1994-03-31

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee