DE4106367A1 - Parcel lifting device - has suction head which is mounted on lower end of flexible bellows - Google Patents
Parcel lifting device - has suction head which is mounted on lower end of flexible bellowsInfo
- Publication number
- DE4106367A1 DE4106367A1 DE19914106367 DE4106367A DE4106367A1 DE 4106367 A1 DE4106367 A1 DE 4106367A1 DE 19914106367 DE19914106367 DE 19914106367 DE 4106367 A DE4106367 A DE 4106367A DE 4106367 A1 DE4106367 A1 DE 4106367A1
- Authority
- DE
- Germany
- Prior art keywords
- bellows
- suction head
- lifting device
- lifting
- parcel
- 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- Withdrawn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
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
- B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
- B66F3/25—Constructional features
- B66F3/35—Inflatable flexible elements, e.g. bellows
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
- B66C1/0293—Single lifting units; Only one suction cup
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Die Erfindung beschreibt eine Vorrichtung zum Herausnehmen von Packstücken aus Lagerkisten in Regalen oder Regalfächern. In die sen Fällen ist der Freiraum über den zu entnehmenden Teilen klein zu halten, um Lagervolumen hoch zu nutzen. Die Entnahme gelingt z. B. mit einem waagerecht angeordneten Roboterarm, dessen Handge lenk einen Greifer auf die zu entnehmenden Teile absenkt. Um eine senkrechte Bewegung ausführen zu können, muß der Arm und das Ab knicken des Handgelenkes simultan und in Abhängigkeit voneinander bewegt werden. Dieser Vorgang kann bei getrennt gesteuerten Achsen nicht beliebig schnell ablaufen, da ansonsten ein Versatz des Greifers entstehen würde.The invention describes a device for removing Packages from storage boxes on shelves or shelves. In the In these cases, the free space above the parts to be removed is small to keep in order to use the storage volume high. The removal succeeds e.g. B. with a horizontally arranged robot arm, the hand steer a gripper onto the parts to be removed. To one To be able to perform vertical movement, the arm and the Ab buckling of the wrist simultaneously and depending on each other be moved. This can be done with separately controlled axes do not run as quickly as otherwise an offset of the Gripper would arise.
Eine Lösung dieses Problems stellt die Erfindung dar. Der Greifer wird senkrecht mittels Balg abgesenkt. Die Abwärtsbewegung erfolgt durch Druckluft oder ein anderes Medium, das in den Balg eingelei tet wird. In der Situation A befindet sich der Greifer, z. B. Sau ger 1, auf dem anzuhebenden Packstück 7. Die Druckluft wird über den Stutzen 6 in den Balg 4 eingeleitet. Das Ansaugen des Teils 7 erfolgt über die Vakuumleitung 8. Das Anheben erfolgt mittels Um schalten von Druck auf Vakuum am Stutzen 6. Die Distanzringe 3 verhindern das Zusammenziehen des Balgs. Ohne diese Distanzringe 3 kann das Hochziehen mittels Seil 2 erfolgen, das vakuumdicht aus dem Arm 5 geführt wird. Die Situation B zeigt den angehobenen Zu stand.The invention represents a solution to this problem. The gripper is lowered vertically by means of a bellows. The downward movement is carried out by compressed air or another medium that is introduced into the bellows. In situation A there is the gripper, e.g. B. Sau ger 1 , on the package to be lifted 7th The compressed air is introduced into the bellows 4 via the nozzle 6 . Part 7 is sucked in via vacuum line 8 . The lifting takes place by switching from pressure to vacuum at the nozzle 6 . The spacer rings 3 prevent the bellows from contracting. Without these spacer rings 3 , pulling up can be carried out by means of rope 2 , which is guided out of arm 5 in a vacuum-tight manner. Situation B shows the raised state.
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19914106367 DE4106367A1 (en) | 1991-02-28 | 1991-02-28 | Parcel lifting device - has suction head which is mounted on lower end of flexible bellows |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19914106367 DE4106367A1 (en) | 1991-02-28 | 1991-02-28 | Parcel lifting device - has suction head which is mounted on lower end of flexible bellows |
Publications (1)
Publication Number | Publication Date |
---|---|
DE4106367A1 true DE4106367A1 (en) | 1992-09-03 |
Family
ID=6426135
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE19914106367 Withdrawn DE4106367A1 (en) | 1991-02-28 | 1991-02-28 | Parcel lifting device - has suction head which is mounted on lower end of flexible bellows |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE4106367A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19812537B4 (en) * | 1998-03-21 | 2006-08-17 | J. Schmalz Gmbh | Vacuum tube lift device |
DE102020111129A1 (en) | 2020-04-23 | 2021-10-28 | J. Schmalz Gmbh | Tube lifter |
-
1991
- 1991-02-28 DE DE19914106367 patent/DE4106367A1/en not_active Withdrawn
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19812537B4 (en) * | 1998-03-21 | 2006-08-17 | J. Schmalz Gmbh | Vacuum tube lift device |
DE102020111129A1 (en) | 2020-04-23 | 2021-10-28 | J. Schmalz Gmbh | Tube lifter |
DE102020111129B4 (en) | 2020-04-23 | 2022-02-24 | J. Schmalz Gmbh | tube lifter |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
8139 | Disposal/non-payment of the annual fee |