DE68909148D1 - Greifer für Gegenstände. - Google Patents

Greifer für Gegenstände.

Info

Publication number
DE68909148D1
DE68909148D1 DE89108792T DE68909148T DE68909148D1 DE 68909148 D1 DE68909148 D1 DE 68909148D1 DE 89108792 T DE89108792 T DE 89108792T DE 68909148 T DE68909148 T DE 68909148T DE 68909148 D1 DE68909148 D1 DE 68909148D1
Authority
DE
Germany
Prior art keywords
claws
objects
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
DE89108792T
Other languages
English (en)
Other versions
DE68909148T2 (de
Inventor
Robert C Dreisig
David I Mcdonald
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.)
Milacron Inc
Original Assignee
Milacron Inc
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 Milacron Inc filed Critical Milacron Inc
Publication of DE68909148D1 publication Critical patent/DE68909148D1/de
Application granted granted Critical
Publication of DE68909148T2 publication Critical patent/DE68909148T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
    • B23Q3/15724—Chains or belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
    • B23Q3/15722—Rotary discs or drums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/043—Construction of the grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/06—Arrangements for positively actuating jaws
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B9/00—Hand-held gripping tools other than those covered by group B25B7/00
    • 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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B23Q2003/15527—Storage devices; Drive mechanisms therefor the storage device including means to latch tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q2210/00—Machine tools incorporating a specific component
    • B23Q2210/002—Flexures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15713—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle
    • B23Q3/1572—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means
    • B23Q3/15753—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane perpendicular to the axis of the spindle
    • B23Q3/15766—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a transfer device taking a single tool from a storage device and inserting it in a spindle the storage device comprising rotating or circulating storing means the storage means rotating or circulating in a plane perpendicular to the axis of the spindle the axis of the stored tools being arranged perpendicularly to the rotating or circulating plane of the storage means
    • 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
    • Y10S483/00—Tool changing
    • Y10S483/902—Tool grippers
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T24/00—Buckles, buttons, clasps, etc.
    • Y10T24/44—Clasp, clip, support-clamp, or required component thereof
    • Y10T24/44641—Clasp, clip, support-clamp, or required component thereof having gripping member formed from, biased by, or mounted on resilient member
    • Y10T24/44769—Opposed engaging faces on gripping member formed from single piece of resilient material
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix
    • Y10T483/1809—Matrix including means to latch tool
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix
    • Y10T483/1873—Indexing matrix
    • Y10T483/1882—Rotary disc
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix
    • Y10T483/1873—Indexing matrix
    • Y10T483/1891—Chain or belt

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Gripping On Spindles (AREA)
  • Manipulator (AREA)
  • Feeding Of Workpieces (AREA)
DE89108792T 1988-08-23 1989-05-16 Greifer für Gegenstände. Expired - Fee Related DE68909148T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US07/235,255 US4858980A (en) 1988-08-23 1988-08-23 Article gripper

Publications (2)

Publication Number Publication Date
DE68909148D1 true DE68909148D1 (de) 1993-10-21
DE68909148T2 DE68909148T2 (de) 1994-01-13

Family

ID=22884747

Family Applications (1)

Application Number Title Priority Date Filing Date
DE89108792T Expired - Fee Related DE68909148T2 (de) 1988-08-23 1989-05-16 Greifer für Gegenstände.

Country Status (4)

Country Link
US (1) US4858980A (de)
EP (1) EP0355271B1 (de)
JP (1) JPH0259243A (de)
DE (1) DE68909148T2 (de)

Families Citing this family (39)

* Cited by examiner, † Cited by third party
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US4955591A (en) * 1989-09-18 1990-09-11 William Talley Single piece wedge clamp
US5007504A (en) * 1990-04-10 1991-04-16 Cincinnati Milacron Inc. Lubrication apparatus and method
US5102177A (en) * 1990-06-11 1992-04-07 Cincinnati Milacron Inc. Article gripper having opposed jaws cammed open by an article
DE4027894A1 (de) * 1990-09-03 1992-03-05 Wanderer Maschinen Gmbh Werkzeugmaschine
US5364146A (en) * 1992-08-04 1994-11-15 United Parcel Service Of America, Inc. Robotic gripper for handling objects of various sizes
US6085852A (en) 1995-02-22 2000-07-11 The Charles Machine Works, Inc. Pipe handling device
US6174011B1 (en) * 1999-04-14 2001-01-16 Arthur Keigler Method of and apparatus for handling thin and flat workpieces and the like
IT248029Y1 (it) * 1999-06-09 2002-12-09 Sipa Spa Pinza perfezionata per movimentazione preforme
US6527686B1 (en) * 2000-02-02 2003-03-04 International Business Machines Corporation Variable pitch spindle line drilling machine
JP2001347434A (ja) * 2000-06-07 2001-12-18 Toyoda Mach Works Ltd 工具マガジンのツールポット
DE10039525A1 (de) * 2000-08-08 2002-02-21 Grob Werke Dr H C Mult Dipl In Werkzeugmaschine mit Greifer und oder Werkzeugmagazinsystem
US6578893B2 (en) * 2000-10-02 2003-06-17 Ajs Automation, Inc. Apparatus and methods for handling semiconductor wafers
US6425703B1 (en) 2001-03-01 2002-07-30 Binney & Smith Inc. Writing elements which connect together
US6515472B2 (en) 2001-05-25 2003-02-04 Cts Corporation Transmission selector sensor assembly package for integration into transmission assembly
AT501092B1 (de) * 2004-11-15 2007-10-15 Muser Josef Ing Verfahren und vorrichtung zum be- bzw. entladen einer werkzeugmaschine mit werkzeugen
DE102005006398B4 (de) * 2005-02-11 2007-07-19 Deckel Maho Pfronten Gmbh Vorrichtung zum Greifen und Halten eines Bauteils
JP5043021B2 (ja) * 2005-10-04 2012-10-10 アプライド マテリアルズ インコーポレイテッド 基板を乾燥するための方法及び装置
DE102007011923A1 (de) 2007-03-08 2008-09-11 Sig Technology Ag Vorrichtung zur Handhabung von Werkstücken
US7789443B2 (en) * 2007-03-16 2010-09-07 Axcelis Technologies, Inc. Workpiece gripping device
JP4746003B2 (ja) * 2007-05-07 2011-08-10 リンテック株式会社 移載装置及び移載方法
US8424940B2 (en) * 2008-03-26 2013-04-23 Sidel Participations Resilient clamp for holding a container by the neck
US7594882B1 (en) * 2008-05-20 2009-09-29 Alan Xiao Tool changer for machine tool
DE102009042352A1 (de) * 2008-10-06 2010-04-08 Abb Ag Vorrichtung und Verfahren zur Handhabung von an Handhabungsgeräten angebrachten Werkzeugen
US8574139B2 (en) * 2009-08-12 2013-11-05 Microlution, Inc. Machine tool with automatic tool changer
DE102009048343B4 (de) * 2009-10-07 2014-02-20 Deckel Maho Seebach Gmbh Werkzeug-Kettenmagazin
WO2011101496A1 (es) * 2010-02-18 2011-08-25 Gmtk Multi-Process Machining, S.A. Equipo para intercambio de componentes sustituibles en máquinas herramientas
JP5247755B2 (ja) * 2010-03-31 2013-07-24 株式会社椿本チエイン 工具保持搬送チェーン
US9327849B2 (en) 2010-07-08 2016-05-03 Colgate-Palmolive Company Container orienting holder with roller supports and a container orienting method
US20120305193A1 (en) 2011-06-03 2012-12-06 Arthur Keigler Parallel single substrate processing agitation module
DE102012104733A1 (de) 2012-03-16 2013-09-19 Grob-Werke Gmbh & Co. Kg Werkzeugzange
DE102012015886B3 (de) * 2012-08-13 2014-05-15 Khs Gmbh Behältergreifer sowie Transportelement mit derartigen Behältergreifern
JP2014159067A (ja) * 2013-02-20 2014-09-04 Fanuc Ltd 工作機械の工具把持装置
FR3004982B1 (fr) * 2013-04-24 2015-05-01 Serac Group Dispositif de maintien d'un recipient comprenant une lame ressort et installation de traitement de recipients comprenant un tel dispositif
DE202013009776U1 (de) * 2013-12-03 2015-03-05 Hedelius Maschinenfabrik Gmbh Werkzeugwechselvorrichtung zur Verwendung in einem Bearbeitungszentrum und Bearbeitungszentrum zur maschinellen Bearbeitung eines Werkstücks
DE102014116004B3 (de) * 2014-11-03 2016-02-18 Khs Gmbh Behälterklammer zum Halten und Führen von Behältern
DE102015114556A1 (de) * 2015-09-01 2017-03-02 Röhm Gmbh Greifer und Verfahren zur Herstellung eines Greifers
US10655959B2 (en) * 2017-12-22 2020-05-19 Sandisk Technologies Llc High density slider clamp fixture
EP4043371A1 (de) * 2021-02-16 2022-08-17 Sidel Participations Passiver greifer, fördervorrichtung mit einem passiven greifer und füllmaschine mit einer fördervorrichtung mit einem passiven greifer
DE102023103600A1 (de) * 2023-02-15 2024-08-22 Lisa Dräxlmaier GmbH Werkzeughaltevorrichtung, werkzeugwechselvorrichtung und verfahren zum wechseln von werkzeugen

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US3074147A (en) * 1959-07-30 1963-01-22 Gen Electric Material working machine with multiple tool holder
FR2104696B1 (de) * 1970-07-31 1973-12-07 Electricite De France
US3840981A (en) * 1971-12-09 1974-10-15 Kearney & Trecker Corp Tool change arm grip
US4053968A (en) * 1973-03-16 1977-10-18 Giddings & Lewis, Inc. Tool support for tool interchange system
US3911540A (en) * 1973-03-16 1975-10-14 Giddings & Lewis Tool interchange system with break-away shoes
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US3987909A (en) * 1975-10-30 1976-10-26 Cincinnati Milacron, Inc. Tool storage mechanism
JPS5314481A (en) * 1976-07-27 1978-02-09 Kouichirou Kitamura Automic tool exchanging device of machining center
US4122598A (en) * 1977-06-03 1978-10-31 Moog Inc. Tool changer
US4358888A (en) * 1980-10-16 1982-11-16 Kearney & Trecker Corporation Automatic tool changer with internal tool storage magazine
US4397438A (en) * 1981-01-19 1983-08-09 Illinois Tool Works Inc. Selectively mountable article holding fastener
JPS5924934A (ja) * 1982-07-31 1984-02-08 Okuma Mach Works Ltd 工具入替装置
US4540211A (en) * 1983-02-02 1985-09-10 Android Corporation Jaw assembly
US4591119A (en) * 1984-03-23 1986-05-27 Trw United-Carr Gmbh Pipe support
US4605349A (en) * 1985-01-07 1986-08-12 Cincinnati Milacron Inc. Spring centering device for tool spindles
DE3511470A1 (de) * 1985-03-29 1986-10-09 IMA-NORTE Maschinenfabriken Klessmann GmbH & Co, 4830 Gütersloh Werkzeuggreifer
DE3619153A1 (de) * 1986-06-06 1987-12-10 Richter U Glatter Ohg Greiferzange

Also Published As

Publication number Publication date
US4858980A (en) 1989-08-22
EP0355271A3 (en) 1990-11-07
JPH0259243A (ja) 1990-02-28
DE68909148T2 (de) 1994-01-13
EP0355271B1 (de) 1993-09-15
EP0355271A2 (de) 1990-02-28

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Legal Events

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8339 Ceased/non-payment of the annual fee