DK158091B - PROCEDURE TO ACCEPT AND KEEP A BID OF SEARCH AND APPARATUS FOR EXERCISING THE PROCEDURE. - Google Patents
PROCEDURE TO ACCEPT AND KEEP A BID OF SEARCH AND APPARATUS FOR EXERCISING THE PROCEDURE. Download PDFInfo
- Publication number
- DK158091B DK158091B DK006783A DK6783A DK158091B DK 158091 B DK158091 B DK 158091B DK 006783 A DK006783 A DK 006783A DK 6783 A DK6783 A DK 6783A DK 158091 B DK158091 B DK 158091B
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- Denmark
- Prior art keywords
- load
- suction
- gripped
- suction source
- containers
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 13
- 239000010410 layer Substances 0.000 claims description 38
- 230000004888 barrier function Effects 0.000 claims description 9
- 125000006850 spacer group Chemical group 0.000 claims description 9
- 230000014759 maintenance of location Effects 0.000 claims description 4
- 239000011229 interlayer Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003071 parasitic effect Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- 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
- 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
- B66C1/0281—Rectangular or square shape
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Geometry (AREA)
- Manipulator (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- De-Stacking Of Articles (AREA)
Description
1 DK 158091 B1 DK 158091 B
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Opfindelsen angår en fremgangsmåde til ved hjælp af en sugekilde at gribe en byrde, der kan bestå af flere genstande anbragt i lag, ved hvilken man afgrænser et rum, som dækker over byrden, der skal gribes.The invention relates to a method of gripping a load which may consist of a plurality of articles arranged in layers, by defining a space covering the load to be gripped.
5 Der er især tale om genstande, der er sammenbundtede i lag på en lastpalle.5 In particular, these are objects that are bundled together in layers on a pallet.
Til at fjerne sådanne genstande lag for lag fra en lastpalle er det kendt, at anvende gribeapparater til at gribe genstandene i et og samme lag samtidig, idet der 10 anvendes en sugekilde.To remove such objects layer by layer from a pallet, it is known to use gripping devices to grasp the objects in one and the same layer simultaneously, using a suction source.
I praksis har et sådant gribeapparat en sugekurv, som forneden er lukket med en perforeret bund, der anbringes mod samlingen af i et fælles lag liggende genstande, som skal gribes.In practice, such a gripper apparatus has a suction basket, which is closed at the bottom with a perforated bottom, which is placed against the assembly of articles lying in a common layer to be gripped.
15 Et sådant gribeapparat er især anvendeligt, når gen standene, der skal gribes, er hule genstande f.eks. flasker, der har en opadvendende åbning. Forudsat at der findes mindst én perforering i bunden af kurven ud for åbningen i den hule genstand, opstår der et undertryk i 2o dennes indre, når sugekurven påsættes, og genstanden trækkes op mod bunden af kurven og forbindes midlertidigt med denne, således at den kan trækkes op sammen med kurven og løftes, idet bunden af kurven således simpelthen danner en spærring, der mekanisk sikrer tilbageholdelse 25 af genstanden fra sugekilden, som kurven er forbundet med.Such a gripper apparatus is particularly useful when the articles to be gripped are hollow articles e.g. bottles that have an upward opening. Provided that there is at least one perforation at the bottom of the curve next to the opening in the hollow article, a negative pressure in its interior occurs when the suction curve is applied and the object is pulled up towards the bottom of the curve and temporarily connected to it. is pulled up along with the basket and lifted, the bottom of the basket thus simply forming a barrier which mechanically ensures retention of the object from the suction source to which the basket is connected.
Det kan endvidere være hensigtsmæssigt at genstandene, der skal gribes, til påsætning af sugekurvens perforerede bund i det mindste lokalt har en eller anden overflade, som har en ydre begrænsning, der er beliggende i et fæl-30 les plan, således at den kan slutte tæt til sugekurvens bund i det mindste rundt om dennes perforeringer.Furthermore, it may be convenient that the articles to be gripped for affixing the perforated bottom of the suction basket have at least locally some surface which has an outer constraint located in a common plane so that it can terminate. close to the bottom of the suction basket at least around its perforations.
Et sådant gribeapparat, som til samtidig gribning af flere genstande praktisk taget behandler hver genstand 35Such a gripping apparatus which, for simultaneous gripping of several objects, practically processes each object 35
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individuelt, er imidlertid utilstrækkeligt, når genstandene har vilkårlige former og/eller der er tale om hule genstande med en sådan orientering, at stillingen af deres åbninger i forhold til sugekurven er vilkårlig, 5 således at åbningen kan komme til at vende bort fra eller blive revet løs fra perforeringerne i bunden af sugekurven.individually, however, is insufficient when the objects are of arbitrary shapes and / or in the case of hollow objects with such orientation that the position of their openings relative to the suction curve is arbitrary, so that the opening may be turned away or become torn from the perforations at the bottom of the suction curve.
Endvidere er det ikke, når genstandene, der skal fjernes fra en palle, er sammenstuvet i efter hinanden følgende lag, muligt at sikre, at der samtidigt med at 10 genstandene i et fælles lag løftes, kan ske løftning af et eventuelt mellemlæg indskudt mellem laget og det efterfølgende lag, således at det i dette tilfælde er nødvendigt at udføre en særlig operation for at fjerne et sådant mellemlæg.Furthermore, when the articles to be removed from a pallet are stowed in consecutive layers, it is not possible to ensure that, while lifting the articles in a common layer, a possible insert can be lifted between the layers. and the subsequent layer, so that in this case it is necessary to perform a special operation to remove such an insert.
15 Fra beskrivelsen til FR-patent nr. 2 166 242 kendes f.eks. også et gribeapparat til en af flere genstande bestående byrde. Dette apparat er fortrinsvis kompakt for at undgå lækage^ og foruden en sugekilde til frembringelse af en sugevirkning på byrden har det ved siderne hængslede 20 sammenpresningsorganer, der fortrinsvis styres af et af sugekilden frembragt undertryk. Der er herved tilvejebragt en temmelig kompliceret og sårbar konstruktion.From the specification of FR patent No. 2 166 242, for example, also a gripper for one of several objects comprising load. This apparatus is preferably compact to avoid leakage, and in addition to a suction source to produce a suction effect on the load, it has 20 laterally hinged compression means which are preferably controlled by a suction source produced. This provides a rather complicated and vulnerable construction.
Endvidere kendes fra GB-patentskrift nr. 1 546 086 et apparat med en sugekop, der kan gribe en enkelt gen-25 stand med en bestemt form, især en kage. Apparatet er ikke i stand til at gribe og fastholde flere genstande, der er anbragt inden for en grundflade. Sugekoppen har en bund, der alene har gennembrydninger langs periferien, hvorfor den ikke er i stand til at fastholde løse genstande, der 30 er anbragt inde ved midten af sugekoppen.Furthermore, from GB Patent No. 1,546,086, there is known an apparatus with a suction cup capable of gripping a single object of a particular shape, in particular a cake. The apparatus is not capable of grasping and retaining several objects disposed within a ground surface. The suction cup has a bottom that has only breakthroughs along the periphery, therefore it is unable to hold loose objects disposed within the center of the suction cup.
Det er formålet med opfindelsen at anvise en fremgangsmåde og et apparat den angivne airt til at afhjælpe disse ulemper.It is the object of the invention to provide a method and an apparatus of the stated air to alleviate these disadvantages.
Dette er opnået ved at den omhandlede fremgangsmåde 35 ifølge opfindelsen er ejendommelig ved, at rummet forbindesThis is achieved by the fact that the present method 35 according to the invention is characterized in that the space is connected
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med sugekilden/ og at der kontinuerligt suges luft gennem den således afgrænsede byrde med en luftstrømningshastighed, der er bestemt således, at byrden holdes oppe ved hjælp af den trykforskel mellem bunden og toppen af byrden, som opstår 5 på grund af det i luftstrømmen fremkaldte trykfald, der i hovedsagen lokaliseres til og bestemmes i niveau med byrden, der skal gribes.with the suction source / and that air is continuously sucked through the load thus defined at an air flow rate which is determined such that the load is held up by the pressure difference between the bottom and the top of the load which arises due to the pressure drop induced in the air flow , which in the main proceedings are located and determined at the level of the burden to be seized.
Ved at udnytte trykfaldet og genstandene.på denne måde opnås, at f.eks. beholdere med afrundede hjørner eller 10 andre uregelmæssigt formede genstande, mellem hvilken luften kan strømme, kan optages og fastholdes som en enhed.By utilizing the pressure drop and the objects in this way, it is obtained that e.g. containers with rounded corners or 10 other irregularly shaped objects between which the air can flow can be absorbed and held as a unit.
Ved en udførelsesform for fremgangsmåden hvor byrden, der skal gribes, består af genstande, der er anbragt i lag ovenpå hinanden og med mellemlæg mellem to efter hinanden 15 følgende lag, kan man hensigtsmæssigt ifølge opfindelsen ved hjælp af sugekilden sikre medtagning ikke alene af genstandene i et lag, men også af det under laget anbragte mellemlæg.In one embodiment of the method in which the load to be gripped consists of articles arranged in layers on top of one another and with interposers between two consecutive layers, it is conveniently according to the invention, by means of the suction source, to ensure inclusion not only of the objects in a layer, but also of the spacer placed underneath the layer.
Apparatet til udførelse af fremgangsmåden ifølge krav 1 er af den art, der til gribning af en byrde bestående af et 20 antal i lag anbragte genstande har en sugekilde, en sugehætte og et sideafgrænsningsorgan, der er indrettet til i det mindste delvis at dække siderne af byrden, der skal gribes, hvilket organ er forbundet med et spærreorgan, der danner en barriere til mekanisk at tilbageholde byrden, og apparatet 25 er ifølge opfindelsen ejendommeligt ved, at organet, der danner en barriere til mekanisk tilbageholdelse af byrden, der skal gribes, er indrettet til at frembringe et minimalt trykfald i luftstrømmen mod sugekilden.The apparatus for carrying out the method according to claim 1 is of the kind which, for gripping a load consisting of a plurality of layers, has a suction source, a suction cap and a side delimiting means adapted to cover at least partially the sides of the load to be gripped, which means is associated with a barrier forming a barrier to mechanically withhold the load, and the apparatus 25 is peculiar to the invention by the means forming a barrier for mechanical retention of the load to be gripped; is designed to produce a minimum pressure drop in the air flow towards the suction source.
Sideafgrænsningsorganet begrænser det rum, hvori 30 undertrykket fra sugekilden virker, og gribningen af byrden sker ikke individuelt for de enkelte genstandes vedkommende ved påføring af vakuum på hver af genstandene, men under ét på de samlede genstande ved hjælp af tryktabet i det gennem bundtet af genstande strømmende flui-35 dum i det gennemstrømningstværsnit, som begrænses af sideafgrænsningsorganet, og ved at spærreorganet kun frembringer et minimalt trykfald opnås størst mulig holdekraft med mindst muligt kraftforbruq.The side delimiter restricts the space in which the vacuum from the suction source acts and the gripping of the load does not occur individually for the individual objects by applying vacuum to each of the objects, but together on the total objects by means of the pressure loss in the through the bundle of articles. flowing fluid in the flow cross-section, which is limited by the side delimiting means, and by the locking means producing only a minimum pressure drop, the greatest possible holding force is obtained with the least possible power consumption.
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4 DK 158091B4 DK 158091B
Som følge heraf er effektiviteten af gribningen uafhængig af konfigurationen og/eller den indbyrdes orientering af genstandene, hvoraf byrden er sammensat, og sugevirkningen er alene afhængig af arealet af det fri gennemstrømnings-5 tværsnit mellem genstandene og mellem disse og sidebegrænsningsorganerne .As a result, the efficiency of the gripping is independent of the configuration and / or the orientation of the articles of which the load is composed, and the suction effect depends solely on the area of the free flow cross-section between the articles and between them and the side limiting means.
Om ønsket kan der, hvis genstandene er samlede i ovenpå hinanden liggende lag, og der mellem de efter hinanden følgende lag er indskudt mellemlæg, med fordel 10 ifølge opfindelsen foretages løftning af et sådant mellemlag samtidig med genstandene, som ligger ovenpå det.If desired, if the articles are assembled into superposed layers and interposed layers are interposed, advantageously 10 according to the invention can be lifted such an intermediate layer simultaneously with the articles lying on top of it.
Det er således i virkeligheden tilstrækkeligt at sørge for at den anvendte sugekilde ikke blot trækker genstandene i laget op, men også mellemlaget under disse.Thus, in reality, it is sufficient to ensure that the suction source used not only pulls up the objects in the layer, but also the intermediate layer below them.
15 Fremgangsmåden ifølge opfindelsen er altså karakte ristisk ved at kapaciteten af indsuget luft gennem en valgt byrde omgivet af sidebegrænsningsorganet er fastlagt således, at der sikres bærekraft til at holde byrden ved hjælp af det frembragte mindre tryk på oversiden af byr-20 den på grund af tryktabet ved luftgennemstrømningen gennem byrden og eventuelt mellem denne og sidebegrænsningen.The method according to the invention is thus characterized in that the capacity of the suction air through a selected load surrounded by the side limiting means is determined so as to ensure sustainability to maintain the load by means of the lower pressure generated on the upper side of the load due to the pressure loss at the air flow through the load and possibly between this and the side restriction.
Fremgangsmåden og apparatet ifølge opfindelsen vil fremgå af den efterfølgende beskrivelse af nogle udførelseseksempler for gribeapparatet ifølge opfindelsen og under 25 henvisning til tegningen, hvor fig. 1 viser en del af et gribeapparat ifølge opfindelsen, fig. 2 set fra siden et lag genstande, der skal gribes med apparatet, 30 fig. 3 gribeapparatet i fig. 1 set fra siden og i snit til illustration af apparatets virkemåde, fig. 4 et snit efter linien IV-IV i fig. 3, fig. 5 et billede svarende til fig. 3, men visende en anden udførelsesform for apparatet ifølge opfindelsen, og 35 fig. 6 i større målestok en deltalje af en udførelsesform for apparatet ifølge opfindelsen.The method and apparatus according to the invention will become apparent from the following description of some embodiments of the gripper apparatus according to the invention and with reference to the drawing, in which fig. 1 shows a part of a gripper apparatus according to the invention; FIG. 2 is a side view of a layer of articles to be gripped with the apparatus; FIG. 3 shows the gripper apparatus of FIG. 1 is a side view and sectional view illustrating the operation of the apparatus; FIG. 4 is a section along line IV-IV of FIG. 3, FIG. 5 is a view similar to FIG. 3, but showing another embodiment of the apparatus according to the invention, and FIG. 6 is an enlarged detail of an embodiment of the apparatus according to the invention.
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Fig. 1-4 illustrerer anvendelsen af apparatet til aflæsning fra en palle af beholdere 10 i form af dunke, som har et i hovedsagen kvadratisk tværsnit med afrundede hjørner, og som foroven ved et af hjørnerne har en excentrisk anbragt 5 hældetud 11.FIG. 1-4 illustrate the use of the apparatus for unloading from a pallet of containers 10 in the form of cans having a generally square cross-section with rounded corners and having at the top of one of the corners an eccentrically disposed 5 pour spout 11.
Beholderne 10 er anbragt i lag ovenpå hinanden på pallen, som ikke er vist på tegningen, men som i det viste eksempel antages at være anbragt under beholderne og have kvadratisk form.The containers 10 are arranged in layers on top of one another on the pallet, which is not shown in the drawing, but which in the example shown is assumed to be placed under the containers and in square shape.
10 I fig, 2 er kun vist et enkelt lag af beholderen 10, der her er anbragt på et mellemlæg i form af en bakke 12, som adskiller det viste lag fra laget nedenunder. Undertiden er mellemlaget blot en almindelig plan folie.10, only a single layer of the container 10 shown here is placed on a spacer in the form of a tray 12 which separates the layer shown from the layer below. Sometimes the interlayer is just a plain flat sheet.
Beholderne 10 er anbragt side om side i laget, 15 således at deres ydersider berører hinanden to og to.The containers 10 are disposed side by side in the layer 15 so that their outer sides touch each other two and two.
Især på grund af deres afrundede hjørner, er der mellem beholderne passager 14, som for tydeligheds skyld er vist med skraveringer i fig. 4.Especially because of their rounded corners, there are passageways 14 between the containers which are shown for the sake of clarity with shading in FIG. 4th
Som følge af tudenes 11's excentriske placering på beholder-20 ne 10 er de set i plan anbragt tilfældigt svarende til tilfældige indbyrdes vinkelstillinger af beholderne 10.Due to the eccentric position of the nozzles 11 on the container 10, they are arranged in a plane at random corresponding to random mutual angular positions of the containers 10.
Ved fjernelse af beholderne fra pallen skal alle beholderne 10 i et lag gribes samtidigt.When removing the containers from the pallet, all the containers 10 in one layer must be gripped simultaneously.
Et apparat 15 til gribning af beholderne har til dette 25 formål en sugekilde.An apparatus 15 for gripping the containers has a suction source for this purpose.
I det viste eksempel er anvendt en blæser 16 med en udblæsningsåbning 17. Blæseren 16 er anbragt ovenover en sugekurv 18, idet der mellem denne og blæseren i den viste udførelsesform er indskudt en passende styret regulator 19 30 for yderluft.In the example shown, a blower 16 with a blowout opening 17 is used. The blower 16 is arranged above a suction basket 18, between which a blower and a suitable controlled external air regulator 19 30 are inserted in the illustrated embodiment.
Disse dele er i sig selv velkendte, og da de ikke har relation til den foreliggende opfindelse, beskrives de her ikke i nærmere detaljer, idet deres udformning er velkendt for en fagmand.These parts are well known in their own right, and since they are not related to the present invention, they are not described in more detail herein, their design being well known to those skilled in the art.
35 Sugekurven er i den i fig. 1-4 viste udførelsesform for neden lukket med en perforeret bund 20, der er velegnet tilThe suction curve is in the embodiment shown in FIG. 1-4 shown below closed with a perforated bottom 20 suitable for
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at danne en barriere til mekanisk at tilbageholde beholderne, der skal gribes, så de ikke føres mod sugekilden, der her er dannet af blæseren 16.forming a barrier for mechanically retaining the containers to be gripped so that they are not directed against the suction source formed here by the fan 16.
Bunden kan f.eks. være en passende gennemhullet 5 plade, en rist, et trådnet eller et vilkårligt andet organ, der kan danne en passende spærring.The bottom can e.g. may be an appropriately pierced plate, a grate, wire mesh or any other means capable of forming a suitable barrier.
Konturen af den nederste del af sugekurven 18 og altså også af den perforerede bund svarer til konturen af de beholdere 10, som skal gribes.The contour of the lower part of the suction basket 18 and thus also of the perforated bottom corresponds to the contour of the containers 10 to be gripped.
10 I den viste udførelsesform er der således tale om en i hovedsagen kvadratisk kontur.Thus, in the embodiment shown, there is a substantially square contour.
Gribeapparatet 15 ifølge opfindelsen har et sidebegrænsningsorgan eller et skørt 22, hvormed det kan afskærme i det mindste en del af beholderne 10 15 i laget i sideretningen.The gripper apparatus 15 according to the invention has a side restraining means or a skirt 22 with which it can shield at least part of the containers 10 15 in the lateral layer.
Som det fremgår af fig. 1 til 4 kan sidebegrænsningsorganet f.eks. være en simpel vertikal forlængelse ned forbi den perforerede bund af sidevæggene i sugekurven 18, der har form som en pyramidestub.As shown in FIG. 1 to 4, the side limiting means may e.g. be a simple vertical extension down past the perforated bottom of the side walls of the suction basket 18, which is shaped like a pyramid stub.
20 Et sådant skørt 22 er altså stift i den viste udførelsesform.Thus, such a skirt 22 is rigid in the embodiment shown.
Under alle omstændigheder strækker skørtet sig i praksis langs periferien af en mekaniske spærring som udgøres af den perforerede bund 20 i sugekurven 18, og kon-25 turen af skørtet svarer til konturen af bunden.In any case, in practice, the skirt extends along the periphery of a mechanical barrier constituted by the perforated bottom 20 of the suction curve 18, and the contour of the skirt corresponds to the contour of the bottom.
Gribeapparatet 15 er på her ikke nærmere beskrevet måde anbragt så det som en helhed er bevægelig mellem to stillinger nemlig en løftestilling og en aflæsningsstilling.The gripper apparatus 15 is not disposed in the manner described herein so that as a whole it is movable between two positions namely a lifting position and a reading position.
I løftestillingen afskærmer skørtet 22, som foran nævnt, 30 laget af beholdere 10, der skal gribes, i sideretningen.In the lifting position, as mentioned above, the skirt 22 shields the layer of containers 10 to be gripped in the lateral direction.
Med andre ord er skørtet 22 i gribeapparatet 15 i løftestillingen anbragt, så det omslutter hele laget af beholdere, som vist i fig. 3 og 4.In other words, the skirt 22 in the gripper apparatus 15 is positioned in the lifting position to enclose the entire layer of containers, as shown in FIG. 3 and 4.
Et sådant skørt 22, som danner en fortsættelse af 35 sugekurven 18 afgrænser således i sideretningen den fri gennemstrømningsvej for sugeluften.Such a skirt 22 which forms a continuation of the suction curve 18 thus defines in the lateral direction the free flow path of the suction air.
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For tydeligheds skyld er de mellem skørtet 22 og beholderne 10 dannede passager ved omkredsen af laget af beholdere vist skraverede i fig. 4.For clarity, the passages formed between the skirt 22 and the containers 10 at the circumference of the layer of containers are shown shaded in FIG. 4th
Når apparatet 15 på denne måde er anbragt i løfte-5 stilling, startes funktionen af sugekilden, som her udgøres af blæseren 16, og der tilvejebringes en tilstrækkelig sugeevne til at etablere det nødvendige trykfald til at løfte beholderne, ved luftens gennemstrømning gennem passagerne, hvis tværsnitsareal er forskellen mellem det totale tvær-10 snitsareal af skørtet 22 og den del af tværsnitsarealet, som er spærret af de pågældende beholdere 10.In this way, when the apparatus 15 is placed in the lifting position, the function of the suction source constituted by the blower 16 is started, and a sufficient suction capacity is provided to establish the necessary pressure drop to lift the containers, through the passage of air through the passages, if cross-sectional area is the difference between the total cross-sectional area of the skirt 22 and the portion of the cross-sectional area blocked by the respective containers 10.
Som nævnt er dette gennemstrømningstværsnit dannet af passagerne 14 og 24, der er vist skraverede i fig. 4.As mentioned, this flow cross-section is formed by the passages 14 and 24, which are shown shaded in FIG. 4th
Gribeapparatet 15 bevæges derefter først vertikalt 15 og eventuelt derefter i sideretningen hen til en aflæsse stilling.The gripper 15 is then first moved vertically 15 and, optionally, laterally to a unloading position.
Som følge af det af blæseren 16 frembragte undertryk trækkes beholderne 10 som en helhed opad, uden at det, som ved den kendte teknik, er nødvendigt, at der udøves 20 en individuel sugning på hver enkelt beholder.As a result of the negative pressure produced by the fan 16, the containers 10 are pulled up as a whole without, as is known in the prior art, an individual suction is required for each individual container.
Løftekraften er altså uafhængig af placeringen af beholdertudene 11 i forhold til perforeringerne i bunden 20 af sugekurven 18.Thus, the lifting force is independent of the position of the container spouts 11 relative to the perforations at the bottom 20 of the suction curve 18.
Som ovenfor nævnt har bunden 20 kun til formål 25 at sikre mekanisk tilbageholdelse af beholderne 10 imod den sugning, som de er udsat for.As mentioned above, the bottom 20 is only for purpose 25 to ensure mechanical retention of the containers 10 against the suction to which they are subjected.
Om ønsket kan der med blæseren 16, som danner sugekilden, ikke blot opsuges beholderne 10, som ovenfor beskrevet, men også mellemlaget 12 nedenunder beholderne.If desired, the blower 16 which forms the suction source can not only absorb the containers 10, as described above, but also the intermediate layer 12 below the containers.
30 Senere under forskydningen af gribeapparatet 15 kan der på vilkårlig måde foretages adskillelse af mellemlægget 12 og beholderne 10.Later, during the displacement of the gripper apparatus 15, the spacer 12 and the containers 10 can be separated at random.
F.eks. kan der som vist i fig. 3 hertil anvendes mekaniske midler såsom fingre 25, der indskydes i mellemlæggets 35 12's bevægelsesbane, og holder mellemlægget tilbage.Eg. as shown in FIG. 3 for this, mechanical means such as fingers 25 inserted in the path of movement of the spacer 35 12 are used, holding back the spacer.
Løsr.ivningen af mellemlaget kan ske progressivt fra dets periferi, idet man udnytter dets fleksibilitet.The detachment of the intermediate layer can occur progressively from its periphery, utilizing its flexibility.
OISLAND
8 DK 158091B8 DK 158091B
Der kan imidlertid også anvendes blæsedyser, der er båret af sugekurven 18, og som er indrettede til .at sende en luftstråle i retning mod mellemlægget 12 for at fjerne dette, eller der kan anvendes sugedyser, der virker 5 på undersiden af mellemlægget 12.However, blow nozzles carried by the suction basket 18 adapted to send an air jet in the direction of the spacer 12 may also be used to remove this, or suction nozzles operating 5 on the underside of the spacer 12 may be used.
Når griheapparatet 15 er kommet hen i aflæssestilling bringes undertrykket til at ophøre ved mindst én af følgende arbejdsoperationer. Standsning af blæseren 16, indføring af luft gennem et spjæld 19 i regulatoren eller 10 lukning af blæserens afgangsstuds 17.When the gripper 15 has reached the unload position, the vacuum is stopped by at least one of the following working operations. Stopping the fan 16, introducing air through a damper 19 into the regulator or closing the fan outlet nozzle 17.
Beholderne 10, der har været fastholdt af gribeap-paratet 15, frigives herved fra dette.The containers 10, which have been retained by the gripping device 15, are hereby released.
Til gribning af genstandene samtidig med at den understøtning, hvorpå de er anbragt, lades tilbage (mellemlæg, 15 bord, osv.) må mellemlægget eller underlaget være gennemhullet på vilkårlig passende måde f.eks. ved perforeringer eller buer i mellemlægget eller f.eks. ved at der anvendes brædder, som ikke er tæt samlede, en perforeret stålplade osv.For gripping the objects while leaving the support on which they are placed (insert, table, etc.), the insert or substrate must be pierced in any suitable manner e.g. by perforations or arches in the spacer or e.g. by using boards that are not tightly assembled, a perforated steel plate, etc.
20 Griheapparatet ifølge opfindelsen tillader anvendelse af bunde 20, der er perforerede i væsentlig højere grad end de kendte. I de ældre apparater var ethvert hul,, der ikke endte ved genstanden, som skulle gribes, årsag til skadelig udsivning, og der anvendtes derfor kun 25 en ringe grad af perforering, altid mindre end 50%.The gripper apparatus of the invention permits the use of bottoms 20 which are perforated to a substantially higher degree than those known in the art. In the older appliances, any hole that did not end up with the object to be gripped was the cause of harmful leakage, and therefore only a slight degree of perforation was always used, always less than 50%.
I modsætning hertil, deltager ethvert hul i gribeapparatet ifølge opfindelsen til at opnå et undertryk over genstandene, som skal gribes, og formindsker tryktabet over bunden. Det anbefales derfor at benytte en høj perforeringsgrad, der 30 kan nærme sig 100%. Bunden kan f.eks. så udgøres af en rist.In contrast, any hole in the gripper apparatus according to the invention participates in obtaining a negative pressure over the articles to be gripped and reduces the pressure loss above the bottom. It is therefore recommended to use a high degree of perforation that can approach 30%. The bottom can e.g. then constituted by a grate.
Det er foran antaget, at sugekilden, der anvendes, virker på beholderne 10 gennem en perforeret bund.It is previously believed that the suction source used acts on the containers 10 through a perforated bottom.
Som følge af tilstedeværelsen af et skørt 22 i 35 apparatet ifølge opfindelsen behøver dette imidlertid ikke altid at være tilfældet.However, due to the presence of a skirt 22 in the apparatus of the invention, this need not always be the case.
OISLAND
9 DK 158091B9 DK 158091B
I fig. 5 er således skematisk vist et apparat, hvor forbindelsen til blæseren, som danner sugekilden, som antydet med en pil i fig. 5, kan ske i sideretningen i forhold til et rum, der er afgrænset af skørtet 22 og bunden 20, 5 ved hvis omkreds det er anbragt.In FIG. 5, there is schematically shown an apparatus in which the connection to the blower which forms the suction source, as indicated by an arrow in FIG. 5, may occur in the lateral direction relative to a space defined by the skirt 22 and the bottom 20, 5 at whose perimeter it is disposed.
Bunden 20 kan så være massiv uden perforeringer. Gribeapparatet er herved blevet forenklet, især fordi sugekurven er elimineret.The bottom 20 can then be solid without perforations. The gripper has thereby been simplified, especially because the suction curve is eliminated.
I det i fig. 5 viste eksempel er beholderne, der gri-10 bes, flasker, der f.eks. kan have cirkulært tværsnit.In the embodiment of FIG. 5, the containers being gripped are bottles which e.g. may have circular cross section.
I det foregående er det antaget at skørtet 22 er stift, og at det er stift forbundet med gribeapparatet 15.In the foregoing, it is assumed that the skirt 22 is rigid and is rigidly connected to the gripper apparatus 15.
Det behøver imidlertid ikke at være således.However, it need not be so.
Tværtimod kan skørtet 22 om ønsket i det mindste delvis 15 være bevægelig mellem en løftestilling, hvor det i sideretningen ligger an mod dele af genstandene ved omkredsen, og en aflæsningsstilling, hvor det er fjernet fra disse genstande.On the contrary, if desired, the skirt 22 may be at least partially 15 movable between a lifting position where it laterally abuts parts of the articles at the circumference and a reading position where it is removed from these objects.
Som skematisk vist i fig. 6 kan i det mindste én 20 af væggene 27 i et sådant skørt 22, og i praksis enhver af væggene udgøre en klap der med et hængsel 28 er hængselforbundet med sugekurven 18 og kan svinge om en aksel 29.As schematically shown in FIG. 6, at least one 20 of the walls 27 of such a skirt 22 can, and in practice, any of the walls constitute a flap which, with a hinge 28, is hingedly connected to the suction curve 18 and can pivot about a shaft 29.
Når den tilhørende sugekilde arbejder, vil væggene 27 25 i skørtet 22 lægge sig mod omkredsen af samlingen af genstande, der skal gribes.As the associated suction source works, the walls 27 25 of the skirt 22 will lie against the circumference of the collection of objects to be gripped.
Når sugekilden afbrydes, kan væggene frit fjerne sig fra genstandene.When the suction source is switched off, the walls can freely remove from the objects.
F.eks. kan hver af væggene være forbundet med en ikke 30 vist fjeder.Eg. each of the walls may be connected to a spring not shown.
I en anden udførelsesform kan væggene frigives simpelthen ved hjælp af tyngdekraften, idet akslerne 29 befinder sig forskudt i sideretningen i forhold til omkredsen af samlingen af genstande, som skal gribes.In another embodiment, the walls can be released simply by gravity, the shafts 29 being displaced laterally relative to the circumference of the assembly of articles to be gripped.
3535
Som foran beskrevet kan væggene 27 og skørtet 22 også være stive.As previously described, the walls 27 and the skirt 22 can also be rigid.
I en varierende udførelsesform kan de endvidere være elastisk deformerbare.Furthermore, in a varying embodiment, they may be resiliently deformable.
1010
DK 158091 BDK 158091 B
oisland
Det skal fremhæves, at organet 20, der danner spærring, som mekanisk tilbageholder byrden, der skal gribes, har en funktion, der afviger fundamentalt fra funktionen af perforerede bunde i kendte tilsvarende apparater. Når 5 der er tale om mekanisk at standse bevægelse af genstande i retning mod en sugekilde må gennemstrømningsarealerne for luften ved de kendte apparater reduceres mest muligt for at hindre gennemsivning (parasitstrømme), medens man derimod ifølge opfindelsen søger at forøge 10 gennemstrømningsarealerne mest muligt op mod 100%, samtidigt med at man sikrer, at genstandene standses.It should be noted that the barring means 20 which mechanically retains the load to be gripped has a function which differs fundamentally from the function of perforated bottoms in known similar apparatus. In the case of mechanically stopping the movement of objects towards a suction source, the flow areas of the air of the known apparatus must be reduced as much as possible to prevent permeability (parasitic flows), while the invention aims to increase the flow areas as much as possible towards the 100% while ensuring that the items are stopped.
15 20 25 30 3515 20 25 30 35
Claims (4)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR8200290 | 1982-01-11 | ||
| FR8200290A FR2519619B1 (en) | 1982-01-11 | 1982-01-11 | SUCTION GRIPPING METHOD AND DEVICE |
Publications (4)
| Publication Number | Publication Date |
|---|---|
| DK6783D0 DK6783D0 (en) | 1983-01-10 |
| DK6783A DK6783A (en) | 1983-07-12 |
| DK158091B true DK158091B (en) | 1990-03-26 |
| DK158091C DK158091C (en) | 1990-09-10 |
Family
ID=9269860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DK006783A DK158091C (en) | 1982-01-11 | 1983-01-10 | PROCEDURE TO ACCEPT AND KEEP A BID OF SEARCH AND APPARATUS FOR EXERCISING THE PROCEDURE. |
Country Status (10)
| Country | Link |
|---|---|
| EP (1) | EP0084479B1 (en) |
| BE (1) | BE895565A (en) |
| DE (1) | DE3362570D1 (en) |
| DK (1) | DK158091C (en) |
| ES (1) | ES518904A0 (en) |
| FR (1) | FR2519619B1 (en) |
| GB (1) | GB2113178A (en) |
| GR (1) | GR77876B (en) |
| IE (1) | IE53864B1 (en) |
| IT (1) | IT1193605B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2157646A (en) * | 1984-04-19 | 1985-10-30 | Secr Defence | A vacuum gripper |
| FR2579190B1 (en) * | 1985-03-21 | 1988-10-14 | Thibault Jacques | DEVICE FOR LIFTING LOADS IN LAYERS FORMED FROM OBJECTS INDEPENDENT FROM ONE ANOTHER AND ARRANGED SIDE BY SIDE |
| GB8701347D0 (en) * | 1987-01-22 | 1987-02-25 | Bishop Barn Ltd | Package handling apparatus |
| US4753564A (en) * | 1987-01-23 | 1988-06-28 | Goldco Industries, Inc. | Apparatus and method for effecting movement of selected tiers of stacked articles using pressure differentials |
| DE3824155A1 (en) * | 1988-07-16 | 1990-01-25 | Focke & Co | DEVICE FOR LIFTING TRAY PACKS |
| EP0554592B1 (en) * | 1992-02-04 | 1995-12-13 | House Food Industrial Co., Ltd. | A suction-type robot hand |
| DE4425003A1 (en) * | 1994-07-15 | 1996-01-18 | Hes Liselotte | Container packing and unpacking process, e.g. for bottles, glasses or cans |
| ATE375946T1 (en) * | 2000-06-08 | 2007-11-15 | Bosch Gmbh Robert | GRIPPER DEVICE FOR CAPTUREING OBJECTS AND METHOD FOR OPERATING THE SAME |
| DE202010008173U1 (en) * | 2010-04-28 | 2011-11-14 | Autefa Automation Gmbh | handling device |
| CN108573780A (en) * | 2018-06-19 | 2018-09-25 | 杭州良淋电子科技股份有限公司 | Flexible flat cable lineation machine |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1579744A (en) * | 1925-06-03 | 1926-04-06 | Francis M Aday | Vacuum lifting device |
| US2390242A (en) * | 1945-03-01 | 1945-12-04 | H M Seippel | Article transferring apparatus |
| DE1075814B (en) * | 1955-07-11 | 1960-02-18 | P Ballantine £x Sons Newark, N J (V St A) | Hollow suction head for conveying stacked goods |
| DE1584426B1 (en) * | 1965-04-03 | 1970-12-10 | Hebel Gasbetonwerk Gmbh | Device for lifting and lowering still plastic aerated concrete blocks |
| US3404787A (en) * | 1966-12-27 | 1968-10-08 | American Chain & Cable Co | Suction lift for article distribution and storage system |
| DE1930366A1 (en) * | 1968-06-17 | 1969-12-18 | Nat Res Dev | Device for lifting objects by means of negative pressure |
| DE1926479A1 (en) * | 1969-05-23 | 1970-12-03 | Carlo Schaberger Sondermaschb | Device for grasping, lifting and moving open containers such as bottles, cans, etc. |
| FR2166242B1 (en) * | 1972-01-03 | 1976-01-16 | Applic Procedes Electriq Fr | |
| DE2237943A1 (en) * | 1972-05-10 | 1973-11-22 | Laessig Foerdertech Hamburg | DEVICE FOR TRANSFERRING FOOD USING A SUCTION HEAD CONNECTED TO A VACUUM GENERATOR |
| DE2629631A1 (en) * | 1975-07-02 | 1977-01-27 | Marryat Handling Ltd | SUCTION LIFTER |
| GB1483952A (en) * | 1975-10-27 | 1977-08-24 | Smedley Hp Foods Ltd | Load handling |
-
1982
- 1982-01-11 FR FR8200290A patent/FR2519619B1/en not_active Expired
-
1983
- 1983-01-10 DE DE8383400050T patent/DE3362570D1/en not_active Expired
- 1983-01-10 DK DK006783A patent/DK158091C/en active
- 1983-01-10 BE BE0/209866A patent/BE895565A/en not_active IP Right Cessation
- 1983-01-10 EP EP83400050A patent/EP0084479B1/en not_active Expired
- 1983-01-10 GR GR70227A patent/GR77876B/el unknown
- 1983-01-11 ES ES518904A patent/ES518904A0/en active Granted
- 1983-01-11 GB GB08300586A patent/GB2113178A/en not_active Withdrawn
- 1983-01-11 IT IT19059/83A patent/IT1193605B/en active
- 1983-01-11 IE IE53/83A patent/IE53864B1/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| DK6783A (en) | 1983-07-12 |
| IT8319059A0 (en) | 1983-01-11 |
| ES8308797A1 (en) | 1983-10-16 |
| DK158091C (en) | 1990-09-10 |
| FR2519619A1 (en) | 1983-07-18 |
| IE53864B1 (en) | 1989-03-29 |
| EP0084479B1 (en) | 1986-03-19 |
| GB8300586D0 (en) | 1983-02-09 |
| EP0084479A1 (en) | 1983-07-27 |
| IT1193605B (en) | 1988-07-21 |
| GR77876B (en) | 1984-09-25 |
| ES518904A0 (en) | 1983-10-16 |
| BE895565A (en) | 1983-05-02 |
| FR2519619B1 (en) | 1986-02-21 |
| GB2113178A (en) | 1983-08-03 |
| DK6783D0 (en) | 1983-01-10 |
| DE3362570D1 (en) | 1986-04-24 |
| IE830053L (en) | 1983-07-11 |
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