EP0007844A1 - Vakuumlastgreifer - Google Patents

Vakuumlastgreifer Download PDF

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Publication number
EP0007844A1
EP0007844A1 EP79400474A EP79400474A EP0007844A1 EP 0007844 A1 EP0007844 A1 EP 0007844A1 EP 79400474 A EP79400474 A EP 79400474A EP 79400474 A EP79400474 A EP 79400474A EP 0007844 A1 EP0007844 A1 EP 0007844A1
Authority
EP
European Patent Office
Prior art keywords
skirt
pocket
particles
suction cup
une
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.)
Granted
Application number
EP79400474A
Other languages
English (en)
French (fr)
Other versions
EP0007844B1 (de
Inventor
Jacques Teissier
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.)
Societe Generale pour les Techniques Nouvelles SA SGN
Original Assignee
Societe Generale pour les Techniques Nouvelles SA SGN
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 Societe Generale pour les Techniques Nouvelles SA SGN filed Critical Societe Generale pour les Techniques Nouvelles SA SGN
Publication of EP0007844A1 publication Critical patent/EP0007844A1/de
Application granted granted Critical
Publication of EP0007844B1 publication Critical patent/EP0007844B1/de
Expired legal-status Critical Current

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Classifications

    • 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
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B25B11/005—Vacuum work holders
    • B25B11/007—Vacuum work holders portable, e.g. handheld
    • 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
    • Y10S248/00—Supports
    • Y10S248/91—Weighted base
    • 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
    • Y10T279/00—Chucks or sockets
    • Y10T279/11—Vacuum

Definitions

  • the present invention relates to a suction cup gripping device.
  • Vacuum gripping devices have been known and used for a long time; the suction cup is constituted by a skirt, made of a deformable material such as rubber, which is applied to a surface of the part that is to be taken using the suction cup, said skirt delimiting between itself and the surface of the room a space in which a depression is created. Thanks to this depression, the suction cup adheres more or less strongly to said surface and the part can be manipulated by means of this suction cup.
  • the skirt according to the invention is characterized in that it consists of a deformable elastic pocket of substantially toroidal shape containing particles preferably having a certain density, and at least one means allowing the freezing of said particles when the wall of said pocket has been brought into contact with the part to be apprehended.
  • the elastic toroidal pocket which constitutes the skirt and which contains the particles can form a single cavity or can be split radially into several distinct chambers; said fractionation generally allows a more constant distribution of the particles inside the pocket.
  • the suction cup according to the invention using said skirt is characterized in that it comprises, in addition to said skirt, means allowing a certain depression in the space situated between the surface of the part to be apprehended on which said skirt is applied and said skirt.
  • a depression inside the skirt in order to freeze the particles contained therein and a depression in the space situated between the surface of the part to be apprehended and said skirt.
  • These two depressions can be the same or different and can be performed simultaneously or with a certain time lag. It is considered desirable to first produce a suitable depression inside the skirt and then the depression in the space mentioned above.
  • the device described above and its mode of operation are in no way limitative of the invention; it is indeed possible to produce the toroidal pocket by numerous equivalent means; the essence of the invention resides in the fact that the device has the general shape of a suction cup, that the gripping force exerted essentially comes from the pressure difference created in the space between the skirt of this suction cup and the surface of the part, by means of a vacuum device and that the skirt of this suction cup is constituted by a pocket of generally toric shape having a flexible wall, filled with suitable particles, pocket in which it is possible to achieve a certain depression by relation to the atmosphere and possibly some overpressure if necessary
  • the device according to the invention can preferably be used with air as the fluid, but it can also be used with other fluids, for example liquids.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
EP79400474A 1978-07-20 1979-07-10 Vakuumlastgreifer Expired EP0007844B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR7821554A FR2431635A1 (fr) 1978-07-20 1978-07-20 Dispositif de prehension par ventouse
FR7821554 1978-07-20

Publications (2)

Publication Number Publication Date
EP0007844A1 true EP0007844A1 (de) 1980-02-06
EP0007844B1 EP0007844B1 (de) 1982-02-17

Family

ID=9210963

Family Applications (1)

Application Number Title Priority Date Filing Date
EP79400474A Expired EP0007844B1 (de) 1978-07-20 1979-07-10 Vakuumlastgreifer

Country Status (5)

Country Link
US (1) US4294424A (de)
EP (1) EP0007844B1 (de)
CA (1) CA1122625A (de)
DE (1) DE2962134D1 (de)
FR (1) FR2431635A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2299569A (en) * 1994-03-14 1996-10-09 Motorola Inc Method and apparatus for picking and placing components using a morphing vacuum tip

Families Citing this family (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4561686A (en) * 1983-08-22 1985-12-31 Raymond Atchley End effector
US4620738A (en) * 1985-08-19 1986-11-04 Varian Associates, Inc. Vacuum pick for semiconductor wafers
US4674915A (en) * 1985-11-19 1987-06-23 Shell Offshore Inc. Manipulator apparatus for gripping submerged objects
US4669915A (en) * 1985-11-19 1987-06-02 Shell Offshore Inc. Manipulator apparatus with flexible membrane for gripping submerged objects
US5358296A (en) * 1993-05-14 1994-10-25 Xerox Corporation Substrate holding device
US5350147A (en) * 1993-10-19 1994-09-27 Paganus Thomas J Omnipositional pod for camera
US7997554B2 (en) * 2008-03-28 2011-08-16 Carnevali Jeffrey D Adaptive mounting structure
KR20130055587A (ko) 2010-04-15 2013-05-28 코넬 유니버시티 그립 및 해제 장치 및 방법
JP5800127B2 (ja) * 2011-05-10 2015-10-28 株式会社Ihi 形状自在な吸着グリッパ
JP5822110B2 (ja) * 2011-05-10 2015-11-24 株式会社Ihi 形状可変な吸着グリッパ
US9463541B2 (en) * 2013-03-08 2016-10-11 Bell Helicopter Textron Inc. Selectively compliant clamp
DE102013015128A1 (de) * 2013-09-13 2015-03-19 Sms Meer Gmbh Heißkörperheber, Verfahren zum Heben von Heißkörpern sowie Verwendung eines Saughebers
JP6032234B2 (ja) * 2014-03-19 2016-11-24 信越半導体株式会社 ワーク保持装置
JP6385014B2 (ja) * 2014-03-31 2018-09-05 国立大学法人九州工業大学 改質磁性流体及びこの改質磁性流体を用いた把持機構並びに把持装置
US20150336227A1 (en) * 2014-05-20 2015-11-26 GM Global Technology Operations LLC Reconfigurable fixture for sheet metal parts and method
US20160052147A1 (en) * 2014-08-19 2016-02-25 GM Global Technology Operations LLC Conformable magnetic holding device
JP6415273B2 (ja) * 2014-11-26 2018-10-31 アルパイン株式会社 吸着保持装置
WO2018049090A1 (en) 2016-09-09 2018-03-15 The Procter & Gamble Company Vacuum holder with extensible skirt gasket
CN109789561B (zh) * 2016-11-09 2022-05-24 株式会社东芝 把持工具以及把持系统
JP6588935B2 (ja) 2017-03-13 2019-10-09 株式会社東芝 把持ツール、把持システム、および把持性能の評価方法
JP6505762B2 (ja) * 2017-03-13 2019-04-24 株式会社東芝 把持ツール、把持システム、および把持部の製造方法
JP6486402B2 (ja) * 2017-03-13 2019-03-20 株式会社東芝 把持ツール、把持システム、および把持部の製造方法
JP6588949B2 (ja) * 2017-09-26 2019-10-09 株式会社東芝 把持ツール、把持システム、および樹脂部材の製造方法
EP3552480B1 (de) * 2018-04-10 2021-09-15 IG Specials B.V. Vorrichtung und verfahren zum einsetzen von pflanzenzwiebeln
US10357883B1 (en) * 2018-04-30 2019-07-23 Amazon Technologies, Inc. End effector having pliable bladder with adjustable rigidity
US11571779B2 (en) 2018-06-21 2023-02-07 University Of Florida Research Foundation, Incorporated Magnetic-field-guidance system
US11260542B2 (en) * 2019-10-31 2022-03-01 GM Global Technology Operations LLC Universal vacuum cup and method of lifting an object
US11745297B2 (en) * 2020-11-24 2023-09-05 GM Global Technology Operations LLC Shape control in gripping systems and methods

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1124907A (fr) * 1955-01-28 1956-10-22 Chambre à volume variable à joint élastique sous pression
US3040920A (en) * 1958-09-15 1962-06-26 Hyster Co Method and apparatus for handling loads
GB1036586A (en) * 1962-11-05 1966-07-20 Bertin & Cie Improvements in and relating to suction devices more especially for lifting objects
FR1474798A (fr) * 1965-12-30 1967-03-31 Bertin & Cie Perfectionnements aux dispositifs de ventouse porte-charge
FR1595727A (de) * 1968-11-25 1970-06-15

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1714422A (en) * 1927-06-09 1929-05-21 Isaac E Hanson Suction supporting device
US2066773A (en) * 1935-12-26 1937-01-05 Felice George Drain and flushing apparatus
US2147907A (en) * 1936-07-09 1939-02-21 Chester M Macchesney Bowling ball attachment
US2229375A (en) * 1940-03-30 1941-01-21 Walter F Eggleston Cleaner for drain pipes
GB622680A (en) * 1946-10-21 1949-05-05 Patricia Ruth Willes Improvements in or relating to non-slipping supporting devices or feet for articles
GB667733A (en) * 1950-03-27 1952-03-05 Esca William Puckert Pneumatic suction devices
AT178580B (de) * 1951-04-24 1954-05-25 Gottfried Dr Cremer Saugkopf für Anlagen zum Transport rohrartiger keramischer Formlinge
US2929653A (en) * 1954-06-28 1960-03-22 Lodge & Shipley Co Lifting cup for article transferring apparatus
US2916184A (en) * 1957-11-26 1959-12-08 Harper J Ransburg Co Inc Container
US2936139A (en) * 1959-04-08 1960-05-10 Oscar L Lindstrom Resilient non-skid supporting shoes with suction cup
US3863568A (en) * 1972-03-27 1975-02-04 Us Navy Suction fastening device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1124907A (fr) * 1955-01-28 1956-10-22 Chambre à volume variable à joint élastique sous pression
US3040920A (en) * 1958-09-15 1962-06-26 Hyster Co Method and apparatus for handling loads
GB1036586A (en) * 1962-11-05 1966-07-20 Bertin & Cie Improvements in and relating to suction devices more especially for lifting objects
FR1474798A (fr) * 1965-12-30 1967-03-31 Bertin & Cie Perfectionnements aux dispositifs de ventouse porte-charge
FR1595727A (de) * 1968-11-25 1970-06-15

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2299569A (en) * 1994-03-14 1996-10-09 Motorola Inc Method and apparatus for picking and placing components using a morphing vacuum tip
FR2732635A1 (fr) * 1994-03-14 1996-10-11 Motorola Inc Procede et appareil pour prise et mise en place de pieces utilisant un insert adaptable a vide
GB2299569B (en) * 1994-03-14 1998-07-01 Motorola Inc Apparatus for picking and placing components using a morphing vacuum tip

Also Published As

Publication number Publication date
EP0007844B1 (de) 1982-02-17
FR2431635B1 (de) 1981-06-26
FR2431635A1 (fr) 1980-02-15
US4294424A (en) 1981-10-13
DE2962134D1 (en) 1982-03-25
CA1122625A (en) 1982-04-27

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