EP0693447A1 - Vorrichtung zum Greifen von Gegenstanden, insbesondere von Wickelrollen - Google Patents

Vorrichtung zum Greifen von Gegenstanden, insbesondere von Wickelrollen Download PDF

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Publication number
EP0693447A1
EP0693447A1 EP94810419A EP94810419A EP0693447A1 EP 0693447 A1 EP0693447 A1 EP 0693447A1 EP 94810419 A EP94810419 A EP 94810419A EP 94810419 A EP94810419 A EP 94810419A EP 0693447 A1 EP0693447 A1 EP 0693447A1
Authority
EP
European Patent Office
Prior art keywords
coil
arm
arms
gripping
movable
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Withdrawn
Application number
EP94810419A
Other languages
English (en)
French (fr)
Inventor
Jean-Jacques Beguin
Jean Cestonaro
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.)
Philip Morris Products SA
Original Assignee
Fabriques de Tabac Reunies SA
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 Fabriques de Tabac Reunies SA filed Critical Fabriques de Tabac Reunies SA
Priority to EP94810419A priority Critical patent/EP0693447A1/de
Priority to DE9421859U priority patent/DE9421859U1/de
Publication of EP0693447A1 publication Critical patent/EP0693447A1/de
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • B66C1/10—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 mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • B66C1/445—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated
    • B66C1/447—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated by hydraulic or pneumatic motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H19/00—Changing the web roll
    • B65H19/10—Changing the web roll in unwinding mechanisms or in connection with unwinding operations
    • B65H19/12—Lifting, transporting, or inserting the web roll; Removing empty core
    • B65H19/123—Lifting, transporting, or inserting the web roll; Removing empty core with cantilever supporting arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
    • B65H67/064—Supplying or transporting cross-wound packages, also combined with transporting the empty core
    • B65H67/065—Manipulators with gripping or holding means for transferring the packages from one station to another, e.g. from a conveyor to a creel trolley
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Definitions

  • the present invention relates to a device for gripping an object of any shape but more particularly a coil, in particular a relatively thin coil, in order to be able to move it.
  • This coil generally comprises a hollow cylindrical core on which the strip or the ribbon is wound in a plurality of superposed turns, the coil comprising only a single alignment of turns.
  • One of the problems posed by the use of these coils consists in being able to grasp it in order to bring it to a desired location, that is to say generally to take it from a stock to place it on a shaft of a machine from where it will be unwound. Besides the possibility of manual entry, movement and positioning, requiring an operator for this purpose, there are possibilities of carrying out these operations by mechanical means.
  • the devices the known prior art provides two possibilities for this, either by introducing an axis of a transport device inside the hollow part of the core of the coil, which poses problems when transferring the coil from the transport axis towards the unwinding axis of the machine or else other devices make it possible to grip the reel by its outer periphery but then these devices surrounding the reel cannot grip a reel resting on a plane by a portion of its peripheral surface ; moreover, the latter devices are generally constructed to grip only coils of a determined diameter and cannot easily adapt to coils of different diameters.
  • Another device for this purpose consists of a fork with two points gripping the coil by lifting it by the two points; in the case of a narrow coil, this requires an additional fulcrum, which means that the coil tends to tilt on the device from which it results in difficulties in then arranging it precisely on a reel axis.
  • the gripping devices described above do not additionally make it possible to grip a coil arranged flat, that is to say the axis of the coil is vertical.
  • the object of the invention is therefore to propose a device for grasping objects of any shape, making it possible to grasp said object arranged in any position and to deposit it in another place also in any position, said device which is particularly suitable for gripping, transferring and depositing coils, since it does not meet the drawbacks mentioned of the devices of the art prior. It is understood that this device is intended for coils containing a ribbon of any material, used in any industry, the materials or industries mentioned above being only as examples.
  • the gripping device has the characteristics mentioned in the claims.
  • FIG. 1 we see a device 1 for capturing a coil 2 placed on a horizontal plane 3.
  • the coil 2 generally comprises a core 20, which can be made of cardboard made of synthetic material or metal, without this material being of any importance for the invention.
  • the core 20 comprises a circular central opening 21 allowing the reel 2 to be subsequently placed on a reel axis.
  • the gripping device also being capable of gripping such coils.
  • the reel 2 comprises a ribbon wound in a plurality of turns 22, the upper turn forming the cylindrical outer surface 23 of the reel 2.
  • the input device 1 firstly comprises a frame 10, on which are mounted at least three supports 11 each provided with a movable arm 12.
  • the embodiment of the device shown in the figure comprises four supports 11 and therefore four movable arms 12.
  • the supports 11 extend approximately radially with respect to frame 10, one end of each support being fixed to said frame. Note that it would also be possible to provide only a single piece, for example a frame corresponding to the frame 10 and to the supports 11.
  • the end remote from the center of each support comprises an axis 13 on which is pivotally fixed one end of a mobile arm 12.
  • each mobile arm may be provided with a toothed or toothed wheel 14, fixed to the pivoting end of the arm 12 and pivoting with it around the axis 13 , each of the toothed wheels 14 meshing on a roller chain or a toothed belt 15 which passes through all the toothed wheels 14.
  • a movement of longitudinal displacement on a straight portion of the chain or the toothed belt 15 therefore causes a rotation of the wheels toothed 14 and therefore a simultaneous pivoting of the movable arms 12 around the axes 13.
  • the drive of the chain or the toothed belt 15 is obtained by the drive device 16, of known technique, which is also fixed to the frame 10.
  • the drive device 16 of known technique, which is also fixed to the frame 10.
  • the drive device 16 comprises end-of-travel locks so as not to drive the mobile arms 12 beyond the extreme positions shown for one of the mobile arms.
  • the large range of diameters that the device can grasp without it being necessary to modify one or the other elements.
  • the device is able to grasp an object or a coil whose maximum dimension or diameter is slightly less than that given by the maximum extension of the movable arms as well as an object or a coil whose dimension or diameter is slightly greater than that given by the geometry represented by the clamping means when the arms are fully folded down and the clamping means are in close proximity to each other.
  • the possibility of also being able to grasp an object of small diameter can be advantageously used to remove a core of the reel from its reel axis when the reel has been completely reeled off.
  • the movable arms 12 are all of the same length and the toothed wheels 14 are of the same diameters; therefore the clamping movement caused by the clamping means is concentric.
  • other means can be envisaged for actuating the movable arms in synchronism, for example mechanical means with cams, or else by hydraulic or pneumatic cylinders.
  • each movable arm can be equipped with a means for adjusting its length, thus making it possible to increase the range of coil diameters that the device can grasp.
  • This arrangement can also be combined with toothed wheels of different diameters to be able to grasp an object of any shape.
  • the frame 10 is also provided with a central opening 10A, the diameter of which is at least equal to that of the opening 21 of the core, so as to allow the coil 2 to be taken from a storage axis or deposited on a reel axis.
  • Figure 2 shows the simplest of the clamping means, consisting only of a rod 17 fixed perpendicular to the free end of the movable arm 12, either in a direction parallel to the axis of the coil 2, the rod 17 being brought into contact with a generator of the cylindrical outer surface 23 of the coil by the rotation of the arm 12 after the movable arms have been lightly pressed on the side of the coil 2, via the bearing surfaces 12B.
  • a slight tightening of the spool is imposed by acting on the chain or the toothed belt 15.
  • the length of the rods 17 is such that their ends come flush or slightly set back from the circular face opposite the movable arms, this in order to possibly be able to pick up a coil whose face is placed on the ground.
  • the rod 17 can comprise two frusto-conical portions 17A turned one against the other, so as to center the coil 2 during his seizure. This latter embodiment is particularly suitable for relatively narrow coils. Suitable clamping means can be provided by a person skilled in the art for gripping objects other than coils.
  • the gripping device In order to be able to move the reel after having grasped it, the gripping device, respectively the frame 10 is mounted on a support 18 which is mounted on displacement means, shown diagrammatically at 19, capable of moving the gripping device according to n ' any movement required in vector space.
  • displacement means are of known technique.
  • the above displacement means are capable of orienting the gripping device in any direction of space, it is possible to grip a coil placed with its axis disposed in any direction and install it the same way.
  • the device will preferably be equipped with mobile arms of the same length and toothed wheels of the same diameter.
  • the length of the arms In the case of entering an object of any shape but the shape and orientation of which are known, it is possible to adapt the length of the arms as well as the diameters of the toothed wheels in order to optimize the tightening of the object.
  • the movable arms For gripping an object of regular shape, such as a coil, the movable arms have the same length and the gear wheels the same diameter, thus allowing perfect concentric gripping and centering of the coil on the device and this for coils can have very different diameters.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Manipulator (AREA)
EP94810419A 1994-07-15 1994-07-15 Vorrichtung zum Greifen von Gegenstanden, insbesondere von Wickelrollen Withdrawn EP0693447A1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP94810419A EP0693447A1 (de) 1994-07-15 1994-07-15 Vorrichtung zum Greifen von Gegenstanden, insbesondere von Wickelrollen
DE9421859U DE9421859U1 (de) 1994-07-15 1994-07-15 Greifvorrichtung für Gegenstände, insbesondere Spulen

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP94810419A EP0693447A1 (de) 1994-07-15 1994-07-15 Vorrichtung zum Greifen von Gegenstanden, insbesondere von Wickelrollen

Publications (1)

Publication Number Publication Date
EP0693447A1 true EP0693447A1 (de) 1996-01-24

Family

ID=8218284

Family Applications (1)

Application Number Title Priority Date Filing Date
EP94810419A Withdrawn EP0693447A1 (de) 1994-07-15 1994-07-15 Vorrichtung zum Greifen von Gegenstanden, insbesondere von Wickelrollen

Country Status (2)

Country Link
EP (1) EP0693447A1 (de)
DE (1) DE9421859U1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104647395A (zh) * 2015-02-11 2015-05-27 江南大学 一种可变构型机械手掌
CN110077955A (zh) * 2019-04-26 2019-08-02 烟台艾迪精密机械股份有限公司 一种吊装工装及其装配方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2758011C2 (ru) 2017-05-19 2021-10-25 Филип Моррис Продактс С.А. Способ и устройство для подачи и сращивания листа материала, смотанного в рулон

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2951094A1 (de) * 1979-12-19 1981-07-02 Thyssen Industrie Ag, 4300 Essen Greifer zum erfassen, bewegen und/oder transportieren von vorzugsweise runden und/oder rohrfoermigen gegenstaenden
GB2167047A (en) * 1984-11-16 1986-05-21 Koerber Ag Bobbin changing apparatus
EP0360314A1 (de) * 1988-09-08 1990-03-28 Galvanin S.N.C. Vorrichtung zum Überführen von Garnkonussen aus einem Magazin mit Konusstapeln auf ein Förderband
GB2244983A (en) * 1990-06-12 1991-12-18 Gd Spa Changing web rolls
DE9017476U1 (de) * 1990-12-27 1992-04-23 Maschinenfabrik Alfred Schmermund Gmbh & Co, 5820 Gevelsberg Einrichtung zum Übergeben von Bobinen aus Verpackungsmaterial
DE4142256A1 (de) * 1990-12-24 1992-06-25 Gd Spa Verfahren und vorrichtung zum wechseln von spulen in einer verarbeitungsmaschine von bandmaterial
EP0503747A2 (de) * 1991-03-08 1992-09-16 MANNESMANN Aktiengesellschaft Vorrichtung zum Erfassen, Bewegen und/oder Drehen achssymmetrischer Gegenstände

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2951094A1 (de) * 1979-12-19 1981-07-02 Thyssen Industrie Ag, 4300 Essen Greifer zum erfassen, bewegen und/oder transportieren von vorzugsweise runden und/oder rohrfoermigen gegenstaenden
GB2167047A (en) * 1984-11-16 1986-05-21 Koerber Ag Bobbin changing apparatus
EP0360314A1 (de) * 1988-09-08 1990-03-28 Galvanin S.N.C. Vorrichtung zum Überführen von Garnkonussen aus einem Magazin mit Konusstapeln auf ein Förderband
GB2244983A (en) * 1990-06-12 1991-12-18 Gd Spa Changing web rolls
DE4142256A1 (de) * 1990-12-24 1992-06-25 Gd Spa Verfahren und vorrichtung zum wechseln von spulen in einer verarbeitungsmaschine von bandmaterial
DE9017476U1 (de) * 1990-12-27 1992-04-23 Maschinenfabrik Alfred Schmermund Gmbh & Co, 5820 Gevelsberg Einrichtung zum Übergeben von Bobinen aus Verpackungsmaterial
EP0503747A2 (de) * 1991-03-08 1992-09-16 MANNESMANN Aktiengesellschaft Vorrichtung zum Erfassen, Bewegen und/oder Drehen achssymmetrischer Gegenstände

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104647395A (zh) * 2015-02-11 2015-05-27 江南大学 一种可变构型机械手掌
CN110077955A (zh) * 2019-04-26 2019-08-02 烟台艾迪精密机械股份有限公司 一种吊装工装及其装配方法

Also Published As

Publication number Publication date
DE9421859U1 (de) 1996-12-19

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