EP2476637B1 - Dispositif et procédé de réception, de retenue et/ou de manipulation d'objets plats - Google Patents

Dispositif et procédé de réception, de retenue et/ou de manipulation d'objets plats Download PDF

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Publication number
EP2476637B1
EP2476637B1 EP20110192889 EP11192889A EP2476637B1 EP 2476637 B1 EP2476637 B1 EP 2476637B1 EP 20110192889 EP20110192889 EP 20110192889 EP 11192889 A EP11192889 A EP 11192889A EP 2476637 B1 EP2476637 B1 EP 2476637B1
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EP
European Patent Office
Prior art keywords
bridge
recited
chord
arms
cantilever
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.)
Active
Application number
EP20110192889
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German (de)
English (en)
Other versions
EP2476637A3 (fr
EP2476637A2 (fr
Inventor
Kai Wegener
Richard Eschlbeck
Peter Kirschner
Dennis Fritsch
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.)
Krones AG
Original Assignee
Krones AG
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 Krones AG filed Critical Krones AG
Priority to SI201130550T priority Critical patent/SI2476637T1/sl
Publication of EP2476637A2 publication Critical patent/EP2476637A2/fr
Publication of EP2476637A3 publication Critical patent/EP2476637A3/fr
Application granted granted Critical
Publication of EP2476637B1 publication Critical patent/EP2476637B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0816—Suction grippers separating from the top of pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0883—Construction of suction grippers or their holding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B65H3/54—Pressing or holding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/50—Auxiliary process performed during handling process
    • B65H2301/51—Modifying a characteristic of handled material
    • B65H2301/512—Changing form of handled material
    • B65H2301/5121—Bending, buckling, curling, bringing a curvature
    • B65H2301/51214—Bending, buckling, curling, bringing a curvature parallel to direction of displacement of handled material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/30—Other features of supports for sheets
    • B65H2405/35—Means for moving support
    • B65H2405/353—Means for moving support vertically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B65H2406/343—Details of sucking member

Definitions

  • the present invention relates to a receiving, holding and / or handling device for flat objects with at least two controllable suction pads, which has the features of independent claim 1.
  • the invention additionally relates to a method for receiving, holding and / or handling flat objects via at least two controllable suction grippers having the features of independent method claim 16.
  • Such sheet-like objects or plates can be formed, for example, by cardboard liners, plastic liners, hollow board panels, sheets of corrugated cardboard or web cardboard, optionally of cardboard or plastic. If flat objects such as stacked plates are to be raised individually, problems often arise because the articles or plates often tend to adhere to one another. Adhesive forces or else mechanical fiber entanglements or negative pressure adhesions may be responsible for these undesired adhesive effects, which must be reduced or rendered ineffective when lifting individual plates.
  • the underlying plates can, for example, be retained by means of suitable brush elements when lifting an uppermost plate.
  • the lifting and bending of the lateral edges of the top plate has been found in practice as an effective measure to prevent the Mitzieh bines.
  • Another measure to avoid the problems mentioned may be the use of frame magazines with Vorsepartechnik the plates.
  • the EP 0 639 519 A1 shows a separating device for plate material with a plurality of vertically oriented suction pads, which is a topmost plate of a Contact plate stack for lifting.
  • a suction gripper arranged at the edge is pivotable and / or slidable in its suspension in the horizontal direction, so that it can bend the lateral edge of the plate laterally upwards before lifting the entire device.
  • a device for separating flexible plate-like workpieces, such as, for example, sheet-metal plates by means of suction cups designated suction cups, is furthermore known from US Pat EP 1 215 148 A1 known.
  • the plurality of suction pads are arranged at the edge arranged so-called. Separating suction, which are pivotable about a hinge by a small amount relative to the operating in vertical alignment suckers so that they raise their edge portion of the underlying plate and bend up before lifting the plate can.
  • the EP 1 864 922 B1 discloses an apparatus and method for lifting the top plastic sheet from a stack of sheets by means of suction grippers. These are placed on the top plastic plate, after which a vacuum is applied and the top plate is lifted from the plate stack. In order to prevent the adhesion of the top plate to the underlying plate, the recorded plastic plate is first lifted parallel to the plate stack during the lifting movement and then subjected to mutual bends.
  • the disclosed device for lifting the uppermost plastic plate from the plate stack comprises a height-adjustable support with suction pads arranged thereon, which can be associated with a vacuum source, wherein paired outer and inner suction cups are arranged.
  • the inner suction cups may be temporarily connected to a vacuum source and the outer suction cups temporarily and alternately to a vacuum source and a compressed air connection via a switching valve.
  • the US 5,433,426 A discloses a device for receiving sheets.
  • the device comprises two cylinders arranged on opposite sides, which are formed via their piston rod for the rotary movement of a respective pivoting arm.
  • Arranged on the pivot arms is in each case a vacuum head.
  • the vacuum heads are placed on sheets, then the respective sheet is fixed to the vacuum heads via negative pressure.
  • the primary object of the invention is to provide a reliably operating device and a corresponding method for receiving, holding and / or for handling flat objects by means of controllable suction gripper available, with the help without further supporting means such as.
  • Interleaving magazines with brush elements and / or Vorsepartechniken or other restraint systems, the sheet-like objects such as plates o. The like. Can be taken individually from stacks, without that the objects or plates underneath are pulled along and / or slipped. It should in particular in the interest of an industrial application possibility high cycle numbers can be realized without the handling precision suffers.
  • the device and the corresponding method should be cost-effective operable or feasible.
  • the invention proposes a receiving, holding and / or handling device for flat objects with at least two controllable suction pads.
  • the two or more suction pads are each movable at free ends and at least in some areas elastically or articulated deformable, mounted on a bridge and / or there supported cantilever arms and are preferably fixed there in such a way that they are not articulated in any direction let move, but perform their lifting and pivoting movements in connection with the elastic and / or articulated deforming boom arms.
  • These typically symmetrical and wing-like cantilevered arms each comprise at least one joist and a top pull which meet at the free end of the cantilever arm and there depending on the design of the mechanical properties of the cantilever arms optionally substantially rigid, i. are not articulated connected or merely supported, possibly in so-called flying storage.
  • connection between the upper and lower beam at the free end of the respective arm is flexible or articulated.
  • the suction pad is fixed either on the top or on the beam so that it is not hinged, but at most slightly elastic, otherwise the exact control of the alignment of the suction pads due to the kinematic indeterminacy significantly affected could be.
  • the suction gripper may be fixed substantially rigidly to the joist, typically in a rectangular orientation, while the connection between the top pull and joist and / or between the top pull and the suction pad housing may be articulated or bendable.
  • the upper strip and the lower layer can optionally be mounted at a distance from one another, wherein the lower strip can be fixed in particular to the bridge and the upper strip is a suitable actuator for producing a variably controllable tensile force with at least one horizontal direction component approximately parallel to the longitudinal direction of the extension arm assigned.
  • This actuator can in particular be formed by a suitable pulling device such as, for example, a linear drive or the like.
  • a suitable pulling device such as, for example, a linear drive or the like.
  • other actuation principles in question as rotary actuators which can generate a traction in the desired direction via traction means.
  • a linear actuators are in particular pneumatically or hydraulically acting or actuated actuators or actuator cylinders, which can be designed either single or double acting.
  • the required tensile force for the deformation of the resiliently urged back into their initial position cantilever arms can be applied either by means of a correspondingly acting mechanism also by a pressure cylinder.
  • the device according to the invention enables a movement guidance for the two or more suction grippers, which is also known by the term "Fin-Ray” principle or similar to this principle.
  • the trajectories of the suction pads make it possible to lift plates, sheets or other flat objects from stacks initial lateral lifting, without at the same time already the middle area of the flat object is detached from the underlying surface.
  • the detachment of the marginal areas prevents the unwanted adhesive effects, so that the subsequent lifting of the entire sheet-like object can be done without this entraining the underlying object, laterally displaced or influenced in other undesirable ways.
  • the flat object can be lifted while simultaneously swinging back the suction pads in the original vertical starting position.
  • the relatively rigid according to a first embodiment interpretation of the junction between the upper, lower and suction pads allows a desired and possibly preferred course of movement of the suction pads, which resemble the dynamic up and down movements of wings in a side view.
  • suction pads can each describe an arcuate trajectory upon actuation of the traction arms of the boom arms and are doing simultaneously angularly, so that each recorded flat object with his middle section is pulled up against the bottom of the bridge, while its lateral edge areas are lifted by the lifting and at the same time with their undersides turning outward suction pads from the stack.
  • At least one of the two connection points between the suction gripper and the top pull or the underlay can be flexible or articulated, whereby a modified deformation behavior of the outrigger arms and thus a modified course of movement of the suction grippers can be realized, their course of movement in a lateral view equally the dynamic up and down movements of May resemble wings, but possibly with in the direction of suction pads stronger curvature.
  • suction pads can each describe an arcuate trajectory upon actuation of the traction arms of the boom arms and are doing simultaneously angularly, so that each recorded flat object with his middle section is pulled up against the bottom of the bridge, while its lateral edge areas are lifted by the lifting and at the same time with their undersides turning outward suction pads from the stack.
  • the curvature of the extension arms can increase more with increasing deflection at their free ends than in the other sections.
  • the upper strip and the lower section of each cantilever arm are connected to each other between the bridge and the free end via at least one connecting web.
  • This junction between the at least one connecting web and the beam can be either largely rigid, bendable or articulated.
  • the connection point between the at least one connecting web and the upper pull can optionally be formed largely rigid or articulated.
  • two, three or more connecting webs may be arranged between the upper cable and the lower rail of each boom.
  • the articulated connection points can optionally be assigned in each case a spring element to provide an automatic return to the normal position.
  • This flat, columnar, scaffold-like or, for example, designed as cross struts connecting webs can ensure that the forces acting on the upper tensile forces that lead to lifting and simultaneous pivoting of the free ends of the cantilever arms and the attached suction pads, largely evenly on the beam be transmitted.
  • the beam in this case exerts a supporting and stiffening effect and prevents the free ends from being excessively bent outwards without simultaneously being lifted to the desired extent.
  • the distribution of forces over the top of the train ultimately causes the desired deformation of the boom over its entire length.
  • connecting webs are by no means mandatory, but to be understood as an option by means of which the elastic properties of the cantilever arms can be influenced in a suitable manner.
  • connecting webs between the upper and the lower train or with only one connecting web or with an almost arbitrary number of differently positioned connecting webs or possibly also cross-connected connecting webs are possible.
  • an alternative embodiment variant can also provide that at least regions of the extension arms are formed by an integrated volume component, in particular by a composite component with defined elastic properties.
  • a volume component may, for example, mean a foamed component with or without apertures or recesses, a honeycomb structural component or the like.
  • the skilled person is familiar with other alternative variants due to his specialist knowledge with which he can achieve the desired material and elasticity properties in order ultimately to achieve the deformation behavior of the cantilever arms, which is similar to the mentioned "Fin-Ray" principle.
  • a fin ray effect is a phenomenon observed in fish, according to which tail fins of certain fish do not dodge in the direction of pressure when pressed sideways, but rather buckle in the opposite direction, ie in the direction from which the pressure comes.
  • the "fin-ray" principle is modified in such a way that the fin-like movement of the arranged on the cantilever arms suction pad causes not by a pressure on the upper side of the upper extension of the cantilever arms, but by the tensile force in the horizontal direction on the top becomes.
  • the two alternative variants of a one-piece component with continuous beam and thus continuous shaping or a two-part design with separate boom arms which are arranged symmetrically to each other, but imperatively need a central bearing on the bridge, typically at the level of Beam or the bottom of the boom arms.
  • the beam can optionally be fixed in the middle of the bridge already mentioned above or supported there in flying storage if necessary.
  • at least the one-piece beam can act as a leaf spring, which strives back into its straight starting position, as soon as no deformation or tensile forces attack more.
  • the beam acting as a leaf spring is assigned an additional reinforcement, so that a structure similar to a multilayer leaf spring can result. Such additional reinforcement can effectively prevent failure of the component after prolonged operation, for example fatigue fracture.
  • the drawbars that provide for the horizontal or obliquely upward pulling movements on the top pull may be formed by approximately horizontally or flat inclined acting linear motors, which are preferably supported against the bridge.
  • Such linear motors can be designed, for example, as pneumatic or hydraulic cylinders, as electric linear motors or as traction mechanism drives.
  • the suction grippers are preferably per se known components which can be connected via hose lines to a central vacuum supply and thereby controlled individually or jointly in their suction behavior.
  • the bending movement of the beam can be adjusted by adjustable end stops, spacers o. The like., Especially by spacers in compressed air cylinders.
  • the device according to the invention typically has a suspended arrangement and can be moved, for example, via a horizontally and / or vertically adjustable extension arm, at the end of which the complete suction gripper head with all control and movement components can be fixed in a suspended manner via a central column. Possibly. this pillar can additionally be designed to be rotatable, which, however, is not absolutely necessary depending on the intended use.
  • the above-mentioned cantilever arm can in turn be suspended on a machine frame, a rotary column or the like, which may have a ground anchorage.
  • the invention additionally relates to a method for receiving, holding and / or handling flat objects via at least two controllable suction grippers.
  • These suction pads are each movable at free ends and arranged and fixed at least in some areas elastically deformable, mounted on a bridge boom arms.
  • the cantilever arms each comprise at least one undercarriage and a top, which meet at the free end of the cantilever arm and are rigidly connected there and are spaced from each other in the region of the bridge, wherein the girder is fixedly fixed to the bridge and the top train via a pulling device with at least a horizontal direction component is moved approximately parallel to the longitudinal direction of the extension arm.
  • the suction pads which are oriented approximately vertically in a first position, each describe an arcuate trajectory through the tensile forces acting on the upper arms of the cantilever arms and are thereby set at an angle.
  • the cantilevers each undergo a deformation by a pulling movement on the upper struts, in which the lower leg bends upward, while the upper leg is shortened or moved in the direction of the bridge, whereby the free ends together with the suction pads arranged thereon be bent upwards.
  • the cantilever arms are elastically deformed as a result of the tensile forces as a whole together with the upper and lower trains, which is also known as the "Fin-Ray" principle.
  • the present invention overcomes some disadvantages that have been identified in previously known lifting devices.
  • the permanently prevailing cost pressure requires more favorable investment plans.
  • the device according to the invention and the corresponding method make it possible to dispense with so-called intermediate layer magazines, to devices for pre-separation of the stacked plates and also to differently configured restraint systems, whereby the system price can be reduced.
  • the loading of the plant with stacked flat objects, as they are used, for example, as interleaves in bundle layers and pallets with beverage containers, can be automated without additional effort and without cost increase.
  • the storage accuracy of the stack is not very high demands to be made because the recording device is relatively tolerant to the exact position of the male objects.
  • the cantilever arms can optionally be deformed by shear forces.
  • the deformation of both cantilever arms of a pair can also be effected via a few, vertically upwardly acting tensile component, wherein the upper cables may possibly be connected to one another in an articulated manner and pulled upwards via a suitable tension element, whereby the mentioned Fin-Ray deformation achieve in a corresponding manner.
  • the cantilever arms can be made of a wide variety of materials, optionally also in combination of different materials, which can be connected to each other by gluing, screwing, welding or for example by means of plug-in systems.
  • the above-mentioned connecting webs can be arranged vertically or diagonally, wherein the rigid or hinged connections can be made detachable or non-detachable.
  • the connecting webs can be produced, for example, as flat parts or as thin, preferably crease-resistant struts of suitable material, for example of injection-molded plastic.
  • a supporting spring can also be installed or integrated in the connection point, which can provide adequate restoring forces in order to bring the extension arm from a deflected position into the relaxed rest position.
  • handling device can be combined with other gripping tasks used, so for example.
  • deck frame grippers o. The like., Which are preferably arranged on the same frame, so that an integrated design is created.
  • the controllable suction pads are individually or in pairs at free ends of articulated and deformable cantilever arms, for example, stored in a symmetrical arrangement on a bridge and fixed there or even supported and / or can be stored on the fly .
  • the cantilever arms can not be formed elastically deformable in such a variant, but be formed by a plurality of rigidly interconnected rigid plate segments, which allow in cooperation a similar movement as the previously described embodiments of the cantilever arms.
  • the cantilever arms can perform defined and superimposed lifting and pivoting movements by the articulated movements of the plate segments.
  • the symmetrically and wing-like arranged boom arms each comprise a horizontally arranged, flat or plate-like beam and an opposite the horizontal inclined at an acute angle top pull, which is also formed flat or plate-like.
  • the joist and the upper pull abut each other at the free end of the cantilever arm and are preferably articulated to each other there. All existing joints between the pivotally interconnected plate segments allow pivotal movements exclusively about respective parallel axes, which are normally oriented horizontally and transversely to the longitudinal direction of the beam.
  • the entire beam, which extends over the two articulated movable, symmetrical cantilever arms, is formed by a plurality of interconnected plate segments, while each of the two top pulls is also formed by some hingedly interconnected plate segments.
  • a central plate segment of the beam may be slightly shorter or longer than the one on both sides as needed subsequent remaining plate segments.
  • this central plate segment can either be anchored to the bridge of the device, screwed or merely supported there and thus stored on the fly.
  • the adjoining the middle plate segment of the beam on both sides plate segments are each connected via first coupling rods with the inner plate segments of the upper hinges.
  • the adjoining plate segments of the substructure are hingedly connected via second coupling rods with other plate segments of the upper, while the respective end, outer plate segments of the upper and lower tie can be hinged together at the respective free ends outside.
  • the two inner first coupling rods are each longer than the two outer second coupling rods, so that overall results in the wing-like shape of the arrangement according to one of the previously described embodiments.
  • the coupling rods correspond in their placement and in their function largely the connecting webs of the previously described embodiments, with the difference that the coupling rods are not rigid, but are mounted in pivot pins, so that they are each hingedly connected to the corresponding plate segments of the upper or the train are.
  • the coupling rods may be formed as a movement stops simultaneously, for example.
  • shaping or profiling which can ensure that the plate segments abuts the upper and lower beams with their facing surfaces at a defined maximum deflection there, so that no beyond the maximum deflection also going further deflection movement is more possible.
  • each of the joints between the plate segments may optionally be associated with a spring element, for example.
  • a spring element for example.
  • the plate segments partially enclosing spring clips o. The like.
  • Such spring clips respectively adjacent plate segments, so that they are not fully and freely movable about the respective connecting axis but after each Deflection return to their original or initial position, in which the beam is stretched approximately straight and without curvature.
  • the spring and restoring forces can be varied by different strength spring clip.
  • the spring forces acting between the hingedly interconnected plate segments can also be achieved with differently designed spring elements, for example with leaf spring elements integrated in the joints or, for example, with elastic pins inserted between the segments or in another suitable manner.
  • the device according to the invention can also comprise a plurality of gripping modules which can be controlled and moved independently of each other.
  • the device may have two gripping modules suspended from a common carrier, which are adjustable in their distance from each other and / or independently controllable and movable.
  • the two gripping modules can optionally be controlled jointly, which makes sense especially for lifting and handling correspondingly large plate components.
  • the two gripping modules can also be moved independently of each other, which may be useful, for example, for the separate handling of correspondingly smaller plate components, which can be carried by one gripping module with its up to four or more movable suction grippers.
  • only one gripping module can be activated for handling smaller components such as so-called.
  • Half-pallet liners while the other can remain at rest, as long as it is not needed.
  • the two gripping modules may also be adjusted in their distances from one another to each other, which, for example, by their suspension Sliding guides on the common frame can be possible.
  • the carriage guides comprise, for each gripping module, a pair of horizontal axes on which the mounting sections or upper suspension parts of the gripper modules together with their drive and control parts can be displaceable in the horizontal direction so that each gripping module, together with its entire suspension and drive unit, moves by a certain distance can be moved in the horizontal direction on the frame and fixed in a new position.
  • the two gripping modules can not only be driven independently of each other, but also be adjusted to different sizes of half-pallet liners o. The like. Flat objects.
  • the aforementioned adjustment or distance variation of the gripping modules can be done either manually or by motor, for example via an electromotive, pneumatic or other fluidic drive.
  • the device according to the invention is equipped with a pallet gripper system, which is arranged on the frame with the at least one controllable gripping module and independently of this is controllable and / or pivotable.
  • This pallet gripper system may include, for example, suitable gripping arms on the frame of the device, for example, to act as an intermediate gripper and / or as a pallet gripper.
  • the at least two oppositely movable and / or pivotable gripping arms are preferably independently of the gripping modules for the intermediate layers or flat components controlled and movable.
  • An advantageous variant of such a pallet gripper system can possibly also be combined with the spacing adjustment of the gripping modules arranged in pairs and adjustable in their spacing, for example by an extension of the already existing slide adjustment systems, on each of which suitable holding devices can be arranged at the end.
  • These holding devices may, for example, be formed by sheet metal clamps or the like, which are in each case inwardly, i. pointing towards each other underside hooks or differently designed retaining lugs o. The like.
  • For engaging in a pallet and for their recording and handling may have.
  • FIGS. 1 to 18 For the same or equivalent elements of the invention are in the FIGS. 1 to 18 in each case identical reference numerals used. Furthermore, for the sake of clarity, only reference symbols are shown in the individual figures, which are required for the description of the respective figure. The illustrated embodiments are merely examples of how the device or method of the invention may be configured and are not an exhaustive limitation.
  • FIG. 1 shows a variant of an inventive device 10 for receiving, holding and / or handling of flat objects such as cardboard, plastic or metal plates or hollow chamber plates made of plastic or cardboard, as they are used, for example, as intermediate layers of multi-layer stacked pallet layers with beverage containers ,
  • the device comprises a frame 12, which is arranged suspended on a central column 11 on a machine arm 0, not shown here.
  • the frame 12 can, for example, be guided on a cantilever arm of a height-adjustable and spatially movable handling device.
  • the device 10 On the underside of the frame 12, the device 10 has four controllable suction pads 14, which are aligned vertically in their rest position and thus for receiving horizontally lying plates or flat objects (not shown) of a Stack are provided.
  • the four suction pads 14 are each in pairs at free ends 16 movable and elastically deformable boom arms 18 which are mounted in a symmetrical arrangement on a bridge 20 and fixed there (see. Figures 2 and 3 ) or even supported only and / or flying (cf. FIGS. 4 and 5 ) are.
  • the bridge 20 acting as a support, fixation and / or support is rigidly connected to the frame 12 of the device 10.
  • the cantilever arms 18 are designed so elastic that they can not move arbitrarily articulated, but can perform defined and superimposed lifting and pivoting movements by elastic deformation of the boom arms 18.
  • the symmetrically and wing-like arranged boom arms 18 each comprise a horizontally arranged, flat or plate-like beam 22 and an opposite the horizontal inclined at an acute angle top 24, which is also formed flat or plate-like.
  • the beam 22 and the top pull 24 abut each other at the free end 16 of the boom 18 and are there according to the in Fig. 1 illustrated embodiment largely rigid, ie not hinged together.
  • an alternative variant not shown here may also provide an articulated connection of the upper and lower members 24, 22 at their free ends 16.
  • the respective suction pads 14 are also arranged as pairs next to each other at this free end 16, wherein also this anchorage not articulated, but rigid or in the scope of the elastic properties of the upper 24 and the lower layer 22 may also be slightly elastic.
  • the suction grippers 14 may be fixed in the region of the free end 16 on the undercarriage 22 via a mounting plate 15, which may be bent several times, as a result of which an optionally rigid, possibly slightly elastic or else articulated connection to the top pull 24 is not influenced.
  • each boom 18 are connected to each other via a plurality of vertical, surface or plate-like connecting webs 25.
  • the connecting webs 25, like the beam 22 and the top thread 24, are preferably elastic to some extent but buckling-resistant and relatively rigid.
  • the joints between the connecting webs 25 and the beam 22 and the upper hoop 24 can according to a first embodiment optionally not articulated, but according to the Material properties of firmly interconnected sections to be slightly elastic. Equally possible, however, are elastic, flexurally soft or articulated connections between the upper tension 24 and the connecting webs 25 and / or between the lower tension 22 and the connecting webs 25.
  • Fig. 4 and Fig. 5 can be used, which optionally fixed to the underside of the bridge 20 or only supported there and otherwise can be stored on the fly.
  • a module of symmetrically opposite arranged boom arms 18, each consisting of beam 22, top 24 and each at least one connecting web 25 is referred to as a gripping module 17.
  • a gripping module 17 is to illustrate its operation in the schematic views of FIGS. 2 to 5 recognizable.
  • a first variant of a with its continuous beam 22 on the bridge 20 and with its two symmetrical Oberman 24 supported on the cross braces 34 gripping module 17 is also in the perspective views of Fig. 1 and the Fig. 8 clarified.
  • the schematic representations of FIGS. 9 to 15 show an alternative embodiment of such a gripping module 17 in different views.
  • Each of the two top pulls 24 of the respective extension arms 18 is associated with a towing device 26 or adjusting device 28 for generating a horizontally directed tensile force approximately parallel to the longitudinal extension direction of the respective extension arm 18.
  • the two adjusting devices 28 work synchronously against each other.
  • the adjusting devices 28 each comprise a linear motor 30, for example. Designed as a hydraulic cylinder or as a pneumatic cylinder o. The like.
  • the two linear motors 30 are horizontally anchored in the frame 12 and effect via a linkage drive 32 each horizontally directed positioning movements on cross braces 34, where one, two or more parallel anchorages of the tops 24 of a cantilever arm 18 or more Boom arms 18 may be attached. While in the view of Fig.
  • FIG. 1 only a symmetrical pair of cantilever arms 18, each with a guided pair of suction pads 14 can be seen, illustrates the Fig. 8 a preferred embodiment with two pairs of boom arms 18, which are each moved and adjusted synchronously by means of the horizontally movable cross braces 34.
  • Fig. 1 two anchored to another cross member 50 sensing elements 52, each acting as depth stops for the device 10.
  • a perpendicular to the restoring force and against the downwardly acting gravity upwardly movable plunger with a lower-side probe ball may, for example, with a displacement sensor o. The like. (Not shown) be coupled, which provides a Wegbegrenzungssignal for controlling the device 10 to at to allow in the height decreasing stack of flat objects a reliable vertical positioning.
  • the sensing elements 52 may also act as a purely mechanical acting stop elements that can prevent too hard placement of the bridge 20 or the beams 22 of the boom arms 18 on the ablated stack.
  • FIG. 2 and 3 illustrate the working principle of a first embodiment of the device 10 according to the invention, which allows a movement guide for the two or more suction pads 14, which is known under the term "Fin-Ray” principle.
  • the trajectories of the suction pads 14 allow lifting plates 36, sheets or other flat objects 38 of stacks 40 by initially lifting them sideways at the edge regions 42 of the plates 36 or flat objects 38, without at the same time already the middle portion 44 of the flat article 38 of the underlying surface is replaced.
  • the detachment of the marginal areas 42 prevents the unwanted adhesive effects, so that the subsequent lifting of the flat object 38 can be carried out with simultaneous pivoting back of the suction pads 14 in the original vertical starting position, while the underlying object entrained, laterally displaced or other undesirable Way is influenced.
  • the rigid design of the free end 16 located between junction 24, beam 22 and suction pads 14 allows the desired and preferred course of movement of the suction pads 14th corresponding Fig. 3 which in a side view resemble the dynamic up and down movements of wings.
  • the extension arms 18 accordingly Fig. 3 be deformed over their entire length, it may be necessary or desirable to achieve certain deformation properties that the joints between the upper 24 and lower beam 22 and between the boom 18 and the suction pads 14 are not articulated, but rigid or elastically formed in the extent of material elasticity , With appropriate dimensioning of the elasticities of the individual elements of the extension arms 18, the approximately vertically aligned in a first position suction pads 14 (see. Fig.
  • FIGS. 4 and 5 shown second embodiment of the device according to the invention differs from the first variant essentially by the not two-part, but consistently trained beam 22 which extends over both boom arms 18 and anchored to the central bearing 21 selectively fixed to the bridge 20 or only supported there may be, resulting in the latter variant, a so-called. Flying storage.
  • the remaining function of the device 10 and the further course of movement of the boom arms 18 with the suction pads 14 arranged thereon does not differ from that in the Figures 2 and 3 shown variant.
  • the upper train 24 and the beam 22 of each boom 18 between the bridge 20 and the free end 16 via a total of three vertical connecting webs 25 and cross struts are interconnected.
  • the connection points between the connecting webs 25 and the upper hoop 24 and the lower hoop 22 may optionally be designed largely rigid or articulated either.
  • the connecting webs 25 ensure that the tensile forces acting on the top pull 24, which lead to the lifting and simultaneous pivoting of the free ends of the extension arms 18 and the suction pads 14 fastened thereto, are transmitted to the underlay 22 substantially evenly.
  • the distribution of forces on the top 24 on the beam 22 causes the in Fig. 3 and in Fig. 5 shown deformations of the boom 18 over its entire length.
  • the detailed representation of the Fig. 6 shows by way of example three vertical connecting webs 25 between the horizontally extending in a relaxed position beam 22 and the oriented at an acute angle top 24, which transmits the tensile forces on the boom 18.
  • the connecting webs 25 can be connected at the top and bottom optionally via fixed or rigid connections 54 or via articulated connections 56 to the top pull 24 and / or to the lower pull 22. Which of these compounds 54 and / or 56 is used in each case is based on the desired deformation behavior of the extension arm 18, which is expediently to be determined by test series.
  • variable fiber densities of the reinforcing fibers and / or their orientation in the component 58 may each individually or in combination contribute to the elastic properties in a way that makes sense or is necessary for optimized operation.
  • FIG. 8 shows in addition to the already described components of the device 10, a control block 46 which makes connections via hose lines to the actuating elements such as the suction pads 14 and the linear motors 30 and allows their controllability.
  • a suction gripper 14 linear motors 30 and control and control valves of the control block 46 can be used per se known components, which have a central vacuum supply.
  • FIG. 9 shows a further embodiment of the receiving, holding and / or handling device 10 for flat objects.
  • the presentation of the Fig. 10 shows this variant of the device 10 obliquely from below.
  • the gripping module 17 differs in its construction of the variants according to the FIGS. 1 to 8 ,
  • the gripping module 17 may, for example.
  • the in Fig. 11 or in the FIGS. 12 to 15 correspond variant shown.
  • the clarify Figures 9 and 10 an embodiment of the device 10, in which two identical, mirror-like or identical gripping modules 17 are arranged on the common frame 12, wherein the two gripping modules 17 can optionally be controlled together, which is useful in particular for lifting and handling correspondingly large plate components.
  • the embodiment shown also allows the separate and independent control of the two gripping modules 17, for example.
  • only one gripping module 17 can be activated for handling smaller components, such as so-called half-pallet liners, while the other gripping module 17 can remain at rest, as long as it is not needed.
  • the two gripping modules 17 are set in their distances from each other, which is made possible by their suspension on slide guides 13 on the common frame 12.
  • the slide guides 13 comprise, for each gripping module 17, a pair of horizontal axes on which the fastening sections or upper suspension parts of the gripping modules 17 are held displaceable in the horizontal direction together with their drive and control parts, so that each gripping module 17 together with its entire suspension and drive unit a certain way in the horizontal direction on the frame 12 can be moved and fixed in a new position.
  • the two gripping modules 17 are not only controlled independently of each other, but also on different sizes of half-pallet spacers o. The like. Flat objects 38 are adjusted.
  • the mentioned adjustment or distance variation of the gripping modules 17 can be done either manually or by motor, for example via an electromotive, pneumatic or otherwise acting fluidic drive.
  • the both sides of the suction pads 14 recognizable feeler elements 52 which also act as hold-down, are arranged in pairs in pairs and can be adjusted due to their assignment to the gripping modules 17 together with these in position.
  • the feeler elements 52 and hold-downs are used to facilitate the separation of the recorded flat objects 38, i.
  • FIG. 11 a perspective detailed view of a variant of a gripping module 17 of the device 10 according to the invention for receiving, holding and / or handling of sheet-like objects such as cardboard, plastic or metal plates or hollow chamber plates made of plastic or cardboard, as for example. Stacked as intermediate layers of multi-layered Pallet layers are used with beverage containers.
  • components of the device 10 may in the FIGS. 1 and 8th or 9 and 10 correspond variants shown.
  • there are also four controllable suction pads 14, which are aligned vertically in their rest position and thus for receiving horizontally lying plates or flat objects (not shown) of a stack are provided.
  • the four suction pads 14 are each in pairs at free ends 16 of articulated movable and deformable boom arms 18 which are mounted in a symmetrical arrangement on a bridge 20 and fixed there (see. Figures 2 and 3 ) or even supported only and / or flying (cf. FIGS. 4 and 5 ) are.
  • the cantilever arms 18 of the gripping module 17 are formed in this embodiment, not elastically deformable, but by a plurality of hingedly interconnected rigid plate segments 60 which allow in cooperation a similar movement as the previously shown embodiments of the cantilever arms 18, so that these cantilever arms 18 accordingly Fig. 11 can perform defined and superimposed lifting and pivoting movements by the articulated movements of the plate segments 60.
  • the symmetrically and wing-like arranged boom arms 18 each comprise a horizontally arranged, flat or plate-like beam 22 and an opposite the horizontal inclined at an acute angle top 24, which is also formed flat or plate-like.
  • the beam 22 and the top pull 24 abut each other at the free end 16 of the boom 18 and are there according to the in Fig. 11 illustrated embodiment hinged together. All existing joints between the pivotally interconnected plate segments 60 allow pivotal movements exclusively about each parallel axes, which are oriented horizontally and transversely to the longitudinal direction of the beam 22.
  • the entire beam 22, which extends over the two articulated movable, symmetrical boom arms 18 is formed in the embodiment shown by a total of seven interconnected plate segments 60, while each of the two top pulls 24 is formed by a total of three hingedly interconnected plate segments 60.
  • the central plate segment 62 of the lower beam 22 can be slightly longer or shorter than the remaining plate segments 60 adjoining on both sides as required.
  • this central plate segment 62 can optionally be attached to the bridge 20 of the device 10 (cf. Fig. 1 . Fig. 8 ) anchored, screwed or supported there only and thus be stored on the fly.
  • first coupling rods 64 are each connected via first coupling rods 64 to the inner plate segments 60 of the top 24 hinged.
  • the adjoining plate segments 60 of the beam 22 are connected via second coupling rods 66 with the middle plate segments 60 of the upper 24 hinged, while the respective end, outer plate segments 60 of the upper 24 and the lower beam 22 connected to the outside at the respective free ends 16 hinged together are.
  • the two inner first coupling rods 64 are each longer than the two outer second coupling rods 66, so that in total the wing-like shape of the arrangement according to Fig. 11 results, which does not differ significantly in the contour from the variants shown above.
  • the coupling rods 64 and 66 correspond in their placement and in their function largely the connecting webs 25 of the previously shown embodiments, with the difference that the coupling rods 64 and 66 are not rigid, but accordingly Fig. 11 are mounted in pivot pins, so that they are each hingedly connected to the corresponding plate segments 60 of the upper pull 24 and the beam.
  • each of the joints between the plate segments 60 and 62 may be associated with a spring element, as shown in FIG Fig. 11 is indicated by the relatively thin executed, the plate segments partially enclosing spring clip 68.
  • the spring clips 68 couple respectively adjacent plate segments 60 and 62 in such a way that they are not fully and freely movable about the respective connecting axis, but after each deflection in the in Fig. 11 shown origin or starting position to return, in which the beam 22 is stretched approximately straight and without buckling.
  • the U-shaped spring clips 68 are formed and mounted so that their base portions lie flat on the surface of a plate segment 60 and / or hooked or hooked there, while angled hook-shaped ends of the two perpendicular to the base portion adjacent parallel leg into corresponding receiving openings 70th are suspended in the longitudinal sides of adjacent plate segments 60.
  • Each three or four at different positions juxtaposed receiving openings 70 in each plate segment 60 allow the displacement of the spring clip 68, in order in this way the between the plate segments 60 acting restoring forces vary.
  • Also differently strong spring clip 68 are suitable for the variation of the spring and restoring forces.
  • each spring clip 68 In the beam 22, the base portion of each spring clip 68 is located on the top of the respective outwardly adjacent plate segment 60, so that when pulled up plate segments 60 a restoring force acts downward.
  • the hook-shaped ends of the limbs of the spring clips 68 are hooked on the opposite sides of the plate segments 60 adjoining the inside and of the central plate segment 62.
  • the corresponding orientation of the spring clip 68 in the upper rollers 24 depends on the desired direction of the restoring forces.
  • the hook-shaped ends of the parallel legs may be anchored to the longitudinal sides of the plate segments 60 so that they can not rotate in the receiving openings 70, so that thus the desired restoring action of the spring elements can be achieved and ensured.
  • the spring forces acting between the hingedly connected plate segments 60 can also be achieved with differently designed spring elements, for example with leaf spring elements integrated in the joints or, for example, with elastic pins inserted between the segments or in another suitable manner.
  • suction pads 14 are each fixed at the free ends via a mounting plate 15 on the outermost plate segment 60 of the beam 22.
  • Each of the two top pulls 24 of the respective extension arms 18 is associated, as in the variants previously shown, with a towing device or an adjusting device for generating a horizontally directed pulling force approximately parallel to the longitudinal extension direction of the respective extension arm 18 Fig. 11 however not shown. Normally, the two adjusting devices work synchronously against each other.
  • FIGS. 12 and 13 a further embodiment of the gripping module 17 of the device according to the invention 10.
  • the in the FIGS. 12 and 13 not shown components of the device 10 may in the FIGS. 1 and 8th or 9 and 10 shown variants correspond.
  • the pair of suction cups to be fixed in pairs at the free ends 16 of the extension arms 18 of the gripping module 17 are not shown here.
  • the assembly of the suction pads takes place on L-shaped mounting plates 15, which are mounted with a vertical portion at the front end at the free ends 16 and with its surface perpendicular to the longitudinal direction of the extension arms 18.
  • each mounting plate 15, in the resting state of the gripping module 17 with non-raised boom arms 18 has a horizontal orientation and carries two spaced apart mounting holes for mounting the suction pads.
  • the articulated and deformable cantilever arms 18 can be mounted in a symmetrical arrangement on a bridge 20 and fixed there (see. Figures 2 and 3 ). Optionally, they may only be supported and / or cantilevered on the bridge 20 (cf. FIGS. 4 and 5 ).
  • the cantilever arms 18 are not formed elastically deformable, but formed by a plurality of hingedly interconnected rigid plate segments 60 which allow in cooperation a similar movement as the previously shown embodiments of the cantilever arms 18, so that the variants of the cantilever arms 18th corresponding FIGS. 12 and 13 can perform defined and superimposed lifting and pivoting movements by the articulated movements of the plate segments 60.
  • the symmetrically and wing-like arranged boom arms 18 each include a horizontally arranged, flat or plate-like beam 22 and an opposite the horizontal inclined at an acute angle top 24, which is also formed flat or plate-like.
  • the beam 22 and the top pull 24 abut each other at the free end 16 of the boom 18 and are there according to the in FIGS. 12 and 13 illustrated embodiment hinged together. All existing joints between the pivotally interconnected plate segments 60 allow pivotal movements exclusively about each parallel axes, which are oriented horizontally and transversely to the longitudinal direction of the beam 22.
  • the entire beam 22, which extends over the two articulated movable, symmetrical boom arms 18 is formed in the embodiment shown by a total of five interconnected plate segments 60, while each of the two top pulls 24 is formed by a total of two hingedly interconnected plate segments 60.
  • the central plate segment 62 of the beam 22 may be slightly longer or shorter than the ones on both sides as needed adjoining remaining plate segments 60.
  • this centrally arranged plate segment 62 can optionally on the bridge 20 of the device 10 (see. Fig. 1 . Fig. 8 ) anchored, screwed or supported there only and thus be stored on the fly.
  • the support on the bridge 20 can be done by means of an additional bridge segment 72, which is above the central plate segment 62 of the beam 22 and arranged parallel thereto, and which two symmetrical inclined coupling rods 74 - here referred to as third coupling rods 74 - to the each on both sides of the central plate segment 62 of the beam 22 arranged plate segments 60 is supported.
  • the two third coupling rods 74 drop on both sides of the bridge segment 72 each obliquely downwards and are articulated on both sides in the segments 72 and 60.
  • fourth coupling rods 76 are hinged at their outer hinged connections to the respective outer arranged further plate segments 60 via fourth coupling rods 76 with the top 24.
  • These articulated connections between the fourth coupling rods 76 and the upper slides 24 each start in the articulated connections between the two plate segments 60 of each upper pull, as is particularly clear Fig. 12 evident.
  • These fourth coupling rods 76 also have a planar profile, which is suitable for a movement stop in the deformation or curvature of the gripping module 17 in the in Fig. 3 or in Fig. 5 shown way.
  • Such movement stops 80 are also provided at the free ends 16 which extend into the space between the outer plate segments 60 of the upper 24 and the lower 22 and there also provide for limiting the curvature of the gripping module 17 when deforming upwards.
  • the gripping module 17 forms the wing-like shape according to Fig. 12 , which does not differ significantly in its contour from the variants shown above.
  • the coupling rods 76 correspond in their placement and function largely the connecting webs 25 of the previously shown embodiments, with the difference that the coupling rods 76 is not rigid, but accordingly FIGS. 12 and 13 are movably mounted in the connecting joints between the plate segments 60, so that they are each hingedly connected to the corresponding plate segments 60 of the upper pull 24 and the lower tie.
  • Each of the two top pulls 24 of the respective extension arms 18 is, as in the previously shown embodiments, respectively associated with a towing device or adjusting device for generating a horizontally directed pulling force, which acts approximately parallel to the longitudinal extension direction of the respective extension arm 18, which results in the FIGS. 12 and 13 however not shown.
  • top pulls 24 for example, by means of ropes, straps, link chains o.
  • the like Presented or executed, which selectively connected via suitable coupling elements articulated, elastic or at least partially rigidly connected to the beam 22 are.
  • FIG. 14 shows a part of the device according to Fig. 9 with actuators for actuating and moving the gripping module 17 according to FIG FIGS. 12 and 13
  • the Fig. 15 shows a schematic side view of the illustration according to Fig. 14
  • Fig. 15 is the possibility of actuation of the gripping module 17 by means of a cooperation of the linear motor 30 with the actuators 26 and drawbars 28 illustrates.
  • the linear motor 30, in cooperation with the actuators 26 and pullers 28, applies the desired pulling motions to the inner plate segments 60 of the top pulls 24 to thereby deform the gripping module 17 in the desired manner.
  • the bridge segment 72 together with the central plate segment 62 is thereby centrally supported at the same time, whereby the free ends 16 with the mounting plates 15 and suction pads 14 arranged thereon can each be pivoted upwards in order to control the movements for lifting the flat components, plates or the like. from the stack 40 according to Fig. 3 respectively.
  • Fig. 5 perform.
  • One in the Figures 16 and 17 variant shown has pivotable gripping arms 82 which are arranged above the gripping module 17 in order to act in particular as an intermediate gripper and / or as a pallet gripper.
  • Such a pallet gripper system 84 can, for example, with activated or not activated gripping module 17, a palette disposed below the gripping module pallet grab hold by these arranged by means of the end of the gripping arms 82, facing each other hooks 88 laterally and is seized, as in Fig. 16 is indicated schematically.
  • the gripping arms 82 of the pallet gripper 84 can operate independently of the gripping module 17 of the device 10 and, for example, be coupled to the frame 12 only in their pivoting and adjusting movements.
  • the gripping arms 82 can optionally according to Fig. 17 at least partially interlocked or pivoted upwards in the direction of the frame 12, so that they have a sufficient distance from the height level of the working area of the gripping module 17. This can be used in this position of the pallet gripper system 84 in the manner described above for receiving flat objects 38, without the gripping arms 82 interfere with this handling.
  • FIG. 18 shows a further variant of the device 10 according to the invention with a pallet gripper system 84, with the carriage guide 13 for the distance adjustment of the two gripping modules 17 (see. Fig. 9 and Fig. 10 ) can be combined.
  • the pallet gripper system 84 is shown with the distance adjustment of the paired and adjustable in their distances from each other gripping modules 17, each using an extension for this already existing slide adjustment systems 13, on each of which end suitable holding plates 90 are arranged.
  • These mutually adjustable retaining plates 90 are provided with vertically downwardly facing sheet metal clamps 92, each having inwardly, ie facing each other underside hook 94 for engaging in a pallet and for their reception and handling.
  • Pallet gripper systems 84 in addition to the pivoting ( Fig. 16 . Fig. 17 ) or the linearly movable ( Fig. 18 ) Pallet gripper systems 84 further variants of such gripper systems conceivable, which are included in the inventive idea.
  • the invention has been described with reference to a number of preferred and / or advantageous embodiments.
  • modifications or changes may be made to the invention without departing from the scope of the following claims.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Claims (16)

  1. Dispositif de réception, de retenue et/ou de manipulation (10) pour des objets en nappe (38), comprenant au moins deux préhenseurs à ventouse (14) commandables qui sont disposés et/ou fixés chacun sur des extrémités libres (16) de bras en porte à faux (18) qui sont mobiles et élastiquement déformables au moins dans des zones partielles et/ou mobiles par articulation, logés sur un pont (20) ou y appuyés de manière mobile, lesquels bras en porte à faux (18) comprennent chacun au moins une poutre inférieure (22) et une poutre supérieure (24) qui se rencontrent à l'extrémité libre (16) du bras en porte à faux (18) et y sont reliées, dans lequel au moins à la poutre supérieure (24) est associé un dispositif de traction (26) destiné à générer une force de traction ayant au moins une composante de direction horizontale à peu près parallèle à la direction d'extension longitudinale du bras en porte à faux (18), caractérisé par le fait que les préhenseurs à ventouse (14) peuvent être déplacés vers le haut en courbant de façon convexe la poutre inférieure (22).
  2. Dispositif selon la revendication 1, dans lequel au moins les poutres supérieures (24) de chaque bras en porte à faux sont logées à distance les unes des autres au niveau dudit pont (20) et/ou dans lequel les poutres inférieures (22) de chaque bras en porte à faux (18) sont fixées chacune à poste fixe sur le pont (20).
  3. Dispositif selon la revendication 1, dans lequel les poutres inférieures (22) de bras en porte à faux (18) alignés entre eux sont reliées entre elles ou réalisées de manière à être continues ou bien en une pièce et sont fixées à poste fixe sur le pont (20) ou y logées ou appuyées de manière mobile.
  4. Dispositif selon l'une quelconque des revendications 1 à 3, dans lequel le point de liaison entre la poutre supérieure (24), la poutre inférieure (22) et le préhenseur à ventouse (14) est réalisé de manière à être dans une large mesure rigide en flexion.
  5. Dispositif selon l'une quelconque des revendications 1 à 3, dans lequel le point de liaison entre la poutre supérieure (24), la poutre inférieure (22) et le préhenseur à ventouse (14) est réalisé de manière à être souple en flexion ou articulé.
  6. Dispositif selon l'une quelconque des revendications 1 à 5, dans lequel, lorsqu'on actionne les dispositifs de traction (26) associés aux poutres supérieures (24) des bras en porte à faux (18), les préhenseurs à ventouse (14) orientés, dans une première position, de façon approximativement verticale, décrivent une trajectoire de mouvement approximativement en arc tout en pouvant être positionnés angulairement.
  7. Dispositif selon l'une quelconque des revendications 1 à 6, dans lequel la poutre supérieure (24) et la poutre inférieure (22) de chaque bras en porte à faux (18) sont reliées l'une à l'autre, entre le pont (20) et l'extrémité libre (16), par au moins une entretoise de liaison (25), ledit au moins un point de liaison entre ladite au moins une entretoise de liaison (25) et la poutre inférieure (22) étant réalisé de manière à être dans une large mesure rigide en flexion, souple en flexion ou articulé, et ledit au moins un point de liaison entre ladite au moins une entretoise de liaison (25) et la poutre supérieure (24) étant réalisé de manière à être dans une large mesure rigide en flexion, souple en flexion ou articulé.
  8. Dispositif selon l'une quelconque des revendications 1 à 7, dans lequel deux, trois entretoises de liaison (25) ou plus sont disposées entre la poutre supérieure (24) et la poutre inférieure (22), les points de liaison entre les entretoises de liaison (25) et la poutre supérieure (24) et/ou la poutre inférieure (22) étant réalisés de manière à être dans une large mesure rigides en flexion et/ou souples en flexion et/ou articulés.
  9. Dispositif selon l'une quelconque des revendications 1 à 8, dans lequel au moins des portions des poutres inférieures (22) et/ou des poutres supérieures (24) sont réalisées chacune en plusieurs parties et formées par des segments de plaque (60) reliés entre eux par articulation.
  10. Dispositif selon les revendications 8 et 9, dans lequel les entretoises de liaison (25) entre les segments de plaque (60) sont constituées par des tiges de couplage (64, 66, 74, 76) reliées de façon articulée à ceux-ci.
  11. Dispositif selon la revendication 10, dans lequel au moins quelques-unes des tiges de couplage (74, 76) sont réalisées en tant que butées de mouvement (80, 78) pour définir une déformation maximale des bras en porte à faux (18).
  12. Dispositif selon l'une quelconque des revendications 1 à 10, dans lequel au moins des zones des bras en porte à faux (18) sont formées par un composant de volume intégré, en particulier par un composant composite (58) ayant des propriétés élastiques définies et/ou différentes dans des zones différentes.
  13. Dispositif selon l'une quelconque des revendications 1 à 12, dans lequel lesdits dispositifs de traction (26) sont constitués par des moteurs linéaires (30) agissant de manière approximativement horizontale et qui sont appuyés contre ledit pont (20).
  14. Dispositif selon l'une quelconque des revendications 1 à 13, qui comprend au moins deux modules de préhension (17) qui sont suspendus sur un support commun et qui peuvent être réglés en distance l'un par rapport à l'autre et/ou sont commandables et déplaçables indépendamment l'un de l'autre.
  15. Dispositif selon la revendication 14, qui présente un système de préhension de palette (84) qui est disposé sur le bâti (12) avec ledit au moins un module de préhension (17) commandable et est apte à être commandé et/ou à pivoter indépendamment de celui-ci.
  16. Procédé de réception, de retenue et/ou de manipulation d'objets en nappe (38), par l'intermédiaire d'au moins deux préhenseurs à ventouse (14) commandables qui sont disposés et/ou fixés chacun sur des extrémités libres (16) de bras en porte à faux (18) qui sont mobiles et élastiquement déformables au moins dans des zones partielles, logés sur un pont (20) ou y appuyés, lesquels bras en porte à faux (18) comprennent chacun au moins une poutre inférieure (22) et une poutre supérieure (24) qui se rencontrent à l'extrémité libre (16) du bras en porte à faux (18) et y sont reliées de manière rigide, mobile et/ou articulée, dans lequel au moins les poutres supérieures (24) sont logées à distance les unes des autres au niveau dudit pont (20), dans lequel la poutre inférieure (22) est fixée à poste fixe sur le pont (20) ou y est logée ou appuyée de manière mobile ou bien flottante, et la poutre supérieure (24) est déplacée par un dispositif de traction (26) ayant au moins une composante de direction horizontale à peu près parallèle à la direction d'extension longitudinale du bras en porte à faux (18), caractérisé par le fait que les préhenseurs à ventouse (14) sont déplacés vers le haut en courbant de façon convexe la poutre inférieure.
EP20110192889 2011-01-18 2011-12-09 Dispositif et procédé de réception, de retenue et/ou de manipulation d'objets plats Active EP2476637B1 (fr)

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DE102011084830 2011-10-19

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EP (1) EP2476637B1 (fr)
CN (1) CN102602714B (fr)
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BR (1) BR102012001259B1 (fr)
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WO2020056438A2 (fr) 2018-09-20 2020-03-26 Trumpf Maschinen Austria Gmbh & Co. Kg. Préhenseur à vide, unité d'amenée et procédé de transport de composants plats

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EP2660011B1 (fr) * 2010-12-31 2015-02-18 Fundacion Tecnalia Research & Innovation Dispositif de préhension pour la manipulation d'éléments flexibles
ES1078327Y (es) * 2012-12-05 2013-04-04 Simplicity Works Europe Sl Herramienta para transportar y conformar piezas laminares flexibles.
DE102014225981A1 (de) 2014-12-16 2016-06-16 Krones Aktiengesellschaft Vorrichtung und Verfahren zur Aufnahme, zum Halten und/oder zur Handhabung von flächigen Gegenständen
CN104773543B (zh) * 2015-02-28 2017-02-22 唐山瑞可达科技有限公司 一种平压平包装印刷设备分纸输送机构
DE102015103147A1 (de) * 2015-03-04 2016-09-08 Krones Aktiengesellschaft Handhabungsvorrichtung und Verfahren zur Aufnahme flächiger Gegenstände
CN104891220B (zh) * 2015-04-20 2018-01-12 扬州恒佳机械有限公司 防止吸起多层板材的板材自动送料装置及送料方法
KR102352280B1 (ko) * 2015-04-28 2022-01-18 삼성디스플레이 주식회사 마스크 프레임 조립체 제조 장치 및 이를 이용한 마스크 프레임 조립체 제조 방법
CN105173804A (zh) * 2015-09-02 2015-12-23 张家港市紫东机械科技有限公司 一种自动送纸装置
CN106826881B (zh) * 2017-02-22 2023-05-30 佛山市艾乐博机器人股份有限公司 一种用于夹持物料的手爪及抓手
DE102017118255A1 (de) 2017-08-10 2019-02-14 Krones Aktiengesellschaft Zur Entgegennahme von flächigen Zuschnitten ausgebildetes Arbeitswerkzeug mit mehreren elastischen Auslegerarmen
CN108249152B (zh) * 2018-01-30 2020-05-15 泰州万诺纺织科技有限公司 一种纺织生产用原料运转装置
JP6988541B2 (ja) * 2018-02-15 2022-01-05 トヨタ自動車株式会社 セパレータ吸着装置
CN108673083A (zh) * 2018-05-28 2018-10-19 安徽安元智能科技有限公司 转子上料装置
CN108792590A (zh) * 2018-05-28 2018-11-13 安徽安元智能科技有限公司 转子上料装置的上料方法
CN108773665A (zh) * 2018-05-28 2018-11-09 安徽安元智能科技有限公司 转子上料装置
CN109130245A (zh) * 2018-10-26 2019-01-04 常州市新创智能科技有限公司 一种风电叶片根部预成型件自动铺设生产线及控制方法
CN111115253B (zh) * 2018-10-31 2021-11-23 富鼎电子科技(嘉善)有限公司 取料装置及具有该取料装置的取料机器人
CN113695117B (zh) * 2021-09-08 2023-05-12 北京东方昊为工业装备有限公司 一种适用于大型工件喷涂的配件进出控制方法
CN114735501B (zh) * 2022-03-15 2023-04-25 大连理工大学 一种低刚度片状材料的自动化搬运系统
CN116511775B (zh) * 2023-06-21 2023-08-25 成都广成科技有限公司 一种电梯钣金件焊接固定装置
CN116902602B (zh) * 2023-09-12 2023-11-21 常州市正文印刷有限公司 一种纸箱对齐码垛装置

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US20120181740A1 (en) 2012-07-19
CN102602714A (zh) 2012-07-25
DE102012200535A1 (de) 2012-07-19
EP2476637A3 (fr) 2014-01-22
EP2476637A2 (fr) 2012-07-18
AU2011265490A1 (en) 2012-08-02
BR102012001259B1 (pt) 2019-12-17
CN102602714B (zh) 2014-11-05
US8690149B2 (en) 2014-04-08
AU2011265490B2 (en) 2016-05-19
SI2476637T1 (sl) 2015-09-30
BR102012001259A2 (pt) 2014-01-07

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