EP2716585A2 - Préhenseur à aiguille doté d'un actionneur électrodynamique - Google Patents

Préhenseur à aiguille doté d'un actionneur électrodynamique Download PDF

Info

Publication number
EP2716585A2
EP2716585A2 EP13004827.5A EP13004827A EP2716585A2 EP 2716585 A2 EP2716585 A2 EP 2716585A2 EP 13004827 A EP13004827 A EP 13004827A EP 2716585 A2 EP2716585 A2 EP 2716585A2
Authority
EP
European Patent Office
Prior art keywords
needle
actuator
housing
carriage
needles
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
EP13004827.5A
Other languages
German (de)
English (en)
Other versions
EP2716585A3 (fr
EP2716585B1 (fr
Inventor
Günther Stephan Zimmer
Martin Johannes Zimmer
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of EP2716585A2 publication Critical patent/EP2716585A2/fr
Publication of EP2716585A3 publication Critical patent/EP2716585A3/fr
Application granted granted Critical
Publication of EP2716585B1 publication Critical patent/EP2716585B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B65H3/22—Separating articles from piles by needles or the like engaging the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00—Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B65H5/14—Details of grippers; Actuating-mechanisms therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2403/00—Power transmission; Driving means
    • B65H2403/50—Driving mechanisms
    • B65H2403/53—Articulated mechanisms
    • B65H2403/533—Slotted link mechanism
    • B65H2403/5331—Slotted link mechanism with sliding slotted link
    • 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
    • B65H2405/50—Gripping means
    • B65H2405/58—Means for achieving gripping/releasing operation
    • 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
    • B65H2405/60—Penetrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00—Actuating means
    • B65H2555/10—Actuating means linear
    • B65H2555/13—Actuating means linear magnetic, e.g. induction motors

Definitions

  • the invention relates to a needle gripper with extendable from a housing or a frame needles, the needles individually or in groups on one or at least two counter-movable - are driven by at least one actuator via at least one gear - arranged needle carriage and wherein the longitudinal direction of the needles corresponds to respective travel direction of the corresponding needle carriage.
  • fabrics or workpieces of low Shore hardness and / or low density can be gripped or picked up.
  • the fabrics are, for example, textiles or intermediates of composite material production. These intermediates are, for example, woven fabrics, knitted fabrics or scrims made of roving or yarns.
  • the corresponding fibers may be glass fibers, carbon fibers, natural fibers or the like.
  • the workpieces of low Shore hardness are, for example, foam rubber sheets.
  • the workpieces of low density are, for example, polystyrene insulation boards.
  • a needle gripper is known. Its actuator is a pneumatic cylinder-piston unit whose piston has a piston rod having at its end remote from the piston two opposing teeth. Both teeth mesh with lying next to the piston rod spur gears, which in turn intervene in each needle-carrying, counter-movable linearly toothed needle carriage.
  • the present invention is based on the problem to develop a needle gripper, which develops a large holding force despite a fast retraction and extension of the needle or needles in a small space and low energy consumption.
  • the actuator is an electrodynamic drive.
  • the gear deflects the direction of the lifting movement of the movable part of the electrodynamic actuator in the direction of the travel of the respective needle carriage.
  • the electrodynamic actuator driving the needle gripper is based on a plunger coil principle known from the speaker sector.
  • An energizable immersion coil of a loudspeaker is guided linearly movable in the gap of a pot magnet.
  • the pot magnet provides eg a constant, radial permanent magnetic field.
  • An energizing of the plunger coil leads due to the inherent Lorenz force to a relative movement between the plunger coil and the pot magnet.
  • the thrust of this actuator is a function of the current.
  • the direction of the thrust force is determined by the voltage polarity.
  • the relative movement between the stationary and the movable part of the actuator is used to move the needles of the needle gripper with respect to the housing or frame.
  • the plunger coil is fixedly attached to the device housing, while the pot magnet acts as a movable part on the corresponding needles or needle carriage.
  • the pot magnet can be arranged stationary in the housing, while the plunger - as in the speaker - performs the driving relative movement.
  • the electrodynamic actuator which may of course also be a conventional solenoid, is energized within the housing of the needle gripper both for extending and for retracting one or more needles.
  • a planar gear which moves two needle carriage.
  • two or more needle grippers are used for receiving tissue, the needles in different directions, mainly with oppositely directed Wegfahrwegkomponenten, extendable. These needle grippers are then operated synchronously.
  • the double-slide transmission described can be equipped, at least for guiding the needle carriage with slide guides whose respective center point track is curved almost arbitrarily. Also, with the use of two or more needle carriages, each or some of the needle carriages may have differently curved midpoint paths have to change the extension direction and the exit speed of the needles targeted.
  • the included between two oppositely operating needles angle between 60 to 150 degrees varies.
  • FIG. 1 shows a needle gripper with groupwise extended needles (2).
  • an electrodynamic actuator (110) is arranged, which is supplied with power via a device plug (127) and is driven. Its extension stroke can be variably limited via an adjustment slide (95).
  • the actuator (110), it consists of a plunger coil (114) and a pot magnet (111, 112, 113), see.
  • FIG. 5 acts via a arranged in the lower region of the housing gear (60), see.
  • FIG. 8 on two needle carriages (81, 82) each receiving a group of needles (2) by means of a needle holder (1).
  • the housing (10, 40) consists essentially of an actuator housing (10) and a transmission housing (40). Both housing parts are made of an aluminum alloy.
  • the entire housing (10, 40) is eg 110 mm high, 44 mm wide and 27 mm deep. Its surfaces are hard-coated or anodized.
  • the actuator housing (10) is a nearly cuboid body whose flat underside (11) serves as a mounting joint with respect to the transmission housing (40).
  • the recess (15) machined into the bottom is a central stepped bore, which is divided into an upper (16), a large central (18) and a lower area (19).
  • the upper area (16) is a two-level hole with a flat bottom whose smallest diameter is 17 mm, for example.
  • the immersion coil (114) of the actuator (110) is centered on this floor via a central countersunk screw (117).
  • the central region (18) is a precision machined cylindrical bore in which the pot magnet (111, 112, 113) is longitudinally guided.
  • the diameter of the central region (18) is for example 22 mm with a length of 31 mm.
  • the lower portion (19) has a height of 5.45 mm and a diameter of 23 mm.
  • the central region (18) is connected to the right wall (13) via a 7.1 mm long and 2.7 mm wide elongated hole (21) oriented in the longitudinal direction (5), cf. FIG. 1 , Into the slot (21), which reaches down to the lower area (19), a marking pin (104) projects into it.
  • the lower portion (19) of the stepped bore (15) is connected to the outer walls via two opposing slots (25) and a transverse bore (23).
  • the latter is located in the wall (13) between the slot (21) and the bottom (11).
  • the opposite slots (25) are e.g. 4 mm wide and 14 mm long. They serve the variable adjustability of the adjustment slide (95).
  • the guide groove (26) in which the anti-rotation pin (103) of the Verstellschlittens (95) is guided, is 3.2 mm wide and 12.5 mm deep. In the radial direction protrudes about 4.1 mm beyond the diameter of the lower area (19).
  • the holes (27) have a diameter of 3.2 mm and have in the top (12) corresponding reductions, see. FIG. 2 .
  • stuck screws (28) which hold the housing parts (10, 40) under the interposition of a 2 mm thick trim plate (55).
  • the underside (11) has two fitting bores for receiving dowel pins (29), cf. FIG. 7 to be able to center both housing parts (10, 40) against each other.
  • the recess located above and next to the recess (15), which is incorporated into the actuator housing (10) from the right wall (13), consists of a rectangular recess (32) with a large cross-section and shallow depth, and a deep recess adjoining it , also rectangular recess (33) with a smaller cross-section, see. FIG. 7 ,
  • electronics for controlling the actuator (110) is housed on a lower, horizontal board (121), while in the large-area recess (32) a side board (125) sits on the ua a device plug ( 127), eg three light-emitting diodes (126), cf. FIG. 1 , and an attachment board (128) with a Hall sensor (131) are arranged.
  • the eg perpendicularly placed boards (121, 125) are connected to each other via a flexible printed circuit board equipped with printed circuit boards (132). Possibly. become the boards (121, 125, 132) clamped between two opposite plastic moldings (133), cf. FIG. 8 ,
  • the plastic moldings (133) guide grooves, in which the boards are inserted about 0.5 mm deep.
  • the recess (32) is closed almost gas-tight by means of a housing cover (34), cf. FIG. 1 , On the housing cover (34), the board (125) with the interposition of a spacer sleeve (37) by means of a special screw (38) attached. At the same time, the housing cover (34) carries the device plug (127), cf. FIG. 6 , Between the board screw connection (38) and the appliance plug (127), there are, for example, three adjacent bores (36) into which the light-emitting diodes (126) protrude, cf. FIG. 1 ,
  • the stepped bore (15) and the deep recess (33) are connected to each other via three adjacent bores.
  • the middle, smaller and in FIG. 3 visible bore is a threaded bore (18) in which the stationary part of the actuator (110) is screwed tight.
  • FIG. 7 in which the electrical connections of the actuator (110) in the lower recess (33) are guided.
  • the gear housing (40) is essentially a cuboid body, in which the needle slides (81, 82) guided and the essential parts of the transmission (60) are housed. It has two large, penetrating recesses (42, 43).
  • the recess (42) is incorporated from the top into the gear housing (40). It is a rectangular, longitudinal (5) oriented channel measuring 20mm x 14.5mm.
  • the second recess, the side recess (43) is incorporated in the transmission case (40) from the right side wall. It is closed there by a centered gear cover (50), cf.
  • FIGS. 1 and 9 are essentially a cuboid body, in which the needle slides (81, 82) guided and the essential parts of the transmission (60) are housed. It has two large, penetrating recesses (42, 43).
  • the recess (42) is incorporated from the top into the gear housing (40). It is a rectangular, longitudinal (5) oriented channel measuring 20mm x
  • the side recess (43) consists of a ten-cornered inner area (44) and a pentagonal outer area (47).
  • the inner area (44) has a depth of, for example, 18 mm.
  • the needle carriage (81, 82) are guided guided. For this purpose, the respective outer side surfaces of the needle slides (81, 82) on the bottom (45) or the back (51) over a large area.
  • the needle slides (81, 82) in the bottom (45) and in the back (51) of the gear cover (50) incorporated link guides (46, 52) are guided.
  • the in the gear housing (40) point-symmetrically opposite each other with respect to the center point track link guides (46, 52) have, for example, a depth of 3.5 mm, a width of 4 mm and a length of 22.8 mm.
  • the midpoint path consists of a straight section (53) and a curved section (54).
  • the straight, 16.7 mm long section (53) of the midpoint path closes according to the embodiment of FIG. 3 with the vertical projection of the center line (5) an angle of 60 °.
  • the curved portion (54) has a radius of 7 mm at an angle of 50 °. It joins at the upper end of the section (53) and points in the direction of actuator (110).
  • the gear housing lower side (48) for example, four slots (49) are arranged through which the needles (2) are extended.
  • the pairs of slots (49) have for example a length of 19.9 mm with a width of 1.5 mm.
  • the long holes of a pair have a distance of eg 3.5 mm, while the nearest slots (49) of both pairs a distance of 2.5 mm. All elongated holes (49) open into the inner region (44).
  • the transmission parts (75, 76, 81, 82) which are directly driven by the actuator (110) are positioned centrally in the transmission housing (40).
  • the wall thickness of the gear housing (40) is in the range of these slots (49), for example, 1.5 mm.
  • the transmission housing (40) tapers in the upper region to the actuator housing (10) transversely to the longitudinal direction (5) and transverse to its depth by e.g. 4 mm.
  • the taper is realized by a 45 ° bevel (41).
  • the in the actuator housing (10) built-in actuator (110) consists of a stationary and a linearly movable part, see. FIG. 5 and 9 ,
  • the stationary part is a plunger coil (114) consisting of a bobbin (115) and a winding (116).
  • the bobbin (115) is screwed by means of a screw (117) at the bottom of the stepped bore (15) of the actuator housing (10).
  • the bobbin (115) is made for example of plastic or an aluminum alloy.
  • the movable part of the actuator (110) is the pot magnet (111, 112, 113). It is a pot or bell (111) manufactured from a gas-nitrided case-hardened steel, in which a cylindrical magnetic core (112), for example a neodymium magnet, is embedded.
  • the magnetic core (112) may also have the shape of a cylindrical tube.
  • a yoke plate (113) made of the material X90CrMoV18 is arranged at the lower end of the magnetic core (112.
  • the upper side of the yoke plate (113) which may also have a central bore, terminates at least approximately with the upper edge of the bell (111).
  • the upper plane of the yoke plate (113) for example, 1.25 mm below the upper edge of the bell (111).
  • an undercut which carries an O-ring serving as a stop buffer, is incorporated on the upper side of the yoke plate (113).
  • the magnetic core (112) and the yoke plate (113) have at least approximately the same outer diameter. Both parts (112, 113) are interconnected and opposite the bell (111) e.g. glued and / or screwed.
  • annular gap (118) into which the coil (114) - at least in retracted needles (2), see.
  • FIG. 3 - Almost completely protrudes with little radial play.
  • the bell (111) has largely a cylindrical outer wall, with a small guide play, it is e.g. 0.02 mm, slidably mounted on the wall of the central region (18) of the recess (15).
  • the lower end face of the bell (111) has a depression (135) into which a support sleeve (66) protrudes.
  • the support sleeve (66) its outer diameter is 6 mm, connects the pot magnet or the bell (111) with the gear carriage (61) via a long screw (72).
  • the screw (72) sits in a central threaded bore (62) of the gear carriage (61).
  • the latter has a recess (64) for centered receiving the support sleeve (66), see.
  • FIG. 8
  • the gear slide (61) is essentially a cuboid transverse bar, which has on both sides of the threaded bore (62) each have a transverse bore (63) in which a pivot pin (67, 68) is pressed.
  • the center line of the single pivot pin (67, 68) is away from the centerline of the bell (111), for example, 5.5 mm.
  • the front pivot pin (68) protrudes to the rear, while the rear (67) protrudes forward over the gear slide (61).
  • two further depressions (65) are arranged, which in each case store a permanent magnet (69) as a holding magnet, eg glued on, cf.
  • FIG. 5 To the respective upper end of the single cylindrical magnet (69) is fixed by means of adhesive O-ring (71) arranged as a stop damper.
  • each coupling rods (75, 76) are mounted on the free ends of each pivot pin (67, 68).
  • the rod-shaped, in the central region waisted coupling rods (75, 76) carry at their ends in each case a transverse bore (77, 78) as a hinge part.
  • the parallel transverse bores (77, 78) of a coupling rod (75, 76) are at a distance of e.g. 15.3 mm.
  • the gear carriage (61) has two needle slides (81, 82) each having a needle holder (1).
  • the single needle carriage (81, 82) has a cuboidal basic shape, in each of which three parallel bearing or pivot pins (86, 87, 88) are installed with transverse interference fit.
  • the bolts (86, 87, 88) are aligned transversely to the longitudinal direction (5) and parallel to the pivot pins (67, 68). All bolts have eg a diameter of 4 mm.
  • Each two identical bearing pins (87, 88) protrude on the respective outer side of the needle carriage (81, 82) as a guide pin to eg 3 mm.
  • bearing bolts (87, 88) have in the exemplary embodiment a distance of 12 mm.
  • the center lines of the bearing pins (87, 88) lie on a straight line inclined at 60 degrees to the longitudinal median plane, the latter lying on the center line (5) of the actuator (110) and being aligned parallel to the pivot pins (67, 68) is.
  • a pivot pin (86) for the articulated mounting of the respective coupling rod (75, 76) on the needle carriage (81, 82).
  • bearing groove (84) is incorporated, see. FIG. 8 .
  • the 3 mm wide bearing groove (84) has a depth of 8 mm.
  • the needle carriages (81, 82) have on their side surfaces around e.g. 0.2 mm raised sliding surfaces (83), with which they contact each other and against the inner side walls (45, 51) of the inner region (44).
  • the sliding surfaces (83) extend around the bores receiving the bearing pins (87, 88) and between them as a e.g. 8 mm wide strip.
  • the described gearbox kinematically represents a skewed double sliding gear.
  • a coupling rod (75, 76) moves per needle carriage (81, 82) a coupling rod (75, 76) simultaneously along two guides.
  • the first guide is the central region (18) of the recess (15) in the actuator housing (10).
  • the transmission slide side bearing of the coupling rod (75, 76) is straight over the bell (111) parallel to the longitudinal direction (5).
  • the respective other bearing of the coupling rod (75, 76) is supported on the needle carriage (81, 82), which in turn in the slotted guide (46, 52) of the gear housing (40) is guided.
  • L is the distance of the joints of the respective coupling rod (75, 76)
  • ⁇ is the angle included by the actuator guide (18) and the needle carriage guide (46, 52).
  • the rear bearing pin (88) starts only with a small deviation in direction with respect to the direction of movement of the pot magnet or the gear carriage (61). Thus, it starts with a small coefficient of sliding friction in the slotted guide (46, 52).
  • Each needle carriage (81, 82) carries on its rectangular front one with it e.g. screwed needle holder (1).
  • the single needle holder (1) carries in the embodiment ten needles (2), which are arranged in two rows.
  • the individual needles have a diameter of 0.68 mm and a point angle of 9 degrees with a length of 13 mm.
  • the needles (2) inserted into the needle holder (1) project 8 mm beyond the front surface of the needle holder (1).
  • the displacement slide (95) serving as an extension stop is mounted in a pivoting ring (91) by means of a fine thread (92), e.g. M17 x 1, stored.
  • a fine thread (92) e.g. M17 x 1
  • the extension stroke of the actuator (110) can be adjusted e.g. in the range of 0 - 4 mm steplessly mechanically adjusted.
  • the pivot ring (91) sits with its radial outer surface with little play in the lower region (19) of the recess (15). He lies on the between the lower (19) and the central region (18) located waistband. About the bottom (11) of the actuator housing (10) he stands about 2 mm, where he has a smaller diameter in this area to use the trim plate (55) as an axial, overlapping stop can.
  • the swivel ring (91) has in its radial outer surface, for example, eight equidistantly split radial bores (93).
  • the radial bores (93) have a diameter at a depth of 3 mm of 2 mm. When the needle gripper is mounted, they lie exactly at the level of the housing-side slots (25).
  • a stepped bore (23) is arranged in the wall (13), cf. FIG. 3 in which a threaded pin (94) is screwed.
  • a threaded pin (94) is screwed.
  • the adjustment slide (95) is a waisted rotary part with a central bore (96), which consists of three zones (97, 101, 107).
  • the actuator (110) facing the zone (97) is the stop zone. It has a height of 3 mm and a diameter of 18 mm. It has at least four holes to the actuator (110), in each of which alternately a permanent magnet (98) and an impact-absorbing elastomer body is glued, for example, see.
  • FIG. 9 The elastomer bodies, not shown here, each have the shape of a cylinder and are in the direction of the actuator (110) to eg 0.2 to 0.5 mm on the actuator (110) facing the end face of the Verstellschlittens (95). Possibly.
  • the bores in which the elastomeric bodies are held can be equipped with a rear grip, so that the elastomeric bodies can fit positively in these bores.
  • the after FIG. 9 opposite permanent magnets (98) - as well as the elastomeric body - a distance of eg 12 mm.
  • the stop zone (97) is followed by the center zone (101), which has a diameter of 15 mm at a height of 5.5 mm.
  • the center zone (101) which has a diameter of 15 mm at a height of 5.5 mm.
  • the guide pin (103) has a diameter of 3 mm.
  • the example of cylindrical marking pin (104) In the right side of the transverse bore (102) is the example of cylindrical marking pin (104). It has a diameter of 2.5 mm and is fixed by a threaded pin (105).
  • the threaded pin (105) sits in a direction parallel to the central bore (96) stepped bore (108).
  • the marker (104) has a straight line marking, such as a notch, with the help of which you can read the position of the Verstellschlittens (95) outside the housing (10) relative to a scale (22).
  • the third zone (107) is the threaded zone, which is screwed into the pivot ring (91). It has a height of e.g. 3 mm with an outer diameter engaging in the fine thread (92).
  • the threaded pin (94) In order to change the extension stroke of the actuator (110), the threaded pin (94), see. FIG. 3 , solved.
  • the threaded pin (94) By one of the slots (25) of the swivel ring (91) via its radial bores (93), for example by means of a punch, so long pivoted until the adjusting slide (95) on the fine thread (92) the marking pen (104) in the desired position on the scale (22). Finally, screw the threaded pin (94) back in place.
  • the actuator (110) is energized.
  • a short DC pulse is applied to the winding (116), whereby the magnetic core (112) is suddenly pushed down from the bobbin (115).
  • the current surge lasts for example at a voltage of 24 V and a current of 5 A for about 20 msec.
  • the with the magnetic core (112) coupled to the transmission carriage (61) extends, see. FIGS. 5 and 6 until the bell (111) is braked by its abutment on the adjustment slide (95).
  • the energization can also be varied along the carriage stroke in a time- or path-controlled manner. For example, a current of 5 amps is used for about 5 msec to accelerate. This is then lowered for a Restbestromungszeit of about 15 msec to 3 A.
  • the pure extension and retraction force of the electrodynamic actuator is - neglecting friction and inertial forces - at the beginning of acceleration here about 12 - 15 N.
  • the bell (111) is held in one or both end positions by a leakage current applied to the winding (116).
  • the winding (116) is energized reversed polarity.
  • the pot magnet (111, 112, 113) is moved upwards together with the gear carriage (61).
  • the permanent magnets (69) seated in the gear carriage (61) come close to the magnetic or magnetizable swivel ring (91).
  • the seated on the magnet (69) O-rings (71) dampen the impact.
  • the permanent magnetic coupling ensures a secure holding the gear carriage (61), even with a vibration-loaded overhead position of the needle gripper.
  • the needle gripper also has position monitoring of the gear carriage (61). For this purpose sits on the board (128) a Hall sensor (131). This is thus below the Actuator (110) in the actuator housing (10).
  • the Hall sensor (131) provides, for example, an amplified and temperature-compensated DC signal that varies in proportion to the magnetic flux density of the magnetic core (112) moving axially of the sensor.
  • the matching to the Stellgliedendlagen DC signals are processed in an evaluation such that for the achievement of each end position, a separate LED is energized.
  • the sensor (131) may also detect intermediate gear carriage positions, for example, to control a change in current of the drive.
  • the housing-side LEDs can thus visually display at least the transmission carriage positions "extended” and "retracted". Of course, these signals can also be passed through the device connector (127) to an external device control.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Knitting Machines (AREA)
  • Nonwoven Fabrics (AREA)
EP13004827.5A 2012-10-08 2013-10-08 Préhenseur à aiguille doté d'un actionneur électrodynamique Active EP2716585B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012019638.5A DE102012019638B4 (de) 2012-10-08 2012-10-08 Nadelgreifer mit elektrodynamischem Stellglied

Publications (3)

Publication Number Publication Date
EP2716585A2 true EP2716585A2 (fr) 2014-04-09
EP2716585A3 EP2716585A3 (fr) 2015-01-21
EP2716585B1 EP2716585B1 (fr) 2020-02-12

Family

ID=49356167

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13004827.5A Active EP2716585B1 (fr) 2012-10-08 2013-10-08 Préhenseur à aiguille doté d'un actionneur électrodynamique

Country Status (2)

Country Link
EP (1) EP2716585B1 (fr)
DE (1) DE102012019638B4 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140197650A1 (en) * 2011-07-20 2014-07-17 Trebro Holding, Inc. Sod roll pickup mechanism
WO2015169578A1 (fr) * 2014-05-09 2015-11-12 Bayerische Motoren Werke Aktiengesellschaft Dispositif de transport et procédé de transport pour transporter un produit semi-fini ainsi que dispositif de traitement pour traiter un produit semi-fini
DE102016204659A1 (de) 2016-03-21 2017-09-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Handhabungsvorrichtung für biegeschlaffe Elemente
CN107825445A (zh) * 2017-03-21 2018-03-23 青岛兰信医学科技有限公司 一种多洞物体自动化夹取装置
EP4119307A1 (fr) 2021-07-14 2023-01-18 UNISTAR Sp. z o.o. De préhension à aiguille
KR20230086222A (ko) * 2021-12-08 2023-06-15 재단법인 한국섬유기계융합연구원 섬유 의류원단 이송용 니들 그리퍼 장치

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202012100849U1 (de) 2012-02-03 2012-04-03 Ibg Automation Gmbh Nadelgreifer für Textil- und Schaumstoffplatten

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH405899A (de) * 1962-02-21 1966-01-15 Trikotfabriken J Schiesser Ag Vorrichtung zum Ergreifen und Abgeben von Gebilden mit mindestens einem Flächenteil aus einem anstechbaren Stoff
JPS61206747A (ja) * 1985-03-09 1986-09-13 Yoshiro Kawashima 生地把持装置
CH680850A5 (fr) * 1986-12-03 1992-11-30 Antogi Ag
DE202006004465U1 (de) * 2005-03-31 2006-06-01 Baumann Gmbh Folienentsorger
DE102009048014A1 (de) * 2009-10-02 2011-06-09 Zimmer, Günther Greifvorrichtung mit elektrodynamischem Stellglied
DE102010021422A1 (de) * 2010-05-25 2011-12-01 Günther Zimmer Greifvorrichtung mit elektrodynamischem Stellglied II

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202012100849U1 (de) 2012-02-03 2012-04-03 Ibg Automation Gmbh Nadelgreifer für Textil- und Schaumstoffplatten

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140197650A1 (en) * 2011-07-20 2014-07-17 Trebro Holding, Inc. Sod roll pickup mechanism
US8888154B2 (en) * 2011-07-20 2014-11-18 Trebro Holding, Inc. Sod roll pickup mechanism
WO2015169578A1 (fr) * 2014-05-09 2015-11-12 Bayerische Motoren Werke Aktiengesellschaft Dispositif de transport et procédé de transport pour transporter un produit semi-fini ainsi que dispositif de traitement pour traiter un produit semi-fini
CN105980114A (zh) * 2014-05-09 2016-09-28 宝马股份公司 用于运输半成品的运输装置和运输方法以及用于加工半成品的加工装置
US10583566B2 (en) 2014-05-09 2020-03-10 Bayerische Motoren Werke Aktiengesellschaft Transport device and transport method for transporting a semi-finished product and processing device for processing a semi-finished product
DE102016204659A1 (de) 2016-03-21 2017-09-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Handhabungsvorrichtung für biegeschlaffe Elemente
WO2017162633A1 (fr) 2016-03-21 2017-09-28 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Dispositif de manipulation pour des éléments souples
CN107825445A (zh) * 2017-03-21 2018-03-23 青岛兰信医学科技有限公司 一种多洞物体自动化夹取装置
CN107825445B (zh) * 2017-03-21 2024-03-19 青岛达芬奇科技有限公司 一种多洞物体自动化夹取装置
EP4119307A1 (fr) 2021-07-14 2023-01-18 UNISTAR Sp. z o.o. De préhension à aiguille
KR20230086222A (ko) * 2021-12-08 2023-06-15 재단법인 한국섬유기계융합연구원 섬유 의류원단 이송용 니들 그리퍼 장치

Also Published As

Publication number Publication date
DE102012019638B4 (de) 2015-06-18
EP2716585A3 (fr) 2015-01-21
DE102012019638A1 (de) 2014-04-10
EP2716585B1 (fr) 2020-02-12

Similar Documents

Publication Publication Date Title
EP2716585B1 (fr) Préhenseur à aiguille doté d'un actionneur électrodynamique
EP2428473B1 (fr) Séparateur doté d'un engrenage à coulisses
EP2390067B1 (fr) Dispositif de prise doté d'un élément de positionnement électrodynamique
DE102010045290B4 (de) Vereinzler mit elektrodynamischem Stellglied
EP1977124A1 (fr) Dispositif pour maintenir et positionner des appareils, des pièces et des outils
DE102011016666A1 (de) Vorrichtung zum Betreiben eines Greif- oder Bewegungswerkzeugs durch einen elektrischen Stellantrieb
DE102011014835B4 (de) Vorrichtung zum Verstellen einer Steuerfläche eines Fluggerätemodells, Steuerflächeneinheit, Fluggerätemodell und Verwendung eines Fluggerätemodells
DE102009048581B3 (de) Magnetisch betätigtes Drehgelenk und Verfahren zum Betreiben des Gelenks
EP1725380A1 (fr) Dispositif de coupe destine a une installation servant a fabriquer des tubes lamines ou plastiques extrudes
DE102009048014A1 (de) Greifvorrichtung mit elektrodynamischem Stellglied
DE102017001220A1 (de) Greifvorrichtung mit integriertem Magnetfeldsensor
DE102018000420B4 (de) Stuhlführungsvorrichtung
DE102007025924B3 (de) Lünette
EP0240782B1 (fr) Support pour une sonde magnétique de navigation dans un véhicule
EP3360653B1 (fr) Dispositif de préhension pourvu de capteur de champ magnétique externe
DE102008038599B4 (de) Sensorgelenk und Verfahren zum Betreiben eines Sensors
EP1541277B1 (fr) Dispositif de positionnement et système de transport avec un dispositif de positionnement
EP2952937A1 (fr) Support rotatif pour une barrière lumineuse
DE102022101652B4 (de) Greifvorrichtung zum Greifen von ferromagnetischen Gegenständen
DE102020211660B4 (de) Stellvorrichtung zum Bereitstellen einer Stellbewegung
DE102018002054A1 (de) Linearantriebsvorrichtung
DE102010016739A1 (de) Messkopf für ein Koordinatenmessgerät
DE202014104481U1 (de) Schalteinrichtung zum Schalten eines Mehrkupplungsgetriebes
DE102009036894A1 (de) Werkstückfördereinrichtung mit einer Vorrichtung zum Vereinzeln mehrerer in einer Förderrichtung beförderter Werkstückträger sowie Verfahren zum Vereinzeln dieser Werkstückträger
DE102007008735B4 (de) Kolbenstangenloser Arbeitszylinder

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RIC1 Information provided on ipc code assigned before grant

Ipc: B65H 3/56 20060101ALI20141216BHEP

Ipc: B65H 3/22 20060101AFI20141216BHEP

Ipc: B65H 5/14 20060101ALI20141216BHEP

17P Request for examination filed

Effective date: 20150710

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20190812

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1231826

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200215

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502013014277

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200512

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20200212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200513

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200512

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200612

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200705

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502013014277

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20201113

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201008

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20201031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201031

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201031

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201008

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1231826

Country of ref document: AT

Kind code of ref document: T

Effective date: 20201008

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201008

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200212

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20221021

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20221031

Year of fee payment: 10

Ref country code: GB

Payment date: 20221019

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20221223

Year of fee payment: 10