JP2010510942A - 物品のグリッパ - Google Patents
物品のグリッパ Download PDFInfo
- Publication number
- JP2010510942A JP2010510942A JP2009538355A JP2009538355A JP2010510942A JP 2010510942 A JP2010510942 A JP 2010510942A JP 2009538355 A JP2009538355 A JP 2009538355A JP 2009538355 A JP2009538355 A JP 2009538355A JP 2010510942 A JP2010510942 A JP 2010510942A
- Authority
- JP
- Japan
- Prior art keywords
- gripper
- gripper arms
- arms
- article
- gripper arm
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/425—Gripping members engaging only the external or internal surfaces of the articles motor actuated
- B66C1/427—Gripping members engaging only the external or internal surfaces of the articles motor actuated by hydraulic or pneumatic motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
- B66C1/54—Internally-expanding grippers for handling hollow articles
- B66C1/56—Internally-expanding grippers for handling hollow articles for handling tubes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/58—Gripping members engaging only the external or internal surfaces of the articles and deforming the articles, e.g. by using gripping members such as tongs or grapples
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/62—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means comprising article-engaging members of a shape complementary to that of the articles to be handled
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)
- Advancing Webs (AREA)
- Clamps And Clips (AREA)
- Automatic Assembly (AREA)
- Basic Packing Technique (AREA)
- Supplying Of Containers To The Packaging Station (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
Abstract
Description
トからなってもよく、これらのセグメントは互いに対して調整可能であるが、その場合もやはりなおこれらセグメントは共にグリッパアームをなす点で同様である。
の周りを取り囲んで複数のグリッパアームがしっかりと閉じることが確実とされ得る。
図2Bに明瞭に示されているように、より鋭角でない角度、すわなちより大きな角度とされる。
Claims (9)
- 2つの端板の間に延びる束状の貫通管を有する様々な大きさの熱交換器のような物品を固定するための装置であって、前記装置は少なくとも1つのグリッパを備え、前記グリッパは、
少なくとも第1および第2のグリッパアームを含み、それらの間に少なくとも1つの物品をつかむために、それらのうち少なくとも1つは他のグリッパアームに対して可動であり、さらに
前記グリッパを必要に応じて閉じるか開くかするために、前記第1および第2のグリッパアームの少なくとも1つに接続された駆動機構を含み、
前記第1および第2のグリッパアームの少なくとも1つは、
第1のグリッパアーム部および第2のグリッパアーム部を有し、前記第1および第2のグリッパアーム部は互いに回動自在に結合されており、さらに前記第1および第2のグリッパアーム部の間に設けられた調整機構を有し、前記調整機構は、前記物品を固定する前に、固定される前記物品の直径に依存して前記グリッパアーム部間の角度を調整するために設けられた、物品を固定するための装置。 - 少なくとも2つのグリッパを有する、請求項1に記載の装置。
- 前記少なくとも2つのグリッパの間に少なくとも1つの接続要素をさらに備えた、請求項2に記載の装置。
- 2つの対応するグリッパアームの間に、前記物品をその上に支持するための支持部が設けられた、請求項2または3に記載の装置。
- 前記駆動機構および前記調整機構の少なくとも1つは、液圧を利用した動力源によって選択的に作動され得る、請求項1〜4のいずれかに記載の装置。
- 前記調整機構は、複数の前記グリッパアーム部の間に延び、かつこれらに作用するシリンダーを有する、請求項5に記載の装置。
- 前記駆動機構はシリンダーを有する、請求項5または6に記載の装置。
- 前記駆動機構は、
前記第1および第2のグリッパアームに回動自在に結合された結合部を有し、前記結合部は複数の前記グリッパアームと組み合わさって平行四辺形状の形態を定めることができ、さらに
シリンダーのような駆動要素を有し、前記駆動要素は前記平行四辺形状の形態における回動位置に作用する、請求項1〜7のいずれかに記載の装置。 - 少なくとも1つのグリッパの2つの前記グリッパアームは可動であり、
前記第1および第2のグリッパアームは、その同期した反対方向の動きのために、前記第1および第2のグリッパアーム上に位置する互いに噛み合ったギアによって結合されている、請求項1〜8のいずれかに記載の装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL1032933A NL1032933C2 (nl) | 2006-11-23 | 2006-11-23 | Grijper voor objecten. |
PCT/NL2007/050531 WO2008063055A2 (en) | 2006-11-23 | 2007-11-02 | Gripper for objects |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2010510942A true JP2010510942A (ja) | 2010-04-08 |
Family
ID=38137306
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009538355A Pending JP2010510942A (ja) | 2006-11-23 | 2007-11-02 | 物品のグリッパ |
Country Status (21)
Country | Link |
---|---|
US (1) | US8210587B2 (ja) |
EP (1) | EP2084097B1 (ja) |
JP (1) | JP2010510942A (ja) |
KR (1) | KR20090094294A (ja) |
CN (1) | CN101600642A (ja) |
AT (1) | ATE495131T1 (ja) |
AU (1) | AU2007322501B2 (ja) |
BR (1) | BRPI0719341B1 (ja) |
CA (1) | CA2669542C (ja) |
CY (1) | CY1111251T1 (ja) |
DE (1) | DE602007011964D1 (ja) |
DK (1) | DK2084097T3 (ja) |
EA (1) | EA014845B1 (ja) |
ES (1) | ES2355409T3 (ja) |
MX (1) | MX2009005396A (ja) |
MY (1) | MY147028A (ja) |
NL (1) | NL1032933C2 (ja) |
PL (1) | PL2084097T3 (ja) |
PT (1) | PT2084097E (ja) |
TW (1) | TWI411504B (ja) |
WO (1) | WO2008063055A2 (ja) |
Families Citing this family (29)
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JP2013507886A (ja) * | 2009-10-12 | 2013-03-04 | サイクロス セミコンダクター, インコーポレイテッド | インダクタオーバーヘッドなしで共振クロック分配ネットワークの固有周波数を選択する方法 |
CN102001134B (zh) * | 2010-09-20 | 2016-03-30 | 浙江金鑫管桩有限公司 | 一种管桩下模及其吊装系统 |
DE102012020991B4 (de) * | 2012-05-14 | 2019-11-14 | Indukran Gmbh | Brammenzange zum Greifen einer Bramme und Verfahren zum Anpassen einer Brammenzange |
NL1039629C2 (nl) * | 2012-05-29 | 2013-12-02 | Dutch Heavy Lift Concepts B V | Hijsbalk voorzien van buispaalgrijpers. |
CN104692242A (zh) * | 2013-12-05 | 2015-06-10 | 山东德瑞防腐材料有限公司 | 坩埚钳 |
GB2522690B (en) * | 2014-02-03 | 2016-12-14 | Caterpillar Work Tools Bv | Gripping device for machine |
CN104016126B (zh) * | 2014-06-18 | 2016-02-24 | 新昌县同德精密机械有限公司 | 圆柱圆盘类工件送料机械手 |
CN104294811B (zh) * | 2014-07-16 | 2016-06-01 | 大连大金马基础建设有限公司 | 强夯脱钩装置 |
KR20170088908A (ko) * | 2014-12-04 | 2017-08-02 | 봅스트 맥스 에스에이 | 슬리브 추출 디바이스, 편평한 기판을 변환하기 위한 유닛, 및 슬리브의 추출 방법 |
CN105129418B (zh) * | 2015-09-09 | 2017-08-08 | 苏州博众精工科技有限公司 | 一种上料双用夹爪 |
CN105905593A (zh) * | 2016-05-24 | 2016-08-31 | 陈薇 | 一种全方位水利钢管安装机器人用执行器 |
CN105858193A (zh) * | 2016-05-24 | 2016-08-17 | 陈薇 | 一种履带式水利水电管道搬运智能设备 |
CN105800306A (zh) * | 2016-05-24 | 2016-07-27 | 陈薇 | 一种水利工程施工现场作业自动化设备 |
CN105858195A (zh) * | 2016-05-24 | 2016-08-17 | 陈薇 | 一种自动化六自由度水利水电管道搬运机器人用夹持装置 |
CN105905594A (zh) * | 2016-05-24 | 2016-08-31 | 陈薇 | 一种全自动水利发电工程排水管夹取头 |
CN105835089B (zh) * | 2016-05-26 | 2018-01-05 | 北京新长征天高智机科技有限公司 | 一种机器人末端磁性过载保护机构 |
CN105903805B (zh) * | 2016-06-02 | 2017-11-03 | 温州泳恒科技有限公司 | 金属管全自动打孔设备 |
CN107127774B (zh) * | 2017-05-18 | 2023-07-21 | 南宁钛银科技有限公司 | 一种大型机械手夹子 |
IT201700079587A1 (it) * | 2017-07-14 | 2019-01-14 | Maus Italia S P A | Macchina di sollevamento per fasci tubieri di scambiatori di calore |
CN107445071A (zh) * | 2017-08-02 | 2017-12-08 | 芜湖精达机械制造有限公司 | 一种热交换器提拉装置 |
CN107571168B (zh) * | 2017-08-03 | 2018-08-07 | 广东轻工职业技术学院 | 一种夹头装置 |
CN107601262A (zh) * | 2017-09-19 | 2018-01-19 | 安徽骏达起重机械有限公司 | 起重机用夹持器 |
CN108163701A (zh) * | 2017-12-22 | 2018-06-15 | 深圳市晟腾企业管理有限公司 | 一种建筑工地用管材起吊夹持机构 |
CN108934902B (zh) * | 2018-07-20 | 2020-08-07 | 温州鑫筑建材有限公司 | 一种用于绿化树木移栽的吊装装置 |
KR102199845B1 (ko) * | 2019-03-04 | 2021-01-08 | 영풍파일(주) | 콘크리트 파일 제조용 강선 조립체 이송 장치 |
US11781283B2 (en) * | 2019-05-20 | 2023-10-10 | B-Lair Research And Development Llc | Grappling apparatus and methods of making and using same |
CN110980277A (zh) * | 2019-12-31 | 2020-04-10 | 安徽弋尚纺织科技有限公司 | 一种用于西服面料加工的拿取装置及其工作方法 |
KR102513000B1 (ko) * | 2021-01-21 | 2023-03-22 | 주식회사 더블유엔에스 | 미니 포크레인의 기계식 집게 구조 |
CN113580123A (zh) * | 2021-08-31 | 2021-11-02 | 曹智军 | 一种重型长棒料的机器人夹取方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS5926491U (ja) * | 1983-03-11 | 1984-02-18 | 株式会社小松製作所 | クランプ装置 |
JPS61217452A (ja) * | 1985-03-22 | 1986-09-27 | Kataoka Kikai Seisakusho:Kk | シ−トロ−ル搬出装置 |
JPH0517096A (ja) * | 1991-07-12 | 1993-01-26 | Daido Steel Co Ltd | トング |
JPH0561291U (ja) * | 1991-10-31 | 1993-08-13 | 川崎重工業株式会社 | クランプ装置 |
JP3002727U (ja) * | 1994-04-04 | 1994-10-04 | 株式会社リョーセンエンジニアズ | パイプハンドリング用グラブ |
JPH11246164A (ja) * | 1998-03-06 | 1999-09-14 | Sankyu Inc | チューブバンドル用吊り具 |
JP2004231383A (ja) * | 2003-01-31 | 2004-08-19 | Ishikawajima Harima Heavy Ind Co Ltd | 熱交換器の吊上げ方法及び装置 |
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-
2006
- 2006-11-23 NL NL1032933A patent/NL1032933C2/nl active Search and Examination
-
2007
- 2007-11-02 AU AU2007322501A patent/AU2007322501B2/en active Active
- 2007-11-02 WO PCT/NL2007/050531 patent/WO2008063055A2/en active Application Filing
- 2007-11-02 MX MX2009005396A patent/MX2009005396A/es active IP Right Grant
- 2007-11-02 DE DE602007011964T patent/DE602007011964D1/de active Active
- 2007-11-02 DK DK07834661.6T patent/DK2084097T3/da active
- 2007-11-02 PL PL07834661T patent/PL2084097T3/pl unknown
- 2007-11-02 KR KR1020097012966A patent/KR20090094294A/ko not_active Application Discontinuation
- 2007-11-02 EA EA200970505A patent/EA014845B1/ru not_active IP Right Cessation
- 2007-11-02 MY MYPI20092066A patent/MY147028A/en unknown
- 2007-11-02 CN CNA2007800434210A patent/CN101600642A/zh active Pending
- 2007-11-02 BR BRPI0719341-6A patent/BRPI0719341B1/pt active IP Right Grant
- 2007-11-02 EP EP07834661A patent/EP2084097B1/en active Active
- 2007-11-02 CA CA2669542A patent/CA2669542C/en active Active
- 2007-11-02 JP JP2009538355A patent/JP2010510942A/ja active Pending
- 2007-11-02 ES ES07834661T patent/ES2355409T3/es active Active
- 2007-11-02 PT PT07834661T patent/PT2084097E/pt unknown
- 2007-11-02 AT AT07834661T patent/ATE495131T1/de active
- 2007-11-02 US US12/514,788 patent/US8210587B2/en active Active
- 2007-11-06 TW TW096141781A patent/TWI411504B/zh active
-
2011
- 2011-02-14 CY CY20111100182T patent/CY1111251T1/el unknown
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS5926491U (ja) * | 1983-03-11 | 1984-02-18 | 株式会社小松製作所 | クランプ装置 |
JPS61217452A (ja) * | 1985-03-22 | 1986-09-27 | Kataoka Kikai Seisakusho:Kk | シ−トロ−ル搬出装置 |
JPH0517096A (ja) * | 1991-07-12 | 1993-01-26 | Daido Steel Co Ltd | トング |
JPH0561291U (ja) * | 1991-10-31 | 1993-08-13 | 川崎重工業株式会社 | クランプ装置 |
JP3002727U (ja) * | 1994-04-04 | 1994-10-04 | 株式会社リョーセンエンジニアズ | パイプハンドリング用グラブ |
JPH11246164A (ja) * | 1998-03-06 | 1999-09-14 | Sankyu Inc | チューブバンドル用吊り具 |
JP2004231383A (ja) * | 2003-01-31 | 2004-08-19 | Ishikawajima Harima Heavy Ind Co Ltd | 熱交換器の吊上げ方法及び装置 |
Also Published As
Publication number | Publication date |
---|---|
NL1032933C2 (nl) | 2008-05-26 |
BRPI0719341A2 (pt) | 2014-02-04 |
AU2007322501A1 (en) | 2008-05-29 |
US8210587B2 (en) | 2012-07-03 |
TWI411504B (zh) | 2013-10-11 |
CA2669542A1 (en) | 2008-05-29 |
KR20090094294A (ko) | 2009-09-04 |
CA2669542C (en) | 2015-05-12 |
EP2084097B1 (en) | 2011-01-12 |
ES2355409T3 (es) | 2011-03-25 |
MY147028A (en) | 2012-10-15 |
EA200970505A1 (ru) | 2009-12-30 |
CY1111251T1 (el) | 2015-08-05 |
EA014845B1 (ru) | 2011-02-28 |
EP2084097A2 (en) | 2009-08-05 |
BRPI0719341B1 (pt) | 2019-06-25 |
AU2007322501B2 (en) | 2013-10-17 |
TW200833483A (en) | 2008-08-16 |
PT2084097E (pt) | 2011-02-02 |
US20100109361A1 (en) | 2010-05-06 |
PL2084097T3 (pl) | 2011-06-30 |
WO2008063055A2 (en) | 2008-05-29 |
DK2084097T3 (da) | 2011-05-09 |
CN101600642A (zh) | 2009-12-09 |
MX2009005396A (es) | 2009-07-06 |
WO2008063055A3 (en) | 2008-07-10 |
ATE495131T1 (de) | 2011-01-15 |
DE602007011964D1 (de) | 2011-02-24 |
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