JP3947741B2 - 真空把持装置 - Google Patents
真空把持装置 Download PDFInfo
- Publication number
- JP3947741B2 JP3947741B2 JP2004020730A JP2004020730A JP3947741B2 JP 3947741 B2 JP3947741 B2 JP 3947741B2 JP 2004020730 A JP2004020730 A JP 2004020730A JP 2004020730 A JP2004020730 A JP 2004020730A JP 3947741 B2 JP3947741 B2 JP 3947741B2
- Authority
- JP
- Japan
- Prior art keywords
- gripping device
- vacuum gripping
- elements
- vacuum
- negative pressure
- 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.)
- Expired - Lifetime
Links
- 238000007789 sealing Methods 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 238000001179 sorption measurement Methods 0.000 claims description 4
- 238000005520 cutting process Methods 0.000 claims description 3
- 229920003002 synthetic resin Polymers 0.000 claims description 3
- 239000000057 synthetic resin Substances 0.000 claims description 3
- 238000004026 adhesive bonding Methods 0.000 claims 1
- 238000001746 injection moulding Methods 0.000 claims 1
- 239000010408 film Substances 0.000 description 7
- 239000002184 metal Substances 0.000 description 7
- 239000011521 glass Substances 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Absorbent Articles And Supports Therefor (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Description
12 吸盤保持部(保持手段)
14 負圧閉じ部(負圧発生部)
20 吸盤(吸着手段)
22 密封縁部
26 吸引室
28 接触面
32 対象物
34 要素
36 自由端
38 マイクロ構造体
40 中心
42 フィルム
A 間隔
D 厚さ
L 長さ
Claims (21)
- 対象物を吸着するための真空把持装置であって、
負圧発生手段と、
吸着手段と、
前記吸着手段の保持手段と、
を備え、前記吸着手段が前記対象物に近い側に室を画成する密封縁部を備え、前記室が前記負圧発生手段に流体接続され、前記室内が負圧状態のときに前記対象物に接近する面を前記吸着手段が備え、前記面は当該面から突出する棒状又はピン状の複数の要素によって形成された微細構造を備え、前記要素は可撓性を有し弾性的に曲げられることができて、吸着手段が負圧を加えることによって対象物を吸着すると、要素の側面の一部が対象物の表面に接触可能である、真空把持装置。 - 前記要素または前記要素の少なくとも自由端が可撓性を備える、請求項1記載の真空把持装置。
- 前記要素が真空把持装置の吸着手段と同じ材料からなる、請求項1〜2のいずれか一つに記載の真空把持装置。
- 前記要素が前記吸着手段上に一体的に配置されている、請求項1〜3のいずれか一つに記載の真空把持装置。
- 前記要素が真空把持装置の吸着手段に取付けられる支持体上に配置されている、請求項1〜3のいずれか一つに記載の真空把持装置。
- 前記支持体が板状またはフィルム状である、請求項5記載の真空把持装置。
- 前記要素が合成樹脂からなる、請求項1〜6のいずれか一つに記載の真空把持装置。
- 前記要素の各々は円形断面を有し、前記要素の長さが前記要素の直径の2〜20倍である、請求項1〜7のいずれか一つに記載の真空把持装置。
- 前記要素の各々は円形断面を有し、前記要素の相互間隔が前記要素の直径の0.5〜2.5倍である、請求項1〜8のいずれか一つに記載の真空把持装置。
- 前記要素の自由端が丸められているかあるいは平らになっているかあるいは尖っている、請求項1〜9のいずれか一つに記載の真空把持装置。
- 前記要素が前記面から垂直に突出している、請求項1〜10のいずれか一つに記載の真空把持装置。
- 前記要素が前記密封縁部に及ばないように設けられている、請求項1〜11のいずれか一つに記載の真空把持装置。
- 前記要素が吸着手段の前記面の中心から出発して前記面の半径の70〜95%にわたって設けられている、請求項1〜12のいずれか一つに記載の真空把持装置。
- 前記要素の長さが0.1〜3mmである、請求項1〜13のいずれか一つに記載の真空把持装置。
- 請求項1〜14のいずれか一つに記載の真空把持装置を製作するための方法であって、前記面が射出成形されることを含む方法。
- 前記要素の少なくとも一部をレーザーによって前記面から切り出して形成することを含む、請求項15記載の方法。
- 前記要素を有するフィルムの少なくとも一部を前記面上に接着することを含む、請求項15記載の方法。
- 前記要素を有する複数のフィルムを重ねて接着することを含む、請求項17記載の方法。
- 前記要素の長さが前記直径の5倍から10倍の範囲にある値である、請求項8に記載の真空把持装置。
- 前記要素の前記相互間隔が前記要素の直径の1倍から2倍の範囲にある値である、請求項9に記載の真空把持装置。
- 前記要素の前記長さが0.5mmから1mmの範囲にある値である、請求項14に記載の真空把持装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10304169A DE10304169B4 (de) | 2003-01-29 | 2003-01-29 | Sauggreifer |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2004230550A JP2004230550A (ja) | 2004-08-19 |
JP3947741B2 true JP3947741B2 (ja) | 2007-07-25 |
Family
ID=32747533
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004020730A Expired - Lifetime JP3947741B2 (ja) | 2003-01-29 | 2004-01-29 | 真空把持装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7240935B2 (ja) |
JP (1) | JP3947741B2 (ja) |
DE (1) | DE10304169B4 (ja) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7914057B2 (en) * | 2005-06-02 | 2011-03-29 | D B Industries, Inc. | Vacuum anchor |
DE102005054244B4 (de) * | 2005-11-15 | 2007-10-31 | Werner Stehr | Greifer für Kleinstteile |
DE102006022277B4 (de) * | 2006-05-11 | 2010-03-11 | Deutsche Post Ag | Sauggreifer |
KR100712420B1 (ko) * | 2006-05-30 | 2007-04-27 | 전자부품연구원 | 그리퍼 및 그를 구비한 그립 장치 |
ES2383718T3 (es) * | 2007-04-26 | 2012-06-25 | Adept Technology Inc. | Aparato de agarre por vacío |
DE202007007721U1 (de) * | 2007-05-31 | 2007-08-09 | Jonas & Redmann Automationstechnik Gmbh | Greifer, insbesondere Bernoulli-Greifer |
US20110247306A1 (en) * | 2010-04-07 | 2011-10-13 | Armen Khatchaturian | Gripping device for handling a lid |
DE102010043036A1 (de) * | 2010-10-28 | 2012-05-03 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Wandelbares anpassungsfähiges Greifersystem |
WO2013034635A1 (de) * | 2011-09-07 | 2013-03-14 | J. Schmalz Gmbh | Greif- oder spannvorrichtung sowie verfahren zur handhabung von gegenständen |
DE202011107531U1 (de) * | 2011-11-07 | 2011-12-15 | Bdt Media Automation Gmbh | Vorrichtung zum Heben und Positionieren eines Objekts |
JP2015503459A (ja) | 2011-12-30 | 2015-02-02 | スリーエム イノベイティブ プロパティズ カンパニー | 真空エフェクタ及び使用方法 |
US9260222B2 (en) | 2012-03-02 | 2016-02-16 | Armen Khatchaturian | Cover device for a lid of a container |
JP6186157B2 (ja) * | 2013-04-03 | 2017-08-23 | 学校法人 関西大学 | 吸着機構 |
EP2926956B1 (de) | 2014-04-01 | 2017-05-03 | J. Schmalz GmbH | Greifvorrichtung |
CN105084021B (zh) * | 2015-06-26 | 2018-08-14 | 东莞智动力电子科技有限公司 | 一种用于码垛系统的智能机器人抓手 |
SE539408C2 (en) * | 2015-10-21 | 2017-09-19 | Rollquett Patent Ab | Label picking arrangement and method for picking labels |
JP6475646B2 (ja) * | 2016-01-25 | 2019-02-27 | 株式会社イシダ | 開函装置 |
US10130846B2 (en) * | 2016-04-21 | 2018-11-20 | The Charles Stark Drapper Laboratory, Inc. | Hybrid adhesion system and method |
JP2018065194A (ja) * | 2016-10-17 | 2018-04-26 | 株式会社妙徳 | 吸着パッド装置 |
CN106395376B (zh) * | 2016-10-19 | 2018-10-02 | 浙江锦源实业有限公司 | 一种新能源汽车用圆形薄板加工抓取机构 |
CN106388578B (zh) * | 2016-11-30 | 2019-02-15 | 浙江海洋大学 | 一种电热水壶 |
TWI661510B (zh) * | 2017-09-06 | 2019-06-01 | 京鼎精密科技股份有限公司 | 晶圓支撐裝置 |
KR101988219B1 (ko) * | 2019-02-08 | 2019-06-12 | 호전실업 주식회사 | 원단을 파지하는 방법과 장치 |
US11724406B2 (en) * | 2019-10-23 | 2023-08-15 | Research & Business Foundation Sungkyunkwan University | Pneumatic controlled soft gripper, manufacturing method thereof and article transport method using soft gripper |
US11260542B2 (en) | 2019-10-31 | 2022-03-01 | GM Global Technology Operations LLC | Universal vacuum cup and method of lifting an object |
KR102347223B1 (ko) * | 2019-12-26 | 2022-01-05 | 경북대학교 산학협력단 | 건식 흡착패드 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2853333A (en) * | 1955-09-07 | 1958-09-23 | Littell Machine Co F J | Vacuum cup |
US3005652A (en) * | 1960-12-14 | 1961-10-24 | Bemis Bro Bag Co | Vacuum gripping device |
US3152828A (en) * | 1962-02-02 | 1964-10-13 | Alvey Conveyor Mfg Co | Vacuum cup units for lifting pads |
US3240525A (en) * | 1963-12-13 | 1966-03-15 | Wood S Powr Grip Co Inc | Vacuum device for handling articles |
US3326593A (en) * | 1965-06-03 | 1967-06-20 | Cascade Corp | Vacuum-operated load grab |
US3330589A (en) * | 1966-03-14 | 1967-07-11 | Fmc Corp | Article handling device |
US3556579A (en) * | 1968-06-17 | 1971-01-19 | Nat Res Dev | Suction pads |
US3926466A (en) * | 1973-10-01 | 1975-12-16 | Ethyl Corp | Apparatus for handling rolls |
FR2523934A1 (fr) * | 1982-03-24 | 1983-09-30 | Saint Gobain Isover | Procede et dispositif de prehension de colis |
FR2547525B1 (fr) * | 1983-06-17 | 1987-01-23 | Syspro | Ventouse de prehension et de manutention de petits objets delicats |
JP2524586Y2 (ja) * | 1990-09-06 | 1997-02-05 | エスエムシー株式会社 | 吸着用パッド |
US5799661A (en) * | 1993-02-22 | 1998-09-01 | Heartport, Inc. | Devices and methods for port-access multivessel coronary artery bypass surgery |
DE4401870C1 (de) * | 1994-01-22 | 1995-07-06 | Paul Lingen | Vakuum-Hebeplatte |
WO1998034453A1 (de) * | 1997-01-30 | 1998-08-06 | Siemens Aktiengesellschaft | Saugpipette zum greifen von elektrischen bauelementen |
DE29905951U1 (de) * | 1999-04-06 | 1999-07-29 | J. Schmalz GmbH, 72293 Glatten | Sauggreifer |
-
2003
- 2003-01-29 DE DE10304169A patent/DE10304169B4/de not_active Expired - Fee Related
-
2004
- 2004-01-29 US US10/767,641 patent/US7240935B2/en not_active Expired - Lifetime
- 2004-01-29 JP JP2004020730A patent/JP3947741B2/ja not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
US20040207219A1 (en) | 2004-10-21 |
DE10304169A1 (de) | 2004-08-26 |
JP2004230550A (ja) | 2004-08-19 |
DE10304169B4 (de) | 2006-02-23 |
US7240935B2 (en) | 2007-07-10 |
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