KR20020087080A - 평행 그립퍼 - Google Patents
평행 그립퍼 Download PDFInfo
- Publication number
- KR20020087080A KR20020087080A KR1020027012092A KR20027012092A KR20020087080A KR 20020087080 A KR20020087080 A KR 20020087080A KR 1020027012092 A KR1020027012092 A KR 1020027012092A KR 20027012092 A KR20027012092 A KR 20027012092A KR 20020087080 A KR20020087080 A KR 20020087080A
- Authority
- KR
- South Korea
- Prior art keywords
- jaw
- base
- housing
- width
- guide
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
- B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
- B23B31/16233—Jaws movement actuated by oblique surfaces of a coaxial control rod
- B23B31/16237—Details of the jaws
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
- B23B31/16—Chucks with simultaneously-acting jaws, whether or not also individually adjustable moving radially
- B23B31/16233—Jaws movement actuated by oblique surfaces of a coaxial control rod
- B23B31/16254—Jaws movement actuated by oblique surfaces of a coaxial control rod using fluid-pressure means to actuate the gripping means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T279/00—Chucks or sockets
- Y10T279/19—Radially reciprocating jaws
- Y10T279/1973—Wedge actuated
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Advancing Webs (AREA)
- Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)
- Supply, Installation And Extraction Of Printed Sheets Or Plates (AREA)
Abstract
Description
Size | Housingwidth A | Jaw widthB | Rail widthC | Wedge hookwidth D | Wall thickness E | Guide widthF |
Size 1 | 36 | 17.5 | 12 | 9.5 | 9.25 | 2.75 |
Size 2 | 50 | 25.5 | 18 | 14 | 12.75 | 3.75 |
Size 3 | 72 | 37 | 26 | 21 | 17.5 | 5.5 |
Claims (7)
- 하우징(4)과 상기 하우징(4)내의 죠 가이드 개구부(8)에 안내되는 2개의 조절가능한 그립퍼 베이스 죠(10)(12)를 포함하는 평행 그립퍼로서, 상기 베이스 죠는 웨지 후크 메카니즘에 의해 서로 접근하는 방향으로 움직이거나 멀어지게 움직일수 있고, 상기 웨지 후크 메카니즘(22)은 상기 하우징(4)에 장착된 피스톤(30)에 의해 조절가능한 평행 그립퍼에 있어서,상기 피스톤(30)은 타원형이거나 혹은 가장자리 부분이 라운드된 사각형이고;,각 베이스 죠(10)(12)는 양측에 적어도 2개의 가이드 리브(16)를 구비하고, 상기 가이드 리브는 사각형 웨지 형상 혹은 사다리꼴 단면을 가지고 있으며 슬라이딩 방향으로 신장되고, 상기 죠 가이드 개구부(8)는 상호 보완적인 형상인 가이드 그루브(18)를 구비하고;,상기 하우징의 벽 두께(가이드 그루브(18) 바닥과 상기 하우징(4)의 외부사이에서 측정됨)(E)와 하우징 폭(상기 베이스 죠의 슬라이딩 방향(6)에 수직하게 측정됨)(A)의 비가 적어도 0.2이고;,상기 웨지 후크 메카니즘의 각력 전달 폭(D)(20)과 상기 베이스 죠(10)(12)의 외부 폭의 비(B)가 적어도 0.4인 것을 특징으로 하는 평행 그립퍼.
- 제1항에 있어서, 상기 웨지 후크 메카니즘(20)은 피스톤(30)에 의해 조절되는 웨지 후크(22)를 구비하고, 상기 웨지 후크는 리세스 러닝(24)으로 기울어져서 상기 2개의 베이스 죠(10)(12)와 결합하는 것을 특징으로 하는 평행 그립퍼.
- 제1항 또는 제2항에 있어서, 상기 웨지 후크 메카니즘(20)의 웨지 후크(22)는 하우징의 죠 가이드 개구부(8)의 바닥의 개구부를 통해 신장되고 피스톤(30)과 연결되는 것을 특징으로 하는 평행 그립퍼.
- 제1항 내지 제3항중 어느 하나의 항에 있어서, 상기 가이드 리브(16)는 상기 베이스 죠(10)(12)의 전체 길이(L)만큼 신장되는 것을 특징으로 하는 평행 그립퍼.
- 제1항 내지 제4항중 어느 하나의 항에 있어서, 상기 가이드 리브(16)의 높이(F)와 베이스 죠의 베이스 바디 폭(베이스 폭)(C)의 비가 0.15와 0.25사이이고 바람직하게는 0.19와 0.24사이인 것을 특징으로 하는 평행 그립퍼.
- 제1항 내지 제5항중 어느 하나의 항에 있어서, 상기 가이드 리브(16)의 플랭크의 각도는 상기 베이스 죠의 베이스 바디의 측면에 가이드 리브(16)의 수직방향으로 12°와 20°사이인 것을 특징으로 하는 평행 그립퍼.
- 제1항 내지 제6항에 있어서, 상기 죠의 운동 가능한 방향으로의 피스톤의 직경과 운동가능한 방향에 수직인 방향으로의 피스톤의 직경의 비가 1.2와 1.6사이인것을 특징으로 하는 평행 그립퍼.
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE20004757.4 | 2000-03-15 | ||
DE20004757U DE20004757U1 (de) | 2000-03-15 | 2000-03-15 | Als Mehrfingerparallelgreifer, insbesondere als Zwei- oder Dreifingerparallelgreifer ausgebildete Greifvorrichtung mit Mehrfachstegführungen |
DE10013022.4 | 2000-03-17 | ||
DE10013022A DE10013022C2 (de) | 2000-03-17 | 2000-03-17 | Parallelgreifer |
PCT/EP2001/002384 WO2001068328A1 (de) | 2000-03-15 | 2001-03-02 | Parallelgreifer |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20020087080A true KR20020087080A (ko) | 2002-11-21 |
KR100569031B1 KR100569031B1 (ko) | 2006-04-07 |
Family
ID=26004871
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020027012092A KR100569031B1 (ko) | 2000-03-15 | 2001-03-02 | 평행 그립퍼 |
Country Status (11)
Country | Link |
---|---|
US (1) | US6830273B2 (ko) |
EP (1) | EP1263554B1 (ko) |
JP (1) | JP4553542B2 (ko) |
KR (1) | KR100569031B1 (ko) |
CN (1) | CN1261284C (ko) |
AT (1) | ATE311962T1 (ko) |
AU (1) | AU2001256181A1 (ko) |
DE (1) | DE50108308D1 (ko) |
DK (1) | DK1263554T3 (ko) |
ES (1) | ES2252220T3 (ko) |
WO (1) | WO2001068328A1 (ko) |
Families Citing this family (44)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6777903B1 (en) * | 2002-09-09 | 2004-08-17 | Storage Technology Corporation | Wedge type parallel jaw gripper for automated data storage library |
DE202006002681U1 (de) * | 2006-02-17 | 2006-04-20 | Merkt, Guido | Spannvorrichtung |
CN100368158C (zh) * | 2006-04-21 | 2008-02-13 | 北京航空航天大学 | 二指灵巧夹持器 |
CN101558311B (zh) * | 2006-12-04 | 2012-02-08 | 英派克埃彼有限公司 | 带有位置传感器的容器夹持器 |
JP4972590B2 (ja) * | 2008-03-19 | 2012-07-11 | 株式会社Taiyo | 電動グリッパ装置 |
ITBS20080096A1 (it) * | 2008-05-09 | 2009-11-10 | Gimatic Spa | Pinza lineare pneumatica |
EP2331837B1 (en) * | 2008-09-04 | 2013-03-13 | PHD, Inc. | Gripper with self-compensating jaw guides |
DE102011084177B4 (de) * | 2011-10-07 | 2023-07-20 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Greif- oder Spannvorrichtung |
DE202011106379U1 (de) * | 2011-10-07 | 2011-11-16 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Greif- oder Spannvorrichtung |
CN103192403B (zh) * | 2012-01-05 | 2015-11-11 | 沈阳新松机器人自动化股份有限公司 | 夹持装置 |
CN102950413B (zh) * | 2012-11-30 | 2016-03-02 | 天津博信汽车零部件有限公司 | 一种气动楔形滑块压紧装置 |
DE102012024675B4 (de) * | 2012-12-18 | 2021-08-26 | Günther Zimmer | Greifvorrichtung mit gehäusegeführtem Schlitten |
EP2767369B1 (en) | 2013-02-15 | 2016-04-20 | The Stanley Works Israel Ltd. | Work bench frame |
EP2767368B1 (en) | 2013-02-15 | 2016-02-10 | The Stanley Works Israel Ltd. | Work bench including a vise |
EP2986424B1 (de) | 2013-04-16 | 2017-02-15 | Schunk GmbH & Co. KG Spann- und Greiftechnik | Greifvorrichtung mit lösnar anordenbaren greiffingern |
DE202013011465U1 (de) | 2013-12-20 | 2015-03-26 | Schunk Gmbh & Co. Kg | Greifvorrichtung mit Klemmung in Aussparung |
DE102013206792A1 (de) | 2013-04-16 | 2014-10-16 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Greifvorrichtung |
DE102013112572B4 (de) * | 2013-11-14 | 2015-10-29 | Rattunde & Co. Gmbh | Zwillingsgreifer |
US8950741B1 (en) | 2014-03-03 | 2015-02-10 | Praxis Industries, Llc | Clamping assembly |
CN104493819B (zh) * | 2014-11-29 | 2017-01-04 | 芜湖银星汽车零部件有限公司 | 一种叠放零部件抓取分离工作台 |
CN104552326A (zh) * | 2015-01-26 | 2015-04-29 | 湖北港源电气有限公司 | 一种自动化设备的机械手装置 |
CN205856811U (zh) | 2015-02-11 | 2017-01-04 | 耐克创新有限合伙公司 | 托板驱动系统、托板驱动装置及托板 |
DE102015205657A1 (de) | 2015-03-27 | 2016-09-29 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Passive Schmierung der Gleitführung einer Greifvorrichtung |
DE102015004404B4 (de) * | 2015-04-11 | 2016-11-24 | Günther Zimmer | Präzisionsgreifvorrichtung |
DE102015212602B4 (de) | 2015-07-06 | 2023-02-16 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Aktive Schmierung von Spann- oder Greifvorrichtungen |
DE102015212604B3 (de) * | 2015-07-06 | 2016-09-22 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Passive Schmierung einer Spann- oder Greifvorrichtung |
DE102015218063A1 (de) | 2015-09-21 | 2017-03-23 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Automationskomponente oder Spannvorrichtung mit einem Kolben |
DE102015218127A1 (de) | 2015-09-22 | 2017-03-23 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Greif- oder Spannvorrichtung |
CN105459143B (zh) * | 2016-02-02 | 2018-09-18 | 金石机器人常州股份有限公司 | 斜面推动型抓手 |
DE102016111893B4 (de) | 2016-06-29 | 2024-02-08 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Spann- oder Greifvorrichtung und System zum Wechseln von Aufsatzelementen einer Backe dieser Vorrichtung |
CN106737614B (zh) * | 2016-12-29 | 2023-08-22 | 东莞市凯尼克自动化设备有限公司 | 一种软料智能抓取装置 |
DE102017102652A1 (de) | 2017-02-10 | 2018-08-16 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Greif- oder Spannvorrichtung |
EP3603905A4 (en) * | 2017-06-20 | 2021-01-20 | Kosmek Ltd. | GRIPPING DEVICE |
JP6345321B1 (ja) * | 2017-07-28 | 2018-06-20 | 株式会社北川鉄工所 | チャック機構 |
KR20190124363A (ko) | 2018-04-26 | 2019-11-05 | (주)코리아유공압 | 청소기능을 갖는 그립퍼 |
CN109333572B (zh) * | 2018-10-25 | 2020-07-28 | 台州市良曜成套设备有限公司 | 一种机械手 |
DE102019104484B3 (de) * | 2019-02-21 | 2020-08-13 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Greif- oder Spannvorrichtung mit Gleitführung und Wälzführung zwischen Backenführungsflächen und Gehäuse |
CN110666788B (zh) * | 2019-09-27 | 2021-07-06 | 南京荧河谷科技有限公司 | 一种柔性气动机械手 |
JP2022126062A (ja) * | 2021-02-18 | 2022-08-30 | Smc株式会社 | 開閉チャックおよびそのフィンガの製造方法 |
CN113560967B (zh) * | 2021-08-10 | 2024-05-14 | 浙江嘉湖机床股份有限公司 | 一种用于麻花钻的全自动打磨机床 |
CN114290363B (zh) * | 2021-12-23 | 2023-08-22 | 安徽苍井精密机械有限公司 | 一种机械手夹爪 |
DE102022102852A1 (de) | 2022-02-08 | 2023-08-10 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Automationskomponente, insbesondere Greif- oder Spannvorrichtung, mit einer translatorisch und rotatorisch verfahrbaren Grundbacke, Backenaufbau und Automationssystem |
CN115106760B (zh) * | 2022-08-26 | 2022-12-09 | 成都金大立科技有限公司 | 一种拔销钉机构、拔销钉设备及拔销钉方法 |
CN115319791A (zh) * | 2022-10-13 | 2022-11-11 | 广州里工实业有限公司 | 夹持机构、加工设备及检测方法 |
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US4593948A (en) * | 1984-08-23 | 1986-06-10 | Nicky Borcea | Gripper assembly |
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JPH02209606A (ja) * | 1988-03-29 | 1990-08-21 | Orii:Kk | 流体圧シリンダ |
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AT391459B (de) * | 1989-04-04 | 1990-10-10 | Sticht Fertigungstech Stiwa | Einrichtung zum handhaben von bauteilen mit einer greifvorrichtung |
JPH0365685U (ko) * | 1989-10-25 | 1991-06-26 | ||
US5125708A (en) * | 1991-05-20 | 1992-06-30 | Nicky Borcea | Wedge gripper |
AT640U1 (de) * | 1993-10-22 | 1996-02-26 | Sez Semiconduct Equip Zubehoer | Greifer für halbleiterwafer und andere scheibenförmige gegenstände |
US5529359A (en) * | 1994-04-22 | 1996-06-25 | Borcea; Nicky | Cripper assembly with improved synchronous transmission |
DE19604649C2 (de) | 1996-02-09 | 1998-10-15 | Schunk Fritz Gmbh | Greifvorrichtung bzw. Spannvorrichtung |
DE59608761D1 (de) * | 1996-05-30 | 2002-03-28 | Forkardt Deutschland Gmbh | Kraftbetätigtes Spannfutter |
DE59701400D1 (de) * | 1997-01-17 | 2000-05-11 | Forkardt Deutschland Gmbh | Kraftbetätigtes Spannfutter |
US5947539A (en) * | 1997-05-30 | 1999-09-07 | Eastman Kodak Company | Apparatus and method having short linear motion for grasping objects |
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US6086125A (en) * | 1997-11-05 | 2000-07-11 | Daimlerchrysler Corporation | Magnetic holding device |
US5967581A (en) | 1997-12-04 | 1999-10-19 | Bertini; Millo | Gripper assembly with improved center repeatability |
US6502880B1 (en) * | 2000-03-08 | 2003-01-07 | Btm Corporation | Pin part locator |
US6394521B1 (en) * | 2000-03-10 | 2002-05-28 | Millo Bertini | Gripper with enhanced gripping power accuracy and repeatability |
-
2001
- 2001-03-02 AT AT01929392T patent/ATE311962T1/de active
- 2001-03-02 CN CNB018063950A patent/CN1261284C/zh not_active Expired - Lifetime
- 2001-03-02 JP JP2001566864A patent/JP4553542B2/ja not_active Expired - Lifetime
- 2001-03-02 AU AU2001256181A patent/AU2001256181A1/en not_active Abandoned
- 2001-03-02 DE DE50108308T patent/DE50108308D1/de not_active Expired - Lifetime
- 2001-03-02 EP EP01929392A patent/EP1263554B1/de not_active Expired - Lifetime
- 2001-03-02 US US10/221,606 patent/US6830273B2/en not_active Expired - Lifetime
- 2001-03-02 WO PCT/EP2001/002384 patent/WO2001068328A1/de active IP Right Grant
- 2001-03-02 DK DK01929392T patent/DK1263554T3/da active
- 2001-03-02 ES ES01929392T patent/ES2252220T3/es not_active Expired - Lifetime
- 2001-03-02 KR KR1020027012092A patent/KR100569031B1/ko active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
US20030030294A1 (en) | 2003-02-13 |
CN1261284C (zh) | 2006-06-28 |
EP1263554B1 (de) | 2005-12-07 |
EP1263554A1 (de) | 2002-12-11 |
JP2003526528A (ja) | 2003-09-09 |
AU2001256181A1 (en) | 2001-09-24 |
JP4553542B2 (ja) | 2010-09-29 |
ATE311962T1 (de) | 2005-12-15 |
DE50108308D1 (de) | 2006-01-12 |
DK1263554T3 (da) | 2006-04-18 |
CN1416382A (zh) | 2003-05-07 |
US6830273B2 (en) | 2004-12-14 |
ES2252220T3 (es) | 2006-05-16 |
WO2001068328A1 (de) | 2001-09-20 |
KR100569031B1 (ko) | 2006-04-07 |
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