TR201907624T4 - Kavrama elemanı. - Google Patents

Kavrama elemanı. Download PDF

Info

Publication number
TR201907624T4
TR201907624T4 TR2019/07624T TR201907624T TR201907624T4 TR 201907624 T4 TR201907624 T4 TR 201907624T4 TR 2019/07624 T TR2019/07624 T TR 2019/07624T TR 201907624 T TR201907624 T TR 201907624T TR 201907624 T4 TR201907624 T4 TR 201907624T4
Authority
TR
Turkey
Prior art keywords
wedge
lower finger
shaped edge
finger
stack
Prior art date
Application number
TR2019/07624T
Other languages
English (en)
Inventor
Genefke Bo
Original Assignee
Yaskawa Nordic Ab
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 Yaskawa Nordic Ab filed Critical Yaskawa Nordic Ab
Publication of TR201907624T4 publication Critical patent/TR201907624T4/tr

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
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • 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
    • B65H3/32—Separating articles from piles by elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile
    • B65H3/322—Separating articles from piles by elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the pile for separating a part of the pile, i.e. several articles at once
    • 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
    • B25J15/0019—End effectors other than grippers
    • 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
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • 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
    • 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
    • B65H3/32—Separating articles from piles by elements, e.g. fingers, plates, rollers, inserted or traversed between articles to be separated and remainder of the 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
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B65H3/48—Air blast acting on edges of, or under, 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
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • B65H31/3036—Arrangements for removing completed piles by gripping the 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
    • 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
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • 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
    • B65H2301/513—Modifying electric properties
    • B65H2301/5133—Removing electrostatic charge
    • 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
    • B65H2555/30—Multi-axis

Abstract

Buluş, bir yığında sağlanan esnek substratların taşınmasına yönelik bir otomatik sistemde kullanılmak üzere adapte edilen bir kavrama elemanı (1) ile ilgilidir. Kavrama elemanı (1), bir alt parmak (7) ile bir üst parmağı (8) içerir ve bir robotun bir kolu (6) üzerinde döner şekilde düzenlenir. Alt parmak (7), söz konusu yığının substratları arasına söz konusu alt parmağın (7) yerleştirilmesini sağlamak üzere adapte edilen bir keskin takoz şeklinde kenarı (14) içerir. Söz konusu alt parmak (7), bu söz konusu keskin takoz şeklinde kenar (14) ile bir yumuşak takoz şeklinde kenarı (15) oluşturan ve alt parmağın (7) en az bir tarafına doğru uzanan bir yuvarlatılmış uca (11) sahiptir, burada söz konusu takoz şeklinde kenar (14) söz konusu uçtan (11) uzakta en az bir taraf üzerinde ve büyük ölçüde seviyede düzenlenir ancak söz konusu yumuşak takoz şeklinde kenardan (15) daha uzağa çıkıntı yapar.
TR2019/07624T 2014-03-28 2015-03-19 Kavrama elemanı. TR201907624T4 (tr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1450358A SE538951C2 (sv) 2014-03-28 2014-03-28 gripdon

Publications (1)

Publication Number Publication Date
TR201907624T4 true TR201907624T4 (tr) 2019-06-21

Family

ID=54196072

Family Applications (1)

Application Number Title Priority Date Filing Date
TR2019/07624T TR201907624T4 (tr) 2014-03-28 2015-03-19 Kavrama elemanı.

Country Status (9)

Country Link
US (1) US9844883B2 (tr)
EP (1) EP3122672B1 (tr)
JP (1) JP6588963B2 (tr)
DK (1) DK3122672T3 (tr)
ES (1) ES2720549T3 (tr)
PL (1) PL3122672T3 (tr)
SE (1) SE538951C2 (tr)
TR (1) TR201907624T4 (tr)
WO (1) WO2015147724A1 (tr)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10569422B2 (en) 2016-01-20 2020-02-25 Soft Robotics, Inc. End of arm tools for soft robotic systems
JP6701007B2 (ja) * 2016-06-27 2020-05-27 川崎重工業株式会社 ワーク保持機構
JP6789705B2 (ja) * 2016-07-20 2020-11-25 大和製罐株式会社 把持装置
CN107350992A (zh) * 2017-05-04 2017-11-17 苏州柔触机器人科技有限公司 一种新型柔性夹头及其柔性夹具和柔性夹持笔
JP6588513B2 (ja) * 2017-09-05 2019-10-09 ファナック株式会社 ワーク取り出し装置
WO2019094937A1 (en) 2017-11-10 2019-05-16 Soft Robotics, Inc. End of arm tools for soft robotic systems
US11072080B2 (en) * 2017-11-10 2021-07-27 Soft Robotics, Inc. End of arm tools for soft robotic systems
KR102259379B1 (ko) * 2018-01-24 2021-06-01 주식회사 엘지에너지솔루션 배터리 셀의 전극 이송 장치
USD883351S1 (en) * 2018-05-10 2020-05-05 Robotiq Inc. Robotic end effector
USD900185S1 (en) * 2019-03-15 2020-10-27 Misty Robotics, Inc. Accessory port for a robotic device
USD891495S1 (en) * 2019-03-15 2020-07-28 Misty Robotics, Inc. Plug accessary for a robotic device
DE102019116306A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102019116301A1 (de) 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102019116304A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
DE102019116302A1 (de) * 2019-06-14 2020-12-17 Koenig & Bauer Ag Substrathandhabungssystem und Verfahren zum Betreiben eines Substrathandhabungssystems
JP6823117B1 (ja) * 2019-07-23 2021-01-27 日本金銭機械株式会社 物体搬送装置
US11302134B2 (en) 2019-07-23 2022-04-12 Japan Cash Machine Co., Ltd. Automatic bill handling system
FR3104560B1 (fr) * 2019-12-11 2022-03-11 Faurecia Interieur Ind Dispositif de préhension d’une couche de matériau
DE102020201669A1 (de) * 2020-02-11 2021-08-12 Heidelberger Druckmaschinen Aktiengesellschaft Vorrichtung zum Bewegen eines Produktstapels mit einem Roboter

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3355074A (en) * 1965-03-01 1967-11-28 Proctor Hydro Set Company System for removing stockings from forms
DE2649959C2 (de) 1976-10-30 1985-09-12 Karl Mohr Vorrichtung zur Übergabe eines Teilstapels zu beschneidenden Gutes von einem Gesamtstapel in eine Rüttelstation
DE2723162A1 (de) 1977-05-23 1978-11-30 Mohr Vorrichtung zur uebergabe eines teilstapels bedruckter boegen von einem gesamtstapel in eine ruettelstation
JP2597004B2 (ja) * 1988-05-16 1997-04-02 株式会社 丸石製作所 紙分離装置の紙分離方法
DE3835032A1 (de) * 1988-10-14 1990-04-19 Niepmann Traylift Transport Verfahren und vorrichtung zum entstapeln von blockweise auf paletten gestapelten zuschnitten
IT217240Z2 (it) * 1989-04-05 1991-11-21 Euromac Spa Attrezzo per manipolare pacchi di materiali laminari flessibili, in macchine per la lavorazione del legno e simili
CH680126A5 (tr) * 1989-10-12 1992-06-30 Schneider Engineering
DE4124077C2 (de) * 1991-07-19 1995-03-09 Fraunhofer Ges Forschung Einrichtung zur Aufnahme von biegeschlaffen flächigen Teilen
IT1279959B1 (it) * 1995-06-22 1997-12-23 Gd Spa Dispositivo per il prelievo di pile di prodotti da un supporto
US6139253A (en) * 1998-08-12 2000-10-31 Cuno, Inc. Lifting device for transporting disk stacks
DE19927946C2 (de) * 1999-06-18 2001-05-10 Bell & Howell Co Greifermechanismus für Einrichtungen zur Handhabung blattartiger oder plattenartiger Gegenstände, insbesondere für Postbearbeitungsmaschinen
JP4003004B2 (ja) * 2002-07-01 2007-11-07 独立行政法人 国立印刷局 用紙分離供給装置
DE502007004027D1 (de) * 2007-10-24 2010-07-15 Mohr Adolf Maschf Verfahren zum Auflockern eines aus Blättern gebildeten Stapels, insbesondere eines Papierstapels, sowie Vorrichtung zur Durchführung des Verfahrens
DE102010016938B4 (de) * 2010-05-12 2014-06-12 Baumann Maschinenbau Solms Gmbh & Co. Kg Vorrichtung und Verfahren zum Abnehmen eines Teilstapels von einem Blätterstapel
JP5865385B2 (ja) * 2010-11-22 2016-02-17 インダストリアル ロボット オートメイション エイピーエスＩｎｄｕｓｔｒｉａｌ Ｒｏｂｏｔ Ａｕｔｏｍａｔｉｏｎ Ａｐｓ 紙シートのスタックの自動取扱及び通気
CA2745476A1 (en) * 2011-07-06 2013-01-06 Axium Inc. Depalletizing tool

Also Published As

Publication number Publication date
WO2015147724A1 (en) 2015-10-01
EP3122672A4 (en) 2017-11-29
DK3122672T3 (da) 2019-05-13
SE1450358A1 (sv) 2015-09-29
JP2017511263A (ja) 2017-04-20
SE538951C2 (sv) 2017-02-28
EP3122672A1 (en) 2017-02-01
ES2720549T3 (es) 2019-07-22
PL3122672T3 (pl) 2019-08-30
US20170173800A1 (en) 2017-06-22
US9844883B2 (en) 2017-12-19
JP6588963B2 (ja) 2019-10-09
EP3122672B1 (en) 2019-03-13

Similar Documents

Publication Publication Date Title
TR201907624T4 (tr) Kavrama elemanı.
EP3103533A3 (en) Game controller
PH12016502127A1 (en) Device with fingerprint sensor
EP2757271A3 (en) A clip
EP2845699A3 (en) Robot hand, robot system, and method for depalletizing article
EP3018582A3 (en) Multi-processor device
USD747275S1 (en) Single cable guide for securing a cable
USD747276S1 (en) Dual cable guide for securing a cable
MX2016010441A (es) Abrazadera de bisagra para espaciador amortiguador.
EP3054492A3 (en) Light-emitting device
TW201611969A (en) Robot
WO2011109116A3 (en) Grip assist apparatus with palm arch support
PH12016501869A1 (en) System for transferring fluid between a ship and a facility, such as a client ship
MX2015013555A (es) Unidad de cableado de transmision automatica y placa de sujecion utilizada en la misma.
MX2016014902A (es) Estuche de lima de uñas con caracteristicas integradas.
EP3093731A3 (en) Method for extending function by docking and electronic device thereof
EP2911031A3 (en) Electronic device and electronic device included in a cover
TWM489761U (en) Easy-peeling protective film and peeling sheet thereof
EP2892075A3 (en) Semiconductor package and method therefor
EP2918168A3 (en) Bail support mechanism for a spinning reel
MY197054A (en) A positioning device and an arrangement for installing a mono-column platform in the seabed of the sea
MX2017002116A (es) Dispositivo de almacenamiento de fibra.
EP3012690A3 (en) Roller and fixing apparatus
EP4242625A3 (en) Method of determining strain limits
WO2018191208A3 (en) Assistive device for card retrieval