US3223442A - Suction grippers - Google Patents

Suction grippers Download PDF

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Publication number
US3223442A
US3223442A US36250864A US3223442A US 3223442 A US3223442 A US 3223442A US 36250864 A US36250864 A US 36250864A US 3223442 A US3223442 A US 3223442A
Authority
US
Grant status
Grant
Patent type
Prior art keywords
suction
socket
ball
mouthpiece
carrier member
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
Application number
Inventor
Fawdry Charles Frederick
White Ernest George
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.)
HEADLEY TOWNSEND BACKHOUSE
Original Assignee
HEADLEY TOWNSEND BACKHOUSE
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
Grant date

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B65H5/14Details of grippers; Actuating-mechanisms therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING; SHOP CONVEYOR SYSTEMS; PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING; SHOP CONVEYOR SYSTEMS; PNEUMATIC TUBE CONVEYORS
    • B65G49/00Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/061Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00Separating articles from piles
    • B65H3/08Separating articles from piles using pneumatic force
    • B65H3/0808Suction grippers
    • B65H3/0883Construction of suction grippers or their holding devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00Load-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
    • B66C1/02Load-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 suction means
    • B66C1/0212Circular shape
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00Load-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
    • B66C1/02Load-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 suction means
    • B66C1/0293Single lifting units; Only one suction cup
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING; SHOP CONVEYOR SYSTEMS; PNEUMATIC TUBE CONVEYORS
    • B65G2249/00Aspects relating to conveying systems for the manufacture of fragile sheets
    • B65G2249/04Arrangements of vacuum systems or suction cups
    • B65G2249/045Details of suction cups suction cups

Description

1965 c. F. FAWDRY ETAL 3,223,442

SUCTION GRIPPERS Filed April 24, 1964 United States Patent 3,223,442 SUCTION GRIPPERS Charles Frederick Fawdry and Ernest George White, both of London, England, assignors to Headley Townsend Backhouse, Lansanne, Switzerland Filed Apr. 24, 1964, Ser. No. 362,508 Claims priority, application Great Britain, May 3, 1963, 17,612 2 Claims. (Cl. 294-64) The invention relates to suction grippers of the kind, hereafter called of the kind described, comprising a mouthpiece of resilient material (e.g. rubber) attached to a rigid carrier member, the mouthpiece having an open mouth for suction-gripping engagement with a surface such as a face of a sheet of paper or other sheet material and a throughway for suction leading to the mouth and open to a port in the carrier member for connection to a source of suction.

The invention provides a suction gripper of the kind described characterised in that the resilient mouthpiece has a ball and socket pivotal attachment to the carrier member whereby the orientation of the mouth may be adjusted.

There may be included means for holding the mouthpiece on the carrier member in its position of adjustment.

In a preferred form of the invention the mouthpiece has a part-spherical socket behind the mouth with an opening (e.g. facing in a direction opposite to that of the mouth) and the carrier member has a part-spherical ball which engages in the socket and is resiliently gripped thereby, the .ball being supported by a neck which passes through the opening. With this form of the invention, the holding means aforesaid may comprise an adjustable clamp or clip around the socket portion of the mouthpiece and operable to contract the socket into gripping engagement with the ball. Alternatively there may be one or more openings for suction in the surface of the ball whereby the socket is draWn into gripping engagement with the ball. The suction may operate to deform the socket locally to draw portions of it into the openings and so to provide a measure of interlock. In use the suction supply may be the same as that to the mouth and be effective only when the mouth is closed by a sheet or other surface. However, as this is the time when resistance to movement of the mouthpiece is most desired, the result is satisfactory in practice.

Two specific embodiments of suction grippers according to the invention will now be described by way of example and with reference to the accompanying drawings, in which:

FIGURE 1 is a section through one form of retrieving gripper, and

FIGURE 2 is a section through another form of retrieving gripper.

In the example shown in FIGURE 1 there is a mouthpiece of soft rubber, the gripper mouth being at 11. The mouthpiece is attached to a carrier member 12, which,

in this case, is a piston working in a cylinder in a manner well known per se for grippers of the retrieving type. The attachment of the mouthpiece to the member 12 consists of a ball 14 on the carrier working in a part-spherical socket 15 in the mouthpiece. There is, in the ball, a throughway 16 for suction which leads to the mouth 11. Around the mouthpiece there is a split clip or clamp ring 17 which fits in an external groove in the mouthpiece and can .be contracted by a screw 18 to grip the mouthpiece on to the ball and so to hold the mouthpiece in any desired position of adjustment. The inside of the clip is of spherical form to conform with the ball.

The construction shown in FIGURE 2 is similar to that just described except that the clip is omit-ted and, instead there are two or, if desired three, diametrical holes in the ball. The socket of the mouthpiece is arranged to grip the ball by the natural resiliency of the rubber. When suction is applied and when the mouth 11 is closed by a sheet, the suction acts on the mouthpiece through the holes 20 and serves to hold the mouthpiece against movement on the ball.

We claim:

1. A suction gripper consisting of a mouthpiece of resilient material having an open mouth, a part-spherical socket and a throughway for suction leading from the socket to the mouth, in combination with a carrier member having a ball received within the said socket and resiliently gripped thereby forming a ball and socket pivotal attachment of the mouthpiece to the carrier member and also having a passageway for suction with a port open to the throughway and With means for increasing the grip of the mouthpiece on the carrier member, which means comprises at least one opening in the surface of the ball opposed to the socket said opening being connected to the suction passageway whereby the suction is operative to draw the socket into gripping engagement with the ball.

2. A suction gripper consisting of a mouthpiece of resilient material adjustably attached to a rigid carrier member by a ball and socket pivotal attachment, the mouthpiece having a part-spherical socket behind the mouth with an opening and the carrier member having a partspherical ball which engages in the socket, the ball being supported by a neck which passes through the opening, and a throughway for suction leading to the mouth and open to a port in the carrier member, there being at least one opening in the surface of the ball opposed to the socket said opening being connected to the suction passageway whereby the suction is operative to draw the socket into gripping engagement with the ball.

References Cited by the Examiner UNITED STATES PATENTS GERALD M. FORLENZA, Primary Examiner,

Claims (1)

1. A SUCTION GRIPPER CONSISTING A MOUTHPIECE OF RESILIENT MATERIAL HAVING A OPEN MOUTH, A PART-SPHERICAL SOCKET AND A THROUGHWAY FOR SUCTION LEADING FROM THE SOCKET TO THE MOUTH, IN COMBINATION WITH A CARRIER MEMBER HAVING A BALL RECEIVED WITHIN THE SAID SOCKET AND RESILIENTLY GRIPPED THEREBY FORMING A BALL AND SOCKET PIVOTAL ATTACHMENT OF THE MOUTHPIECE TO THE CARRIER MEMBER AND ALSO HAVING A PASSAGEWAY FOR SUCTION WITH A PROT OPEN TO THE THROUGHWAY AND WITH MEANS FOR INCREASING THE GRIP OF THE MOUTHPIECE ON THE CARRIER MEMBER, WHICH MEANS COMPRISES AT LEAST ONE OPENING IN THE SURFACE OF THE BALL OPPOSED TO THE SOCKET SAID OPENING BEING CONNECTED TO THE SUCTION PASSAGEWAY WHEREBY THE SUCTION IS OPERATIVE TO DRAW THE SOCKET INTO GRIPPING ENGAGEMENT WITH THE BALL.
US3223442A 1963-05-03 1964-04-24 Suction grippers Expired - Lifetime US3223442A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB1761263A GB1068514A (en) 1963-05-03 1963-05-03 Improvements in or relating to suction grippers

Publications (1)

Publication Number Publication Date
US3223442A true US3223442A (en) 1965-12-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
US3223442A Expired - Lifetime US3223442A (en) 1963-05-03 1964-04-24 Suction grippers

Country Status (2)

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US (1) US3223442A (en)
GB (1) GB1068514A (en)

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3423119A (en) * 1966-06-06 1969-01-21 Zimmerman D W Mfg Apparatus for handling loads
US4129328A (en) * 1977-06-20 1978-12-12 Littell Edmund R Plate handling apparatus with load deflection compensation
EP0212365A2 (en) * 1985-08-19 1987-03-04 M.A.N.-ROLAND Druckmaschinen Aktiengesellschaft Gripper arrangement for sheet-fed rotary printing machines
US4720130A (en) * 1984-03-21 1988-01-19 Sharp Kabushiki Kaisha Industrial robot hand with position sensor
WO1989000965A1 (en) * 1987-07-28 1989-02-09 Manfred Klein Lifting suction device for a transport system
DE3728286A1 (en) * 1987-08-25 1989-03-16 Flachglas Ag Suction transport apparatus
US5172922A (en) * 1991-04-25 1992-12-22 Digital Equipment Corporation Self aligning vacuum nozzle
US5211435A (en) * 1990-10-04 1993-05-18 Smc Kabushiki Kaisha Apparatus for holding by suction and conveying
US5688008A (en) * 1995-03-31 1997-11-18 Ferag Ag Suction device
US5783033A (en) * 1996-02-26 1998-07-21 Grossman; Stanley I. Labeling device
US5958177A (en) * 1997-09-16 1999-09-28 Claussnitzer; Werner Labelling device
US6648974B1 (en) * 1999-02-12 2003-11-18 Lpe Spa Device and method for handling substrates by means of a self-leveling vacuum system in epitaxial induction
US6863323B2 (en) * 1999-07-29 2005-03-08 Amg Modular gripper
US20050168001A1 (en) * 2004-02-04 2005-08-04 Maurice Perlman Vacuum cup
US20060043747A1 (en) * 2004-09-01 2006-03-02 Kniss Jason M Adjustable mount for vacuum cup
US20070006940A1 (en) * 2005-07-11 2007-01-11 Maurice Perlman Auto-release vacuum device
US20070272727A1 (en) * 2006-05-23 2007-11-29 Advanced Semiconductor Engineering, Inc. Die pick and place tool
US20080111388A1 (en) * 2006-11-09 2008-05-15 Kniss Jason M Material handling device with level indicator
US20100150743A1 (en) * 2008-12-12 2010-06-17 Norgren Automotive, Inc. Single Line Venturi Apparatus
US20110001024A1 (en) * 2008-03-17 2011-01-06 Ho-Young Cho Vacuum pad device
CN102765092A (en) * 2012-06-14 2012-11-07 友达光电股份有限公司 Adsorption device
US9079318B2 (en) * 2012-12-20 2015-07-14 Infineon Technologies Ag Self-aligning pick-up head and method for manufacturing a device with the self-aligning pick-up head
US9168642B2 (en) 2009-09-01 2015-10-27 Korea Pneumatic System Co., Ltd. Vacuum cup assembly
US9196521B2 (en) 2012-11-05 2015-11-24 Infineon Technologies Ag Adjustable pick-up head and method for manufacturing a device
US9415520B2 (en) * 2014-08-11 2016-08-16 Swivel-Link, LLC Swivel link for mounting end of arm tooling
EP3133035A4 (en) * 2013-05-24 2018-03-21 VTEC Co. Ltd. Separable pad-type adsorption cup

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2016501B2 (en) * 1970-04-07 1972-09-28 Suction head lifting of sheet good
DE3372744D1 (en) * 1983-05-05 1987-09-03 Saint Gobain Isover Device for gripping packages
US4789292A (en) * 1984-04-06 1988-12-06 Holcomb Gregory W End effector for robotic equipment
US4600228A (en) * 1984-05-31 1986-07-15 Sperry Corporation Lockable compliant end effector apparatus
US4884938A (en) * 1986-12-01 1989-12-05 Kawasaki Jukogyo Kabushiki Kaisha Apparatus for handling large-sized articles
GB9000728D0 (en) * 1990-01-12 1990-03-14 Automation Tooling Syst Pivoting head for article handling apparatus

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US947751A (en) * 1909-06-28 1910-01-25 Scovill Manufacturing Co Universal joint.
US3152828A (en) * 1962-02-02 1964-10-13 Alvey Conveyor Mfg Co Vacuum cup units for lifting pads

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US947751A (en) * 1909-06-28 1910-01-25 Scovill Manufacturing Co Universal joint.
US3152828A (en) * 1962-02-02 1964-10-13 Alvey Conveyor Mfg Co Vacuum cup units for lifting pads

Cited By (46)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3423119A (en) * 1966-06-06 1969-01-21 Zimmerman D W Mfg Apparatus for handling loads
US4129328A (en) * 1977-06-20 1978-12-12 Littell Edmund R Plate handling apparatus with load deflection compensation
US4720130A (en) * 1984-03-21 1988-01-19 Sharp Kabushiki Kaisha Industrial robot hand with position sensor
EP0212365A2 (en) * 1985-08-19 1987-03-04 M.A.N.-ROLAND Druckmaschinen Aktiengesellschaft Gripper arrangement for sheet-fed rotary printing machines
EP0212365A3 (en) * 1985-08-19 1987-10-21 M.A.N.-Roland Druckmaschinen Aktiengesellschaft Gripper arrangement for sheet-fed rotary printing machines
WO1989000965A1 (en) * 1987-07-28 1989-02-09 Manfred Klein Lifting suction device for a transport system
DE3728286A1 (en) * 1987-08-25 1989-03-16 Flachglas Ag Suction transport apparatus
US5211435A (en) * 1990-10-04 1993-05-18 Smc Kabushiki Kaisha Apparatus for holding by suction and conveying
US5172922A (en) * 1991-04-25 1992-12-22 Digital Equipment Corporation Self aligning vacuum nozzle
US5688008A (en) * 1995-03-31 1997-11-18 Ferag Ag Suction device
US6149763A (en) * 1996-02-26 2000-11-21 Rocky Mountain Traders, Ltd. Labeling device and label
US5925200A (en) * 1996-02-26 1999-07-20 Rocky Mountain Traders, Ltd. Labeling method
US6564844B1 (en) 1996-02-26 2003-05-20 Rocky Mountain Traders, Inc. Labeling device and label
US5783033A (en) * 1996-02-26 1998-07-21 Grossman; Stanley I. Labeling device
US5958177A (en) * 1997-09-16 1999-09-28 Claussnitzer; Werner Labelling device
US6648974B1 (en) * 1999-02-12 2003-11-18 Lpe Spa Device and method for handling substrates by means of a self-leveling vacuum system in epitaxial induction
US6863323B2 (en) * 1999-07-29 2005-03-08 Amg Modular gripper
US20050168001A1 (en) * 2004-02-04 2005-08-04 Maurice Perlman Vacuum cup
US7309089B2 (en) 2004-02-04 2007-12-18 Delaware Capital Formation, Inc. Vacuum cup
US20070132255A1 (en) * 2004-02-04 2007-06-14 Delaware Capital Formation, Inc. Vacuum cup with relief port and method of moving and releasing an object
US7712807B2 (en) 2004-02-04 2010-05-11 Delaware Capital Formation, Inc. Vacuum cup with relief port and method of moving and releasing an object
US7281739B2 (en) 2004-09-01 2007-10-16 Delaware Capital Formation, Inc. Adjustable mount for vacuum cup with offset mounting post and swivel
US20060043747A1 (en) * 2004-09-01 2006-03-02 Kniss Jason M Adjustable mount for vacuum cup
US20070006940A1 (en) * 2005-07-11 2007-01-11 Maurice Perlman Auto-release vacuum device
US9095983B2 (en) 2005-07-11 2015-08-04 Delaware Capital Formation, Inc. Auto-release vacuum device
US7540309B2 (en) 2005-07-11 2009-06-02 Delaware Capital Formation, Inc. Auto-release vacuum device
US20090217998A1 (en) * 2005-07-11 2009-09-03 Delaware Capital Formation, Inc. Auto-Release Vacuum Device
US7681603B2 (en) 2005-07-11 2010-03-23 Deleware Capital Formation, Inc. Auto-release vacuum device
US9833910B2 (en) 2005-07-11 2017-12-05 Delaware Capital Formation, Inc. Auto-release vacuum device
US8479781B2 (en) 2005-07-11 2013-07-09 Delaware Capital Formation, Inc. Auto-release vacuum device
US20100207409A1 (en) * 2005-07-11 2010-08-19 Delaware Capital Formation, Inc. Auto-Release Vacuum Device
US8201589B2 (en) 2005-07-11 2012-06-19 Delaware Capital Formation, Inc. Auto-release vacuum device
US7950422B2 (en) 2005-07-11 2011-05-31 Delaware Capital Formations, Inc. Auto-release vacuum device
US20070272727A1 (en) * 2006-05-23 2007-11-29 Advanced Semiconductor Engineering, Inc. Die pick and place tool
US20080111388A1 (en) * 2006-11-09 2008-05-15 Kniss Jason M Material handling device with level indicator
US7798546B2 (en) 2006-11-09 2010-09-21 Delaware Capital Formation, Inc. Material handling device with level indicator
US8267367B2 (en) 2008-03-17 2012-09-18 Korea Pneumatic System Co., Ltd. Vacuum pad device
US20110001024A1 (en) * 2008-03-17 2011-01-06 Ho-Young Cho Vacuum pad device
US20100150743A1 (en) * 2008-12-12 2010-06-17 Norgren Automotive, Inc. Single Line Venturi Apparatus
US9168642B2 (en) 2009-09-01 2015-10-27 Korea Pneumatic System Co., Ltd. Vacuum cup assembly
CN102765092A (en) * 2012-06-14 2012-11-07 友达光电股份有限公司 Adsorption device
CN102765092B (en) * 2012-06-14 2015-10-28 友达光电股份有限公司 Adsorption device
US9196521B2 (en) 2012-11-05 2015-11-24 Infineon Technologies Ag Adjustable pick-up head and method for manufacturing a device
US9079318B2 (en) * 2012-12-20 2015-07-14 Infineon Technologies Ag Self-aligning pick-up head and method for manufacturing a device with the self-aligning pick-up head
EP3133035A4 (en) * 2013-05-24 2018-03-21 VTEC Co. Ltd. Separable pad-type adsorption cup
US9415520B2 (en) * 2014-08-11 2016-08-16 Swivel-Link, LLC Swivel link for mounting end of arm tooling

Also Published As

Publication number Publication date Type
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