US3703309A - Automatically discharging gripper device - Google Patents

Automatically discharging gripper device Download PDF

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Publication number
US3703309A
US3703309A US154477A US3703309DA US3703309A US 3703309 A US3703309 A US 3703309A US 154477 A US154477 A US 154477A US 3703309D A US3703309D A US 3703309DA US 3703309 A US3703309 A US 3703309A
Authority
US
United States
Prior art keywords
gripper
arm
pivotable
spring
control 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
US154477A
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English (en)
Inventor
Jacob H Mosterd
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.)
ADMINISTRATIE- EN AUTOMATISERINGSCENTRUM VULCAAN BV PROF EM A CORP OF NETHERLANDS
Original Assignee
Individual
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 Individual filed Critical Individual
Application granted granted Critical
Publication of US3703309A publication Critical patent/US3703309A/en
Assigned to MOBA HOLDING BARNEVELD B.V. reassignment MOBA HOLDING BARNEVELD B.V. ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: VANDE KEMP, EVERDINA H.
Assigned to VAN DE KEMP, EVERDINA HENDRIKA reassignment VAN DE KEMP, EVERDINA HENDRIKA LETTERS OF TESTAMENTARY (SEE DOCUMENT FOR DETAILS). Assignors: MOSTERD, JACOD H.
Assigned to ADMINISTRATIE- EN AUTOMATISERINGSCENTRUM VULCAAN B.V. PROF. E.M. A CORP. OF THE NETHERLANDS reassignment ADMINISTRATIE- EN AUTOMATISERINGSCENTRUM VULCAAN B.V. PROF. E.M. A CORP. OF THE NETHERLANDS ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: MOBA HOLDING BARNEVELD B.V., A CORP.OF THE NETHERLANDS
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/16—Sorting according to weight
    • B07C5/24—Sorting according to weight using moving weighing mechanisms, e.g. moving along a circular path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B23/00—Packaging fragile or shock-sensitive articles other than bottles; Unpacking eggs
    • B65B23/02—Packaging or unpacking eggs
    • B65B23/06—Arranging, feeding, or orientating the eggs to be packed; Removing eggs from trays or cartons
    • B65B23/08—Arranging, feeding, or orientating the eggs to be packed; Removing eggs from trays or cartons using grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers

Definitions

  • the invention relates to a gripper provided with a movable gripper arm, which arm is rotatable about a rotatable shaft, said rotatable shaft being coupled with a control member, said control member being capable of cooperating with locking means for locking said control member in a first position (the closed position) in which the gripper is closed, spring means exerting a mechanical bias to the control member and the gripper arm to urge said gripper arm towards a second position, in which the gripper is open, and further spring means allowing the gripper arm to move in the direction towards the second position contrary to the spring action of said further spring means.
  • the invention aims at removing the above mentioned disadvantages and at providing a simpler construction, that can easier be mounted and also with very long working times gives less rise to disturbances.
  • a pivotable arm which has been connected with the control member, is attached toan end of a resiliently stretchable coupling rod, forming the further spring means, the second end of the coupling rod being connected with a pivotable arm having a permanent rotatable shaft, said second pivotable arm being fixedly coupled with the gripper arm, and said first mentioned spring means comprising a rectilinearly working spring device, working between a fixed point and a point of one of the said pivotable arms.
  • the two pivotable arms make together with the coupling rod the three sides of a quadrangle, which approximately is a parallelogram.
  • a telescope spring can advantageously be made use of for the resiliently stretchable coupling rod.
  • a telescope spring is a member behaving as a stretching spring, but internally containing a compression spring, enclosed in a housing. This means, that with spring ruptures, if any, in many cases disturbances do not occur at once and still a reasonable working is obtained. When using tension springs serious disturbances occur at once with spring ruptures.
  • control member has a guide arm, which is coupled with the first'pivotable arm, said guide arm having a locking plane capable of co-operating with a latch urged into the locking position by means of gravity.
  • FIG. 1 schematically shows a side elevation of a gripper according to the invention in combination with a weighing device of a type that can be used with an automatic sorting machine;
  • FIG. 2. shows a front elevation of the gripper shown in FIG. 1;
  • FIGS. 3A and 38 give a section along the line III-III in the closed and the open position of the gripper respectively.
  • FIGS. 4A and 4B give a bottom sight of the gripper, seen from the line IV--IV, again in the closed and the open position respectively.
  • FIG. 1 a weighing device has been indicated having a supporting frame 1, in which shaft 2 is rotatably supported, bearing a weighing beam 3.
  • the gripper generally indicated by 4 has been attached to said weighing beam by means of a pivot connection 5.
  • an adjustable weight 6 is present, which is partially formed by permanent magnets 7, co-operating with a plate 8 of electrically well conducting material for damping swinging movements of the weighing beam 3.
  • a coupling rod 9, which at 10 is rotatably connected with the gripper 4 in such a way that the left portion of the beam 3 and said coupling rod 9 form a parallelogram guiding means, is attached to the frame 1.
  • a shaft 11 has pivotably been mounted in the gripper, a control arm 12 being fixedly connected with said shaft 11.
  • Said control arm bears at its end a freely pivotable roller 13 and also a locking surface 14.
  • latch 15 can co-operate, said latch being pivotable about a shaft 16 and consisting of two arms, one of which bearing at its end a locking hook l7 and the other arm 18' hanging downwardly and being stopped by a stop member 19.
  • a pivotable arm 20 is fixedly connected with the lower side of the shaft 11, said pivotable arm being connected at its end by means of a pivot 21 to a telescope spring 22, forming a resiliently stretchable rod coupled by means of a pivot 23 to a further pivotable arm 24, which is fixedly connected to a rotatably mounted shaft 25, to which also a gripper arm 26 has fixedly been connected.
  • a telescope spring 28 is connected, the other end of which has been connected to a fixed pivot 29.
  • the construction of telescope spring is known in itself and has schematically been indicated in FIG. 4B for the telescope spring 28.
  • FIGS. 3A and 4A the closed position has been indicated. Therewith it has been indicated in dotted lines, how arm 24 and gripper arm 26 by stretching telescope spring 22 can rotate a little hit counter clock wise, in order to obtain a resilient adjustment to the object retained by the gripper.
  • the gripper is formed by finger 30 at arm 26 on the one hand and a pair of fixed pins or fingers 31 and 32 on the other hand.
  • the device generally indicated by 36 For returning the device to the first position, the device generally indicated by 36 is used.
  • This device has two downwardly protruding pins 37, which are attached to a body 39 which has been mounted pivotably about the axis 38, said body being provided with two rollers 40 and 41.
  • arm 12 arrives between pins 37.
  • arm 12 By swinging the body 39 by means not shown arm 12 will therewith be taken along by the pins 37 until the locking surface 14 co-operates with the locking arm 15.
  • Device 36 does not form part of the present invention and is known in itself.
  • Gripper provided with a movable gripper arm, pivotable about an axis of rotation, said gripper arm being coupled with a control member, said control member being capable of co-operating with locking means for locking it in a first position in which the gripper is closed, spring means exerting a mechanical bias on the control member and the gripper arm to urge the gripper arm toward a second position in which the gripper is open, and further spring means allowing the gripper arm to move into the direction of the second position contrary to the spring action of said further springs means, characterized in that a pivotable arm 20, which is coupled with the control member 11,12, is connected to an end of a resiliently stretchable link 22,
  • Gripper according to claim 1 characterized in that the two pivotable arms 20,24 together with the resiliently stretchable link 22 form the three sides of a quadrangle, which approximately is a parallelogram.
  • Gripper according to claim 1 characterized in that the resiliently stretchable link is a telescope spring.
  • Gripper according to claim 1 characterized in that the rectilinearly working spring device 28 is a telescope spring.
  • control member has a control arm 12 which via the said shaft 1 1 is coupled with the first pivotable arm 20, said control arm having a locking surface, capable of co-operating with a latch 15,17,18 urged in the locking position owing to gravity.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Discharge By Other Means (AREA)
  • Replacement Of Web Rolls (AREA)
US154477A 1970-06-23 1971-06-18 Automatically discharging gripper device Expired - Lifetime US3703309A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NL707009235A NL144209B (nl) 1970-06-23 1970-06-23 Automatisch lossende grijperinrichting.

Publications (1)

Publication Number Publication Date
US3703309A true US3703309A (en) 1972-11-21

Family

ID=19810409

Family Applications (1)

Application Number Title Priority Date Filing Date
US154477A Expired - Lifetime US3703309A (en) 1970-06-23 1971-06-18 Automatically discharging gripper device

Country Status (11)

Country Link
US (1) US3703309A (no)
JP (1) JPS5442505B1 (no)
BE (1) BE768840A (no)
CA (1) CA950500A (no)
DE (1) DE2130792C3 (no)
DK (1) DK127808B (no)
ES (1) ES392548A1 (no)
FR (1) FR2096428A1 (no)
GB (1) GB1354143A (no)
NL (1) NL144209B (no)
NO (1) NO134107C (no)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0048525A1 (en) * 1980-09-22 1982-03-31 Administratie- en Automatiseringscentrum Vulcaan B.V. Grading device
JPS57141314A (en) * 1981-01-09 1982-09-01 Moba Holding Barneveld Bv Shifter for egg
US5160019A (en) * 1990-07-24 1992-11-03 Staalkat B.V. Carrier for articles such as eggs and conveying apparatus comprising such a carrier
CN108436961A (zh) * 2018-03-05 2018-08-24 天津朗硕机器人科技有限公司 一种机器人自动更换末端执行器的换接装置
CN116619525A (zh) * 2023-07-24 2023-08-22 江苏天元智能装备股份有限公司 一种钎条抓取装置及采用该装置的换钎装置

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT386977B (de) * 1984-02-08 1988-11-10 Voest Alpine Ag Anlage zum beschicken wenigstens einer werkzeugmaschine mit auf paletten bereitgestellten werkstuecken
CN111940324B (zh) * 2020-08-13 2022-04-15 苏州鼎纳自动化技术有限公司 一种高效检测的产品外观检测系统
CN113879814A (zh) * 2021-11-04 2022-01-04 哈工大机器人南昌智能制造研究院 一种传感器自动下料装置
CN116553199B (zh) * 2023-05-29 2024-02-06 临沂和创饲料有限公司 一种可调整抓距的自动码垛机抓手

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3207548A (en) * 1961-11-06 1965-09-21 Moskopf Peter Franziskus Locking device for the jaws of a mechanical grab
US3228249A (en) * 1962-01-31 1966-01-11 O'brien Michael Tomato bin sampler

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL6512100A (no) * 1965-09-16 1967-03-17
NL6707011A (no) * 1967-05-19 1968-11-20
US3480220A (en) * 1967-09-05 1969-11-25 Hanscom & Co Inc H F Machine for winding and transferring hanked material

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3207548A (en) * 1961-11-06 1965-09-21 Moskopf Peter Franziskus Locking device for the jaws of a mechanical grab
US3228249A (en) * 1962-01-31 1966-01-11 O'brien Michael Tomato bin sampler

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0048525A1 (en) * 1980-09-22 1982-03-31 Administratie- en Automatiseringscentrum Vulcaan B.V. Grading device
JPS57141314A (en) * 1981-01-09 1982-09-01 Moba Holding Barneveld Bv Shifter for egg
US4522293A (en) * 1981-01-09 1985-06-11 Moba Holding Barneveld B.V. Device for transferring eggs from a feeding chain to retaining members moving behind each other
JPH0419139B2 (no) * 1981-01-09 1992-03-30 Adominisutoracheeen Otomachiseringususentoramu Barukaan Bv
US5160019A (en) * 1990-07-24 1992-11-03 Staalkat B.V. Carrier for articles such as eggs and conveying apparatus comprising such a carrier
CN108436961A (zh) * 2018-03-05 2018-08-24 天津朗硕机器人科技有限公司 一种机器人自动更换末端执行器的换接装置
CN116619525A (zh) * 2023-07-24 2023-08-22 江苏天元智能装备股份有限公司 一种钎条抓取装置及采用该装置的换钎装置
CN116619525B (zh) * 2023-07-24 2023-09-26 江苏天元智能装备股份有限公司 一种钎条抓取装置及采用该装置的换钎装置

Also Published As

Publication number Publication date
NL7009235A (no) 1971-12-27
BE768840A (fr) 1971-11-03
GB1354143A (en) 1974-06-05
DE2130792C3 (de) 1982-01-14
ES392548A1 (es) 1974-06-16
DE2130792B2 (de) 1981-05-07
DK127808B (da) 1974-01-14
NO134107C (no) 1976-08-18
JPS5442505B1 (no) 1979-12-14
NL144209B (nl) 1974-12-16
DE2130792A1 (de) 1971-12-30
NO134107B (no) 1976-05-10
CA950500A (en) 1974-07-02
FR2096428A1 (no) 1972-02-18

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Legal Events

Date Code Title Description
AS Assignment

Owner name: VAN DE KEMP, EVERDINA HENDRIKA

Free format text: LETTERS OF TESTAMENTARY;ASSIGNOR:MOSTERD, JACOD H.;REEL/FRAME:003820/0117

Effective date: 19780712

AS Assignment

Owner name: ADMINISTRATIE- EN AUTOMATISERINGSCENTRUM VULCAAN B

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:MOBA HOLDING BARNEVELD B.V., A CORP.OF THE NETHERLANDS;REEL/FRAME:004152/0929

Effective date: 19830704