WO1990014931A3 - Appareil de prehension et de transport - Google Patents

Appareil de prehension et de transport Download PDF

Info

Publication number
WO1990014931A3
WO1990014931A3 PCT/US1990/002934 US9002934W WO9014931A3 WO 1990014931 A3 WO1990014931 A3 WO 1990014931A3 US 9002934 W US9002934 W US 9002934W WO 9014931 A3 WO9014931 A3 WO 9014931A3
Authority
WO
WIPO (PCT)
Prior art keywords
jaws
gripping
conveying apparatus
grippers
cams
Prior art date
Application number
PCT/US1990/002934
Other languages
English (en)
Other versions
WO1990014931A2 (fr
Inventor
Scott Eric Ellis
Miguel Cesareo Goizueta
Original Assignee
Idab Inc
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 Idab Inc filed Critical Idab Inc
Publication of WO1990014931A2 publication Critical patent/WO1990014931A2/fr
Publication of WO1990014931A3 publication Critical patent/WO1990014931A3/fr

Links

Classifications

    • 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
    • B65B41/00—Supplying or feeding container-forming sheets or wrapping material
    • B65B41/02—Feeding sheets or wrapper blanks
    • B65B41/04—Feeding sheets or wrapper blanks by 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated 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
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1055—Programme-controlled manipulators characterised by positioning means for manipulator elements by gravity
    • 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
    • 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

Abstract

Un appareil (10) de préhension et de transport comprend au moins une pince (20) dotée de mâchoires (21, 23) lesquelles sont supportées dans une orientation dans laquelle lesdites mâchoires sont attirées l'une vers l'autre par la force de gravité. Des aimants (41, 42) sont montés dans les surfaces opposées des mâchoires, afin de maintenir ces dernières ensemble et de prendre l'article (80) à transporter. Les pinces sont montées sur un mécanisme de bras de séparation (61'). On utilise des cames et des contre-cames afin de séparer les mâchoires à des emplacements sélectionnés.
PCT/US1990/002934 1989-06-09 1990-05-31 Appareil de prehension et de transport WO1990014931A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US07/363,966 US5042640A (en) 1989-06-09 1989-06-09 Gripping and conveying apparatus
US363,966 1989-06-09

Publications (2)

Publication Number Publication Date
WO1990014931A2 WO1990014931A2 (fr) 1990-12-13
WO1990014931A3 true WO1990014931A3 (fr) 1991-03-21

Family

ID=23432478

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1990/002934 WO1990014931A2 (fr) 1989-06-09 1990-05-31 Appareil de prehension et de transport

Country Status (3)

Country Link
US (1) US5042640A (fr)
AU (1) AU5842890A (fr)
WO (1) WO1990014931A2 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5189865A (en) * 1992-06-03 1993-03-02 Idab Incorporated Method and apparatus for wrapping an article
FR2841171B1 (fr) * 2002-06-24 2005-03-04 Mapco Pince de retenue d'un objet tel qu'une bouteille ou un recipient similaire
DE202005002924U1 (de) * 2005-02-23 2006-03-30 Krones Ag Klammergreifer für ein Gefäßtransportsystem
US10363635B2 (en) * 2016-12-21 2019-07-30 Amazon Technologies, Inc. Systems for removing items from a container
CN108861758B (zh) * 2018-06-29 2023-11-03 广东思沃先进装备有限公司 定膜式干膜架
JP7234604B2 (ja) * 2018-11-27 2023-03-08 京セラドキュメントソリューションズ株式会社 把持機構及び組み立て装置
CN116620920B (zh) * 2023-07-19 2023-09-26 常州力拓塑胶有限公司 一种pvc压延膜生产用包装设备及方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2894363A (en) * 1957-04-29 1959-07-14 Shell Dev Wrapping
GB931490A (en) * 1961-02-24 1963-07-17 Atkron Inc Bottle grippers
GB1151312A (en) * 1966-12-30 1969-05-07 Kalle Ag Process and apparatus for the Introduction of Film into a Film Processing Machine
DE3516853A1 (de) * 1984-04-11 1985-11-21 Dainippon Screen Manufacturing Co., Ltd., Kyoto Substrat-foerderapparat
DE8702922U1 (fr) * 1986-02-25 1987-04-09 Horeczky, Anton, 6410 Telfs, At
US4667998A (en) * 1986-06-06 1987-05-26 Robohand, Inc Electromagnetic gripper assembly

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3491900A (en) * 1967-03-03 1970-01-27 Western Electric Co Apparatus for removing an article clamped in a workholder
US3529328A (en) * 1969-05-22 1970-09-22 Hoz Pin Corp Magnetic clothespin
US3792511A (en) * 1972-08-30 1974-02-19 R Evans Document clamp
US4673329A (en) * 1984-04-06 1987-06-16 Mitsubishi Denki Kabushiki Kaisha Arm device for industrial robot
SE447695B (sv) * 1984-07-23 1986-12-08 Mats Ingvar Davidsson Anordning for fasthallning av foremal
JPS6132170U (ja) * 1984-07-27 1986-02-26 東芝ライテック株式会社 線条部品の供給装置
US4786769A (en) * 1985-03-06 1988-11-22 Process Equipment Company Safety coupling device for robotic tooling
US4795957A (en) * 1987-09-03 1989-01-03 Polaroid Corporation, Patent Department Robot arm having motion-limiting tether

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2894363A (en) * 1957-04-29 1959-07-14 Shell Dev Wrapping
GB931490A (en) * 1961-02-24 1963-07-17 Atkron Inc Bottle grippers
GB1151312A (en) * 1966-12-30 1969-05-07 Kalle Ag Process and apparatus for the Introduction of Film into a Film Processing Machine
DE3516853A1 (de) * 1984-04-11 1985-11-21 Dainippon Screen Manufacturing Co., Ltd., Kyoto Substrat-foerderapparat
DE8702922U1 (fr) * 1986-02-25 1987-04-09 Horeczky, Anton, 6410 Telfs, At
US4667998A (en) * 1986-06-06 1987-05-26 Robohand, Inc Electromagnetic gripper assembly

Also Published As

Publication number Publication date
AU5842890A (en) 1991-01-07
WO1990014931A2 (fr) 1990-12-13
US5042640A (en) 1991-08-27

Similar Documents

Publication Publication Date Title
ATE134554T1 (de) Greifer für einen manipulator
GB2200585B (en) Mechanically operated gripper for gripping round articles
ATE153307T1 (de) Greifer für eine fördereinrichtung zum fördern von ein- oder mehrblättrigen druckereierzeugnissen
CA2152666A1 (fr) Appareil prehenseur de contenants
EP0950471A3 (fr) Dispositif de préhension
JPS5713024A (en) Grip releasing device in article grip conveyor
SE8700518D0 (sv) Gripanordning
HK1075865A1 (en) Installation for assembling tube components
EP0399188A3 (fr) Dispositif et procédé de manipulation de feuilles
EP1188692A3 (fr) Procédé et dispositif pour transporter et/ou transférer des fruits
WO1990014931A3 (fr) Appareil de prehension et de transport
ES8203775A1 (es) Perfeccionamientos en los dispositivos para la transferenciade objetos
EP0541499A3 (en) A method and arrangement for opening a self-closing gripper on a gripper conveyor
DE50012398D1 (de) Vorrichtung zum Handhaben von Beuteln
FI930546A0 (fi) Tarttuja päätylappuihin tarttumiseksi
ATE273908T1 (de) Vorrichtung zur übergabe von seriell zugeführten, flachen gegenständen an eine wegförderung
DE50008473D1 (de) Vorrichtung zum Ab-und/oder Weitertransportieren von flexiblen, flächigen Erzeugnissen
CA2308510A1 (fr) Dispositif pour recevoir et/ou distribuer des produits plats
AU8241398A (en) A device for picking up and manipulating sheet-like, flexible objects, particularly expensive fabrics
DE69700439D1 (de) Vorrichtung zum Fördern von im wesentlichen runden, zerbrechlichen Gegenständen, z.B. Eiern
ATE140682T1 (de) Vorrichtung mit einem förderer und greifern
FR2527131B1 (fr) Dispositif de prehension d'articles pour manipulateur du type robot
JPH02286506A (ja) 搬送装置
EP1354840A3 (fr) Grappin
DK1260471T3 (da) Indretning til holdt transport af flade genstande i en tæt transportström

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): AT AU BB BG BR CA CH DE DK ES FI GB HU JP KP KR LK LU MC MG MW NL NO RO SD SE SU

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): AT BE BF BJ CF CG CH CM DE DK ES FR GA GB IT LU ML MR NL SE SN TD TG

AK Designated states

Kind code of ref document: A3

Designated state(s): AT AU BB BG BR CA CH DE DK ES FI GB HU JP KP KR LK LU MC MG MW NL NO RO SD SE SU

AL Designated countries for regional patents

Kind code of ref document: A3

Designated state(s): AT BE BF BJ CF CG CH CM DE DK ES FR GA GB IT LU ML MR NL SE SN TD TG

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

NENP Non-entry into the national phase

Ref country code: CA