WO1996028271A1 - Dispositif de prise a machoires ou doigts de maintien, destine a la manutention d'objets en forme de tige ou de barre - Google Patents

Dispositif de prise a machoires ou doigts de maintien, destine a la manutention d'objets en forme de tige ou de barre Download PDF

Info

Publication number
WO1996028271A1
WO1996028271A1 PCT/DK1996/000108 DK9600108W WO9628271A1 WO 1996028271 A1 WO1996028271 A1 WO 1996028271A1 DK 9600108 W DK9600108 W DK 9600108W WO 9628271 A1 WO9628271 A1 WO 9628271A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
robot arm
hinge axis
plate
axis
Prior art date
Application number
PCT/DK1996/000108
Other languages
English (en)
Inventor
Jan Dall Christensen
Ulrich Deichmann
Original Assignee
Jan Dall Christensen
Ulrich Deichmann
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
Priority to DK0264/95 priority Critical
Priority to DK26495A priority patent/DK173182B1/da
Application filed by Jan Dall Christensen, Ulrich Deichmann filed Critical Jan Dall Christensen
Publication of WO1996028271A1 publication Critical patent/WO1996028271A1/fr

Links

Classifications

    • 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 OR 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
    • B65G47/902Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23DPLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D33/00Accessories for shearing machines or shearing devices
    • B23D33/02Arrangements for holding, guiding, and/or feeding work during the operation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0253Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/02Arms extensible
    • B25J18/04Arms extensible rotatable

Abstract

La présente invention concerne un dispositif de prise (D) à mâchoires ou à doigts (A), destiné à la manutention d'objets en forme de tige ou de barre tels que les fers à béton, et placé à l'extrémité du bras d'un robot. Ledit dispositif de prise (D), avec ses mâchoires (A), est conçu de telle façon qu'il puisse pivoter partiellement autour d'un axe des mâchoires (M) parallèle à la direction longitudinale des doigts et pivoter par rapport au bras du robot, autour d'un axe d'articulation (C) parallèle à l'axe des mâchoires (M), que ce dispositif (D) soit monté, de manière à pouvoir être déplacé, entre une position fixe et l'axe d'articulation (C), et il est relié à un système de servocommande tel qu'un vérin pneumatique (B), de telle façon que cela applique au dispositif de prise (D) une force unilatérale dirigée dans un sens l'éloignant de l'axe d'articulation (C) et vers la position fixe. On obtient ainsi que le dispositif de prise (D) puisse céder de manière élastique, et sans résistance notable, à des mouvements forcés et limités qui lui sont appliqués par un objet saisi par les mâchoires (A), à savoir une rotation autour de l'axe d'articulation (C), une rotation autour de l'axe des mâchoires (M) et un déplacement vers l'axe d'articulation (C).
PCT/DK1996/000108 1995-03-16 1996-03-18 Dispositif de prise a machoires ou doigts de maintien, destine a la manutention d'objets en forme de tige ou de barre WO1996028271A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DK0264/95 1995-03-16
DK26495A DK173182B1 (da) 1995-03-16 1995-03-16 Gribeorgan med holdekæber eller gribefingre til håndtering af stangformede emner.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE1996181534 DE19681534T1 (de) 1995-03-16 1996-03-18 Greifeinrichtung mit Haltebacken oder Haltefinger für das Handling von stab- oder stangenförmigen Gegenständen
AU49397/96A AU4939796A (en) 1995-03-16 1996-03-18 Gripping device with holding jaws or holding fingers for the handling of rod or bar shaped articles

Publications (1)

Publication Number Publication Date
WO1996028271A1 true WO1996028271A1 (fr) 1996-09-19

Family

ID=8091583

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DK1996/000108 WO1996028271A1 (fr) 1995-03-16 1996-03-18 Dispositif de prise a machoires ou doigts de maintien, destine a la manutention d'objets en forme de tige ou de barre

Country Status (4)

Country Link
AU (1) AU4939796A (fr)
DE (1) DE19681534T1 (fr)
DK (1) DK173182B1 (fr)
WO (1) WO1996028271A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103771130A (zh) * 2013-12-27 2014-05-07 广州奥迪通用照明有限公司 一种机械翻转手
CN107931700A (zh) * 2017-11-14 2018-04-20 郑州格瑞塔电子信息技术有限公司 建筑五金钢板切割装置
WO2019185132A1 (fr) * 2018-03-28 2019-10-03 Transitions Optical, Ltd. Véhicule de transport d'articles
CN110815267A (zh) * 2019-11-29 2020-02-21 航天科技控股集团股份有限公司 可使指针精准定位的夹爪结构
CN111717658A (zh) * 2020-07-06 2020-09-29 胡敏佳 一种自动化加工用货物搬运机械手

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK3260231T3 (en) * 2016-06-20 2018-11-05 Ideal Werk C & E Jungeblodt Gmbh & Co Kg GRIBERS AND PROCEDURE TO Grab END OF WIRE AND WIRE MACHINE AND ROBOT WITH SUCH GRABERS

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2143498A (en) * 1983-07-21 1985-02-13 Emi Ltd Improvements in or relating to assembly robots
DE4018684C2 (de) * 1989-06-14 1994-11-10 Mitsubishi Electric Corp Industrieroboter

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2143498A (en) * 1983-07-21 1985-02-13 Emi Ltd Improvements in or relating to assembly robots
DE4018684C2 (de) * 1989-06-14 1994-11-10 Mitsubishi Electric Corp Industrieroboter

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103771130A (zh) * 2013-12-27 2014-05-07 广州奥迪通用照明有限公司 一种机械翻转手
CN103771130B (zh) * 2013-12-27 2016-08-24 广州奥迪通用照明有限公司 一种机械翻转手
CN107931700A (zh) * 2017-11-14 2018-04-20 郑州格瑞塔电子信息技术有限公司 建筑五金钢板切割装置
CN107931700B (zh) * 2017-11-14 2019-10-11 湖南利钢金属制品有限公司 建筑五金钢板切割装置
WO2019185132A1 (fr) * 2018-03-28 2019-10-03 Transitions Optical, Ltd. Véhicule de transport d'articles
CN110815267A (zh) * 2019-11-29 2020-02-21 航天科技控股集团股份有限公司 可使指针精准定位的夹爪结构
CN111717658A (zh) * 2020-07-06 2020-09-29 胡敏佳 一种自动化加工用货物搬运机械手

Also Published As

Publication number Publication date
DK26495A (da) 1996-09-17
DE19681534T1 (de) 2000-03-30
AU4939796A (en) 1996-10-02
DK173182B1 (da) 2000-03-06
DE19681534T0 (fr)

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