WO2009143964A3 - Greifwerkzeug und verfahren zum greifen von gegenständen - Google Patents

Greifwerkzeug und verfahren zum greifen von gegenständen Download PDF

Info

Publication number
WO2009143964A3
WO2009143964A3 PCT/EP2009/003428 EP2009003428W WO2009143964A3 WO 2009143964 A3 WO2009143964 A3 WO 2009143964A3 EP 2009003428 W EP2009003428 W EP 2009003428W WO 2009143964 A3 WO2009143964 A3 WO 2009143964A3
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
tool
gripping tool
objects
energy
Prior art date
Application number
PCT/EP2009/003428
Other languages
English (en)
French (fr)
Other versions
WO2009143964A2 (de
Inventor
Karl Bauch
Original Assignee
Nc-Automation Gmbh
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 Nc-Automation Gmbh filed Critical Nc-Automation Gmbh
Publication of WO2009143964A2 publication Critical patent/WO2009143964A2/de
Publication of WO2009143964A3 publication Critical patent/WO2009143964A3/de

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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0226—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by cams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/045—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers using a tool holder as a work-transporting gripper
    • 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
    • B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

Zur Schaffung eines kompakten, leichtgängigen Greifwerkzeugs (1), das insbesondere durch Federkraft betätigt wird vorgeschlagen, dass zur optimalen Nutzung der gespeicherten Energie ein formschlüssiges Wälzgetriebe (9) mit einer Kompensation der Federkennlinie vorgesehen ist, das eine gleichbleibende Greifkraft über den gesamten Greifhub bereitstellt. Zudem wird ein Verfahren zum Greifen von Gegenständen mit einem Greifwerkzeug vorgeschlagen, ohne dafür eine Energiezufuhr oder eine Signalzuleitung an das Greifwerkzeug (1) zu benötigen, also alleine mittels Berührung des zu greifenden Gegenstands mit dem Greifwerkzeug (1), sowie eine mögliche Ausführungsform eines Greifwerkzeuges zur Realisierung dieses Verfahrens.
PCT/EP2009/003428 2008-05-15 2009-05-14 Greifwerkzeug und verfahren zum greifen von gegenständen WO2009143964A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008023813.9A DE102008023813B4 (de) 2008-05-15 2008-05-15 Greifwerkzeug zum Handhaben von Bauteilen
DE102008023813.9 2008-05-15

Publications (2)

Publication Number Publication Date
WO2009143964A2 WO2009143964A2 (de) 2009-12-03
WO2009143964A3 true WO2009143964A3 (de) 2010-01-21

Family

ID=41010861

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/003428 WO2009143964A2 (de) 2008-05-15 2009-05-14 Greifwerkzeug und verfahren zum greifen von gegenständen

Country Status (2)

Country Link
DE (1) DE102008023813B4 (de)
WO (1) WO2009143964A2 (de)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010063202A1 (de) 2010-12-16 2012-06-21 Robert Bosch Gmbh Schutzeinrichtung für eine Greifeinrichtung an einerHandhabungsvorrichtung, insbesondere einem Handhabungsroboter
JP5861255B2 (ja) * 2011-01-12 2016-02-16 セイコーエプソン株式会社 ロボットハンド及びロボット
CN104743357B (zh) * 2015-03-12 2017-01-11 苏州博众精工科技有限公司 一种移动夹紧机构
CN105600429B (zh) * 2016-03-04 2018-04-24 宁夏机械研究院股份有限公司 多功能抓取料机械手
CN105563219B (zh) * 2016-03-09 2018-06-12 宁夏机械研究院股份有限公司 一种工件抓取装置
CN106737602A (zh) * 2017-01-22 2017-05-31 陈旭芳 一种平移夹手
CN106743583A (zh) * 2017-02-27 2017-05-31 安徽信盟机电装备制造有限公司 一种单动力多联可调整的传料机构
DE102017108666A1 (de) * 2017-04-24 2018-10-25 EZU-Metallwaren GmbH & Co. KG Werkstückadapter zur Verwendung in einer Werkzeugmaschine sowie Werkstückspannsystem
DE102018103100A1 (de) 2017-07-04 2019-01-10 Grob-Werke Gmbh & Co. Kg Verfahren und Vorrichtung zum Positionieren und Spannen von Drahtenden für elektrische Maschinen
CN111283252A (zh) * 2018-12-06 2020-06-16 陈丰田 可连结取料机械手臂单元的cnc铣床
CN109590220B (zh) * 2019-01-30 2024-01-23 苏州工业职业技术学院 一种快递分拣夹取装置
DE102019118672B3 (de) * 2019-07-10 2020-11-12 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Greif- oder Spanneinheit mit Getriebeanordnung zur Aufrechterhaltung einer Greifkraft
US11571818B2 (en) * 2019-08-09 2023-02-07 Fanuc Corporation Machine tool hand

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4762357A (en) * 1987-08-12 1988-08-09 General Motors Corporation Linear action gripper for a robot
US4955653A (en) * 1988-09-28 1990-09-11 Administrator, National Aeronautics And Space Administration Spiral lead platen robotic end effector
DE19523787A1 (de) * 1995-06-29 1997-01-02 Iobb Produktideen Vorausentwic Handhabungswerkzeug für eine Werkzeugmaschine
US20040004366A1 (en) * 1996-10-07 2004-01-08 Moilanen Steven M. Modular stamped parts transfer gripper

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3630391A (en) * 1969-01-28 1971-12-28 Gulf & Western Ind Prod Co Work gripper

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4762357A (en) * 1987-08-12 1988-08-09 General Motors Corporation Linear action gripper for a robot
US4955653A (en) * 1988-09-28 1990-09-11 Administrator, National Aeronautics And Space Administration Spiral lead platen robotic end effector
DE19523787A1 (de) * 1995-06-29 1997-01-02 Iobb Produktideen Vorausentwic Handhabungswerkzeug für eine Werkzeugmaschine
US20040004366A1 (en) * 1996-10-07 2004-01-08 Moilanen Steven M. Modular stamped parts transfer gripper

Also Published As

Publication number Publication date
DE102008023813A1 (de) 2009-11-26
WO2009143964A2 (de) 2009-12-03
DE102008023813B4 (de) 2017-06-22

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