WO2010048765A1 - Manipulateur avec serrage de bouteille à attraction magnétique - Google Patents

Manipulateur avec serrage de bouteille à attraction magnétique Download PDF

Info

Publication number
WO2010048765A1
WO2010048765A1 PCT/CN2008/073842 CN2008073842W WO2010048765A1 WO 2010048765 A1 WO2010048765 A1 WO 2010048765A1 CN 2008073842 W CN2008073842 W CN 2008073842W WO 2010048765 A1 WO2010048765 A1 WO 2010048765A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripper
magnet
magnetic
gripping bottle
manipulator
Prior art date
Application number
PCT/CN2008/073842
Other languages
English (en)
Chinese (zh)
Inventor
刘振
毛镇华
唐岳
李鹏程
Original Assignee
长沙楚天科技有限公司
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 长沙楚天科技有限公司 filed Critical 长沙楚天科技有限公司
Publication of WO2010048765A1 publication Critical patent/WO2010048765A1/fr

Links

Classifications

    • 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
    • B65G47/84—Star-shaped wheels or devices having endless travelling belts or chains, the wheels or devices being equipped with article-engaging elements
    • B65G47/846—Star-shaped wheels or wheels equipped with article-engaging elements
    • B65G47/847—Star-shaped wheels or wheels equipped with article-engaging elements the article-engaging elements being 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
    • 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

Definitions

  • the invention mainly relates to the field of medical packaging machinery, and particularly relates to a magnetic hand-clamping robot.
  • a robot or a food packaging machine often uses a robot to hold a bottle or the like, and the clamping force of the robot to the bottle or the like is mainly provided by a spring. Due to the frequent opening and closing of the robot, the spring will also cause fatigue fracture due to too many stretching or compression times. At the same time, if a spring is used to provide the clamping force, the spring requires a space for installation. Sometimes, when the installation space is limited, the structural size of the entire machine has to be increased due to the spring problem, thereby causing an increase in manufacturing cost. Therefore, how to solve the service life of the robot spring and reduce the structural size of the robot become a problem that various packaging machinery manufacturers need to solve.
  • the present invention provides a magnetic gripper bottle manipulator which is simple and compact in structure, low in cost, good in stability, and long in service life.
  • a magnetic gripping bottle robot which includes a left grip and a right grip, and one ends of the left grip and the right grip are respectively fixed to the left hinge and the right
  • the rotating shaft is characterized in that: a magnetic attraction device is arranged between the left and right grippers to generate an attraction force between the two.
  • the magnetic attraction device includes left and right magnets of opposite polarities respectively fixed to the left and right grippers.
  • the magnetic device includes a magnet made of a ferromagnetic material fixed to a left or right grip.
  • One end of the left and right grips near the left and right shafts is connected by a gear pair.
  • the present invention has the advantages that: the magnetic gripping bottle robot of the present invention is provided with a left magnet and a right magnet, and a right magnet and a left magnet, respectively, in the left and right grips.
  • the forces between them are mutually attracted, so the clamping force of the two grippers is provided by the attractive force of the permanent magnet, so the robot can use no spring, so there is no spring.
  • Service life problem Since the magnet is mounted inside the gripper, the robot can be designed to be small enough to reduce the structural size of the robot to meet the design requirements.
  • Figure 1 is a schematic view showing the structure of the present invention in a clamped state
  • Figure 2 is a schematic view showing the structure of the present invention in an open state.
  • a magnetic gripping bottle manipulator includes a left gripper 1 and a right gripper 2, and one ends of the left gripper 1 and the right gripper 2 are respectively fixed to the left revolving shaft. 7 and the right shaft 6 and the other end is used to clamp the holder 3.
  • a magnetic attraction device is provided between the left gripper 1 and the right gripper 2 to generate an attraction that brings the two closer together.
  • the magnetic attraction device includes a left magnet 5 and a right magnet 4 of opposite polarities respectively fixed to the left and right grips 1 and 2, or the magnetic device includes a fixed or left grip 1 or 2 A magnet made of ferromagnetic material.
  • the left magnet 5 and the right magnet 4 of opposite polarities are respectively disposed at the opposite positions on the left and right grips 1 and 2.
  • the ends of the left and right grips 1 and 2 on the left and right grips 2 are connected by the gear pair 8.
  • the polarities of the right magnet 4 and the left magnet 5 are opposite, and the forces between them are attracted to each other, and a suitable clamping force can be obtained by selecting a magnet of a suitable parameter.
  • the two magnets are relatively close when the right magnet 4 and the left magnet 5 are clamped, it is particularly suitable for some robots that require a large clamping force when clamping the bottle and a small clamping force when opening.
  • the robot can be used without the spring, so there is no problem of the service life of the spring. Since the magnet is mounted inside the gripper, the robot can be designed to be small enough to reduce the structural size of the robot to meet the design requirements.
  • the above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiments, and all the technical solutions under the inventive concept belong to the protection scope of the present invention. It should be noted that many modifications and refinements will occur to those skilled in the art without departing from the principles of the invention, for example, on the left.
  • the clamping handle 1 and the right clamping hand 2 are provided with mounting grooves for mounting the left magnet 5 and the right magnet 4, or the left magnet 5 and the right magnet 4 are respectively composed of a plurality of small magnets which are unevenly distributed, etc., and these improvements and retouchings It should also be considered as the scope of protection of the present invention.

Landscapes

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

Abstract

L’invention concerne un manipulateur avec serrage de bouteille à attraction magnétique comprenant un élément (1) de serrage gauche et un élément (2) de serrage droit. Une extrémité de l’élément (1) de serrage gauche et une extrémité de l’élément (2) de serrage droit sont respectivement fixées à un arbre (7) gauche et un arbre (6) droit. Entre l’élément (1) de serrage gauche et l’élément (2) de serrage droit sont installés des dispositifs (5, 4) d’attraction magnétique générant deux forces d’attraction réciproques. Ledit manipulateur avec serrage de bouteille à attraction magnétique a une structure simple et compacte, un coût faible, une bonne stabilité et une durée d’utilisation élevée.
PCT/CN2008/073842 2008-10-30 2008-12-30 Manipulateur avec serrage de bouteille à attraction magnétique WO2010048765A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN200810143449.8 2008-10-30
CNA2008101434498A CN101380738A (zh) 2008-10-30 2008-10-30 磁吸式夹瓶用机械手

Publications (1)

Publication Number Publication Date
WO2010048765A1 true WO2010048765A1 (fr) 2010-05-06

Family

ID=40460882

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2008/073842 WO2010048765A1 (fr) 2008-10-30 2008-12-30 Manipulateur avec serrage de bouteille à attraction magnétique

Country Status (2)

Country Link
CN (1) CN101380738A (fr)
WO (1) WO2010048765A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016015953A1 (fr) * 2014-08-01 2016-02-04 Eto Magnetic Gmbh Dispositif de préhension et utilisation d'un dispositif de préhension
CN107214686A (zh) * 2017-06-22 2017-09-29 上海交通大学 基于电磁驱动的手部外骨骼系统
EP2949608B1 (fr) * 2014-05-28 2018-06-13 Tyrolon-Schulnig GmbH Bras de préhension pour récipient, dispositif préhenseur et dispositif de transport
WO2018108248A1 (fr) * 2016-12-13 2018-06-21 Tyrolon-Schulnig Gmbh Appareil de préhension et dispositif de transport pour transporter des récipients
CN114007964A (zh) * 2019-06-26 2022-02-01 株式会社日立高新技术 检体输送装置

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101875197B (zh) * 2010-04-19 2012-06-27 楚天科技股份有限公司 多适应性夹瓶用翻转机械手
CN102632504B (zh) * 2011-02-12 2014-12-24 刘仁志 机器人电磁手
CN105196301A (zh) * 2015-09-16 2015-12-30 山东华宝隆轻工机械有限公司 一种吹瓶机和灌装机用机械手爪
FR3045584B1 (fr) * 2015-12-16 2018-01-12 Sidel Participations Pince de prehension d'un corps creux tel qu'une preforme de recipient ou un recipient
CN105710891A (zh) * 2016-04-12 2016-06-29 深圳市华星光电技术有限公司 一种残材夹取装置及残材夹持方法
CN106586535B (zh) * 2016-12-20 2018-09-21 重庆天和玻璃有限公司 玻璃瓶夹持装置
CN106863340A (zh) * 2017-04-10 2017-06-20 辽宁科技大学 一种磁助力电动夹爪
CN111244012A (zh) * 2018-11-29 2020-06-05 昆山工研院新型平板显示技术中心有限公司 转移装置以及微元件的转移方法
CN111086258B (zh) * 2019-12-19 2021-10-12 张辉 振动、负压与热化技术的固体废物致密处理系统及方法
CN111689244A (zh) * 2020-05-09 2020-09-22 江阴市双平机械有限公司 一种码垛机机头
CN113213010A (zh) * 2021-05-26 2021-08-06 宁波市海曙发辉机械科技有限公司 一种厨余垃圾与袋分离归类装置
CN114212518B (zh) * 2021-11-22 2024-02-23 盐城保源自动化设备有限公司 一种打包线双管取料装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6386609B1 (en) * 1999-06-12 2002-05-14 Applied Materials, Inc. Gripper design to reduce backlash
EP1375395A1 (fr) * 2002-06-24 2004-01-02 Mapco Pince de retenue d'un objet tel qu'une bouteille ou un recipient similaire
CN2804017Y (zh) * 2005-05-31 2006-08-09 长沙锐信机械制造有限公司 一种用于制药机械的机械手夹瓶装置
CN200954681Y (zh) * 2006-09-19 2007-10-03 蔡佳祎 全自动塑料吹瓶机成型瓶取出装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6386609B1 (en) * 1999-06-12 2002-05-14 Applied Materials, Inc. Gripper design to reduce backlash
EP1375395A1 (fr) * 2002-06-24 2004-01-02 Mapco Pince de retenue d'un objet tel qu'une bouteille ou un recipient similaire
CN2804017Y (zh) * 2005-05-31 2006-08-09 长沙锐信机械制造有限公司 一种用于制药机械的机械手夹瓶装置
CN200954681Y (zh) * 2006-09-19 2007-10-03 蔡佳祎 全自动塑料吹瓶机成型瓶取出装置

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2949608B1 (fr) * 2014-05-28 2018-06-13 Tyrolon-Schulnig GmbH Bras de préhension pour récipient, dispositif préhenseur et dispositif de transport
WO2016015953A1 (fr) * 2014-08-01 2016-02-04 Eto Magnetic Gmbh Dispositif de préhension et utilisation d'un dispositif de préhension
US10695914B2 (en) 2014-08-01 2020-06-30 Eto Magnetic Gmbh Gripper device, and use of a gripper device
WO2018108248A1 (fr) * 2016-12-13 2018-06-21 Tyrolon-Schulnig Gmbh Appareil de préhension et dispositif de transport pour transporter des récipients
US10800614B2 (en) 2016-12-13 2020-10-13 Tyrolon-Schulnig Gmbh Gripping apparatus and transporting device for transporting containers
CN107214686A (zh) * 2017-06-22 2017-09-29 上海交通大学 基于电磁驱动的手部外骨骼系统
CN114007964A (zh) * 2019-06-26 2022-02-01 株式会社日立高新技术 检体输送装置

Also Published As

Publication number Publication date
CN101380738A (zh) 2009-03-11

Similar Documents

Publication Publication Date Title
WO2010048765A1 (fr) Manipulateur avec serrage de bouteille à attraction magnétique
WO2017113361A1 (fr) Mécanisme de retournement de produit
US6626476B1 (en) Robotic gripper apparatus
CN102569150B (zh) 一种易清洗的薄壁盘状物夹持装置及方法
US9868218B2 (en) Gripper mechanism
CN205166952U (zh) 一种新型通用电动夹持装置
CN110640771A (zh) 一种用于水下抓取棒料的机械手爪
CN110238869B (zh) 一种柔性磁力网式机械抓取装置
CN106335074A (zh) 一种机器人的五指灵巧手执行装置
CN106182051B (zh) 空程传动连杆直线平夹自适应机器人手指装置
CN108145729A (zh) 五连杆平夹自适应机器人手指装置
JP2011177862A (ja) 把持装置
CN105818158A (zh) 柔性件杆系平夹自适应机器人手指装置
JP4150991B2 (ja) トルクリミッター付き電動ハンド
CN109571539A (zh) 可控力的快速抓取杆簇自适应机器人手装置
CN206373803U (zh) 一种电机驱动的自适应夹紧机构
CN201283574Y (zh) 磁吸式夹瓶用机械手
KR20110095998A (ko) 웨이퍼 측면파지 이송용 집게의 구동기구
CN110002223B (zh) 一种具有表面黏附能力的夹持器
CN208867199U (zh) 一种机械自锁式手爪结构
CN108274483B (zh) 一种单驱动形状自适应机械手指
CN203542606U (zh) 平面关节型机械手
CN216543361U (zh) 一种机器人用可刚柔切换的磁性抓取装置
CN202616215U (zh) 一种易清洗的薄壁盘状物夹持装置
CN111037597B (zh) 一种变频电磁控制技术的多用途机械手

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08877668

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 08877668

Country of ref document: EP

Kind code of ref document: A1