WO2010048765A1 - Manipulateur avec serrage de bouteille à attraction magnétique - Google Patents
Manipulateur avec serrage de bouteille à attraction magnétique Download PDFInfo
- 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
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.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNA2008101434498A CN101380738A (zh) | 2008-10-30 | 2008-10-30 | 磁吸式夹瓶用机械手 |
CN200810143449.8 | 2008-10-30 |
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)
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 (13)
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 |
CN110216608A (zh) * | 2019-07-11 | 2019-09-10 | 迅得自动化(珠海)有限公司 | 新型线路板夹持夹具 |
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)
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 |
-
2008
- 2008-10-30 CN CNA2008101434498A patent/CN101380738A/zh active Pending
- 2008-12-30 WO PCT/CN2008/073842 patent/WO2010048765A1/fr active Application Filing
Patent Citations (4)
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)
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 |
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