WO2012033285A2 - 핀-타입 그리퍼 장치 - Google Patents
핀-타입 그리퍼 장치 Download PDFInfo
- Publication number
- WO2012033285A2 WO2012033285A2 PCT/KR2011/005786 KR2011005786W WO2012033285A2 WO 2012033285 A2 WO2012033285 A2 WO 2012033285A2 KR 2011005786 W KR2011005786 W KR 2011005786W WO 2012033285 A2 WO2012033285 A2 WO 2012033285A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pin
- rod
- cylinder
- gripper device
- housing
- Prior art date
Links
Images
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
- B25J15/0071—Gripping heads and other end effectors with needles engaging into objects to be gripped
-
- 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
- B65H3/00—Separating articles from piles
- B65H3/22—Separating articles from piles by needles or the like engaging the articles
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2403/00—Power transmission; Driving means
- B65H2403/50—Driving mechanisms
- B65H2403/53—Articulated mechanisms
- B65H2403/532—Crank-and-rocker mechanism
- B65H2403/5321—Crank-and-rocker mechanism with oscillating crank, i.e. angular movement of crank inferior to 360
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2403/00—Power transmission; Driving means
- B65H2403/90—Machine drive
- B65H2403/93—Fluid power drive
Definitions
- the present invention relates to a gripper device, and more particularly to a so-called pin-type gripper device for holding an object using a pin.
- the gripper device refers to a device for holding an object by applying physical force or pressure, and is mainly applied to a conveying system.
- so-called "pin-type" gripper devices are usually used for objects made of flexible materials such as fabrics, porous materials and rubber.
- the conventional pin-type gripper device 1 comprises two cylinders 3a, 3b mounted inclined downward in a direction crossing each other in the housing 2. At the ends of the piston rods 4a, 4b of each cylinder 3a, 3b, a plurality of pins 6a, 6b are provided via fixing blocks 5a, 5b, where both pins 6a, 6b are They actually cross each other with opposite inclination angles ⁇ .
- the gripper device of this method can be usefully applied to the transfer of an object made of a flexible material. But here, using two cylinders:
- the present invention has been proposed to solve the above problems of the conventional gripper device. It is an object of the present invention to provide a gripper device which is simpler in structure and control than the conventional device and which is economical to manufacture and operate. Indeed, the present inventors have realized that the two slide members can be controlled simultaneously as one cylinder element, thereby achieving the above object, and completed the present invention.
- the pin-type gripper device of the present invention is:
- a housing having an organically arranged cylinder unit and an operating unit therein, and having a pin-hole through which a pin of the slide block enters and exits;
- a cylinder unit including a cylinder provided at a central upper end of the housing, a piston for reciprocating up and down the inside of the cylinder, and a rod extending from the piston to a lower portion of the cylinder;
- a pair of slide blocks which are disposed inclined at the left and right ends of the rod and extended in a skirt shape, and have pins mounted at each end thereof, one end of which is connected to the rod and the other end of which is connected to the block, via a rod from the cylinder.
- An actuating portion including a link for transferring a motion to the block;
- the piston reciprocates by the pressure of compressed air supplied into the cylinder from the outside.
- the housing comprises two compressed air supply holes extending from the side into the cylinder and communicating with the upper and lower portions of the piston, respectively.
- the link is a 'V' type member whose vertex is the axis of rotation, and the one end and the other end are both ends of the 'V' type member except the vertex.
- the gripper device of the present invention is fixed to the bottom surface of the housing so as to be adjustable in height and extends close to the end of the rod, and in contact with the end of the moving piston rod, thereby stopping the stopper for setting the lower limit of the rod It includes more.
- the gripper device of the present invention is adapted to simultaneously control two slide members on which pins are mounted using one cylinder unit. Therefore, compared with the conventional apparatus requiring two cylinders and a complicated design, the structure and control are simple and economical advantages. Also in the operation of the device, there is an advantage that there is little fear of failure or error.
- the gripper device of the present invention can adjust the degree of exposure of the slide block and the pin in a way that limits the range of motion of the rod. Therefore, there is an advantage that can be appropriately used in consideration of the material, size, weight, etc. of the object in the transport system.
- FIG. 1 is a cross-sectional view showing the configuration of a conventional pin-type gripper device.
- FIG. 2 is an external view of a pin-type gripper device according to the present invention.
- FIG. 3 is an exploded view of the device of FIG. 2;
- FIG. 4 is a cross-sectional view of the device of FIG. 2;
- FIG. 5 is a view for explaining the operation of the pin-type gripper device according to the present invention.
- the pin-type gripper device 100 of the present invention includes a housing 10, a cylinder unit 20 and an operating unit 30 which are organically disposed in the housing 10. It is done by The number of cylinder units 20 provided in the device 100 of the present invention is only one.
- the body 11 of the housing 10 has an internal space that is optimally designed for the mounting and movement of the cylinder unit 20 and the operation unit 30.
- the body 11 is closed by one side cover 12 and the bottom plate 13, and the bottom plate 13 is the bottom surface of the housing 10.
- a plurality of pin-holes 14 are formed in the bottom surface 13 of the housing 10, and the pins 32 of the slide blocks 31a and 31b enter and exit through the pin-holes 14.
- the pin-hole 14 and the pin 32 may be selectively designed as needed in a one-to-one or one-to-many correspondence. will be.
- the cylinder unit 20 is fixed to a cylinder 21 provided at a central upper end of the housing 10, a piston 22 reciprocating up and down inside the cylinder 21, the piston 22, and a cylinder 21. ) Includes a rod 23 extending downward. However, the rod 23 may be formed integrally with the piston 22.
- Reference numeral 24 is a ring fitted to the outer diameter of the piston 22 to prevent unnecessary communication between the upper and lower portions of the piston 22 in the cylinder 21.
- the cylinder 21 of the present embodiment is formed by processing the upper end of the housing 10 in a cylindrical shape.
- a cylinder provided separately may be mounted in the housing 10.
- a bundle 25 is coupled to the end of the piston rod 23, which is added only for the convenience of connection of the link 33 member.
- the rod 23 and the bundle 25 are integrally formed and furthermore, the present invention is not limited to the presence or absence of the present invention.
- the bundle 25 is viewed as a separate configuration independent of the rod 23. Do not.
- the actuating part 30 is a pair of slant-slide blocks 31a-31b disposed obliquely with the same angle ⁇ in left and right symmetry with respect to the center line XX of the piston rod 23. ) And a link 33 for transmitting the movement of the piston 22 to the slide blocks 31a-31b. And the penetration pin 32 is attached to the edge part of each slide block 31a, 31b.
- the pair of slide blocks 31a-31b are disposed symmetrically and inclined at the same angle ⁇ at the left and right sides near the ends of the piston rod 23, and by the movement of the piston 22. Due to the slide movement, it expands into a skirt type.
- a guide 17 is preferably formed in the body 11 of the housing 10 to preset the positions of the blocks 31a-31b and the slide inclination angle ⁇ . .
- the penetration pin 32 is mounted in the longitudinal direction at the end of the slide block (31a, 31b), so that when the block (31a, 31b) is extended to penetrate the surface of the object inclined at a predetermined angle.
- the link 33 has one end 35 is connected to the rod 23 and the other end 36 is connected to the blocks 31a-31b, so that the movement of the piston 22 is performed by the blocks 31a-31b.
- the link 33 is a 'V' type member whose vertices 34 are rotational axes, and the one end 35 and the other end 36 are both end portions except the vertex 34 in the 'V' type member. .
- connection between the one end 35 and the rod 23 and the other end 36 and the blocks 31a-31b of the link 33 is a so-called 'ball joint' method.
- the gripper device 100 further includes a stopper 40 that can adjust the exposure degree of the pin 32.
- the stopper 40 is fixed to the center of the bottom of the housing 10 is adjustable height and extends close to the end of the rod 23 on the center line (XX), corresponding to the end of the moving piston rod 23 Contact. Therefore, the stopper 40 limits the range of motion of the rod 23, in particular, the lower limit, and by adjusting its height, it is possible to adjust the exposure degree of the penetrating pin 32 as a result.
- the stopper 40 is applied to the screw method for easy mounting and adjustment, but is not necessarily limited to that method.
- the operation unit 30 operates based on the movement of the piston 22 constituting the cylinder unit 20, in this embodiment, the piston 22 is the pressure of the compressed air supplied into the cylinder 21 from the outside By reciprocating movement.
- the housing 10 includes two compressed air supply holes 15 and 16 extending from the side of the body 11 into the cylinder 21 and communicating with the upper and lower portions of the piston 22, respectively.
- the pin 32 is pressurized and fixed by tightening a bolt 38 fitted into the side mounting holes 37 of the slide blocks 31a and 31b.
- the cover 12 of the housing 10 has a work hole 19 in which a bolt 38 can be manipulated at a position corresponding to the bolt 38, and the work hole 19 is formed.
- the tool (for example, wrench) operation for tightening / releasing the bolt 38 can be conveniently and quickly made.
- connectors 18 are mounted in each of the supply holes 15 and 16 for the connection of the compressed air supply line and the smooth supply of the compressed air. And the compressed air will be controlled to be alternately supplied to the first supply hole 15 and the second supply hole 16 by a separate supply system.
- the gripper device 100 of the present invention is disposed in a state in which the surface and the bottom surface 13 of the object (P) in contact.
- the compressed air is first supplied through the first supply hole 15.
- the compressed air supplied thereto is introduced into the cylinder 21 and pressurizes the upper portion of the piston 22.
- the piston 22 and the rod 23 then move 'down' (arrow 1), down until the end of the rod 23 contacts the stopper 40 near the bottom.
- the V-shaped link 33 having one end 35 connected to the rod 23 obtains a rotational force about the vertex 34.
- the rotational direction of the link 33 is downward (arrow 2) similarly to the movement direction of the piston rod 23.
- the pair of slide blocks 31a and 31b to which the other end 36 of the link 33 is connected moves downwardly inclined along the guide 17 to the skirt. Expands to type (arrow 3).
- pins 32 fixed to the ends of the blocks 31a and 31b are exposed through the pin-holes 14 of the bottom surface 13 of the housing 10. It penetrates obliquely to the surface of the object P.
- the pins 32 of the blocks 31a and 31b on both sides penetrate in opposite directions, the holding and lifting of the object P is carried out using the gripper device 100 of the present invention. lifting and transporting are possible.
- the desired exposure amount can be set by adjusting the height by rotating the stopper 40 to the left and right. That is, when the height of the stopper 40 is adjusted, the lower limit of motion of the rod 23 is changed, and the moving distances of the blocks 31a and 31b connected to the rod 23 by the link 33 are changed, and thus the pin 32 ), The degree of exposure is controlled.
- the pins 32 which have been exposed for transporting enter the housing 10 and are concealed.
- the object P does not flow in the transported position by contacting the bottom surface 13 of the housing 10, so that the pin 32 and the object P are completely separated.
- the gripper device 100 of the present invention will be prepared for the next transfer operation.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Clamps And Clips (AREA)
- Specific Conveyance Elements (AREA)
- Jigs For Machine Tools (AREA)
- Actuator (AREA)
Abstract
Description
Claims (6)
- 내부에 실린더 유닛과 작동부가 유기적으로 배치되며, 저면에는 슬라이드 블록의 핀이 출입하는 핀-홀이 형성된 하우징과;상기 하우징의 중앙 상단부에 제공된 실린더, 상기 실린더 내부를 상·하 왕복 운동하는 피스톤, 상기 피스톤으로부터 실린더 하부로 연장된 로드를 포함하는 하나의 실린더 유닛과;상기 로드의 단부 좌·우측에 경사지게 배치되어 스커트형으로 확장되며 각 단부에 핀이 장착된 한 쌍의 슬라이드 블록, 일단이 상기 로드에 연결되고 타단이 상기 블록에 연결되어 상기 실린더로부터 로드를 경유한 운동을 블록에 전달하는 링크를 포함하는 작동부;를 포함하는 것을 특징으로 하는 핀-타입 그리퍼 장치.
- 제1항에 있어서,상기 하우징은 측면으로부터 실린더 내부로 연장되고 각각 피스톤의 상부 및 하부로 연통하는 두 개의 압축공기 공급홀을 포함하며;상기 피스톤은 외부에서 상기 공급홀을 통하여 실린더 내로 공급되는 압축공기의 압력에 의하여 상측 또는 하측으로 왕복 운동을 하는 것;을 특징으로 하는 핀-타입 그리퍼 장치.
- 제1항에 있어서,상기 링크는 꼭지점이 회전축인 'V'형 부재이며, 상기 일단과 타단은 'V'형 부재에서 꼭지점을 제외한 양측 단부인 것을 특징으로 하는 핀-타입 그리퍼 장치.
- 제1항에 있어서,상기 하우징은 내부에, 상기 블록의 위치 및 슬라이드 경사각을 설정해 주는 가이드가 형성된 것을 특징으로 하는 핀-타입 그리퍼 장치.
- 제1항에 있어서,상기 그리퍼 장치는: 상기 하우징의 저면에 높이조절 가능하게 고정되며 상기 로드의 단부에 근접하게 연장되어, 운동하는 피스톤 로드의 단부에 대응하여 접촉하게 됨으로써, 상기 로드의 하한을 설정하는 스토퍼를 더 포함하는 것을 특징으로 하는 핀-타입 그리퍼 장치.
- 제1항에 있어서,상기 핀은 슬라이드 블록의 측면 장착홀에 끼워지는 볼트의 조임에 의하여 가압 고정되고, 상기 볼트 해제에 의하여 분리 및 교체 가능하게 구성되며;상기 하우징은 상기 볼트에 대응하는 위치에 볼트 조작이 가능한 형태의 작업홀이 형성된 것;을 특징으로 하는 핀-타입 그리퍼 장치.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BR112013005411A BR112013005411B1 (pt) | 2010-09-09 | 2011-08-09 | pinça do tipo pino |
CN201180043666.XA CN103108818B (zh) | 2010-09-09 | 2011-08-09 | 销钉型夹子 |
US13/820,191 US8714608B2 (en) | 2010-09-09 | 2011-08-09 | Pin-type gripper |
DE112011103023T DE112011103023T5 (de) | 2010-09-09 | 2011-08-09 | Nadelgreifer |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020100088175A KR100996440B1 (ko) | 2010-09-09 | 2010-09-09 | 핀-타입 그리퍼 장치 |
KR10-2010-0088175 | 2010-09-09 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2012033285A2 true WO2012033285A2 (ko) | 2012-03-15 |
WO2012033285A3 WO2012033285A3 (ko) | 2012-05-03 |
Family
ID=43410084
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2011/005786 WO2012033285A2 (ko) | 2010-09-09 | 2011-08-09 | 핀-타입 그리퍼 장치 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8714608B2 (ko) |
KR (1) | KR100996440B1 (ko) |
CN (1) | CN103108818B (ko) |
BR (1) | BR112013005411B1 (ko) |
DE (1) | DE112011103023T5 (ko) |
WO (1) | WO2012033285A2 (ko) |
Families Citing this family (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA2841813C (en) * | 2011-07-20 | 2020-08-18 | Trebro Holding, Inc. | Sod roll pickup mechanism |
CN105555688B (zh) * | 2013-10-01 | 2017-05-17 | J.施迈茨有限公司 | 针式夹具 |
JP6270595B2 (ja) * | 2014-04-01 | 2018-01-31 | 鈴鹿エンヂニヤリング株式会社 | ベールゴムの吊り揚げ搬送方法及びその装置 |
DE102014219719B4 (de) * | 2014-09-29 | 2018-05-03 | Ipr Intelligente Peripherien Für Roboter Gmbh | Nadelgreifer |
WO2016070358A1 (zh) * | 2014-11-05 | 2016-05-12 | 安徽永成电子机械技术有限公司 | 一种自动灌装线用仿生开袋装置 |
CN104611850B (zh) * | 2015-03-02 | 2016-09-21 | 南京工业职业技术学院 | 一种可调式布料抓取爪盘 |
RU2662659C2 (ru) * | 2015-03-19 | 2018-07-26 | ВИ.БЕ.МАК. С.п.А. | Устройство для размещения кусков ткани на швейных машинах |
CN104960905A (zh) * | 2015-06-17 | 2015-10-07 | 安徽埃夫特智能装备有限公司 | 一种针式吸盘 |
CN105236131B (zh) * | 2015-09-11 | 2017-12-22 | 苏州博众精工科技有限公司 | 一种提取装置 |
CN105151774B (zh) * | 2015-09-11 | 2018-08-21 | 博众精工科技股份有限公司 | 一种提取装置 |
CN105350191B (zh) * | 2015-09-29 | 2018-04-24 | 广东溢达纺织有限公司 | 唛头自动车缝系统 |
CN105217109B (zh) * | 2015-09-29 | 2017-08-25 | 广东溢达纺织有限公司 | 自动缝唛头方法 |
KR101834459B1 (ko) * | 2016-07-07 | 2018-03-06 | (주)주강로보테크 | 파지 장치 |
KR101826633B1 (ko) * | 2016-07-27 | 2018-03-22 | (주)주강로보테크 | 파지 장치 |
KR101866349B1 (ko) * | 2017-01-25 | 2018-06-11 | 주식회사 엠앤디 | 대상물 홀딩 시스템 |
JP2018122380A (ja) * | 2017-01-31 | 2018-08-09 | ブラザー工業株式会社 | 部品保持装置 |
CN106865193A (zh) * | 2017-03-15 | 2017-06-20 | 台州职业技术学院 | 一种刺入式抓取器 |
CN106946033B (zh) * | 2017-04-18 | 2022-12-13 | 福恩达机器人(昆山)有限公司 | 一种针刺式自动取料机构 |
EP3395511A1 (de) * | 2017-04-28 | 2018-10-31 | Albrecht Bäumer GmbH & Co. KG Spezialmaschinenfabrik | Nadelgreifer zur handhabung von werkstücken mittels greifnadeln |
DE102017209661A1 (de) * | 2017-04-28 | 2018-10-31 | Albrecht Bäumer GmbH & Co.KG Spezialmaschinenfabrik | Nadelgreifer zur Handhabung von Werkstücken mittels Greifnadeln |
CN109202874A (zh) * | 2017-07-05 | 2019-01-15 | 海南大学 | 一种橡胶干燥生产线卸胶机械手 |
FR3079767B1 (fr) * | 2018-04-06 | 2020-03-27 | Compagnie Generale Des Etablissements Michelin | Dispositif et procede de prehension de bloc elastomerique souple |
ES2686149B2 (es) * | 2018-04-26 | 2019-08-20 | Ledisson A&It S L | Sistema y procedimiento para el destroquelado de piezas fabricadas por un troquel |
DE102018112307A1 (de) * | 2018-05-23 | 2019-11-28 | Olbrich Gmbh | Greiferanordnung für das Anheben eines biegeschlaffen Halbzeugs von einer Unterlage und ein entsprechendes Verfahren |
CN108792044A (zh) * | 2018-06-28 | 2018-11-13 | 哈尔滨联科包装机械有限公司 | 全自动无纺布袋粉体包装机的针式开袋器及开袋方法 |
FR3083475B1 (fr) * | 2018-07-05 | 2021-11-05 | Michelin & Cie | Dispositif pour la fabrication d'un pneumatique comprenant des aiguilles |
KR102121422B1 (ko) * | 2018-07-11 | 2020-06-10 | 김덕영 | 니들 그립 장치 |
US11167423B1 (en) * | 2019-02-18 | 2021-11-09 | Amazon Technologies, Inc. | End of arm tool capable of ejecting totes |
CN109719038A (zh) * | 2019-03-12 | 2019-05-07 | 广州盛原成自动化科技有限公司 | 布料抓取装置 |
CN109928234A (zh) * | 2019-03-14 | 2019-06-25 | 杜怡清 | 一种木屑装车器 |
GB201906418D0 (en) | 2019-05-07 | 2019-06-19 | Valka Ehf | Conveyor system and method |
KR102155892B1 (ko) * | 2019-06-05 | 2020-09-15 | (주)에이치에스엠 | 통기성 시트소재의 분리 및 이송용 그리퍼 |
KR102202450B1 (ko) * | 2019-06-19 | 2021-01-13 | (주)휴먼텍 | 그리핑 척유닛 및 이의 제어방법 |
IT201900020260A1 (it) * | 2019-11-04 | 2021-05-04 | Pro Form S R L | Apparato e metodo per applicare in modo automatico elementi in gomma su una fustella |
CN111824770A (zh) * | 2020-08-19 | 2020-10-27 | 鸿泰佛吉亚复合材料(武汉)有限公司 | 一种抓取smc片材插针结构 |
KR102503017B1 (ko) * | 2021-02-26 | 2023-02-24 | (주)썬테크 | 자동 봉제 시스템 |
CN113387145A (zh) * | 2021-04-30 | 2021-09-14 | 浙江达峰汽车技术有限公司 | 三元催化器层叠衬垫逐块转移装置 |
EP4119307A1 (en) | 2021-07-14 | 2023-01-18 | UNISTAR Sp. z o.o. | Needle gripper |
TWI810085B (zh) * | 2022-10-07 | 2023-07-21 | 峻典股份有限公司 | 多角度刺針夾具裝置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0557647A (ja) * | 1991-09-03 | 1993-03-09 | Nec Corp | スポンジ供給用ロボツトハンド |
JPH07256582A (ja) * | 1994-03-23 | 1995-10-09 | Toumei Eng:Kk | メカニカルハンド |
JPH09225714A (ja) * | 1996-02-16 | 1997-09-02 | Plus Eng:Kk | 4爪チャック |
JP2005333827A (ja) * | 2004-05-24 | 2005-12-08 | Mayekawa Mfg Co Ltd | 食材の把持移動方法及び装置 |
Family Cites Families (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2604351A (en) * | 1948-11-25 | 1952-07-22 | Rose Brothers Ltd | Apparatus for manipulating articles of plastic material |
US3386763A (en) | 1966-10-21 | 1968-06-04 | United Shoe Machinery Corp | Flat piece pickup heads |
US3498661A (en) * | 1968-02-02 | 1970-03-03 | Anthony J Graziano | Carpet stretching apparatus |
US3886617A (en) | 1974-05-28 | 1975-06-03 | Garrie Labran | Self cleanable hair brush |
US4009786A (en) * | 1974-12-02 | 1977-03-01 | Kenneth Joseph Littlewood | Method of and apparatus for handling fabric workpieces |
DD153484A3 (de) | 1980-03-28 | 1982-01-13 | Horst Aurich | Vorrichtung zum vereinzeln flexibler flaechengebilde |
US4444384A (en) | 1981-07-16 | 1984-04-24 | Keeton John H | Cloth pickup and folding head |
US4688837A (en) | 1985-12-11 | 1987-08-25 | Fieldcrest Cannon, Inc. | Robot end effector mechanism for gripping and holding a flat textile article in a predetermined orientation |
CH680850A5 (ko) * | 1986-12-03 | 1992-11-30 | Antogi Ag | |
US4874194A (en) | 1988-06-28 | 1989-10-17 | Nicky Borcea | Gripper device |
US5116094A (en) * | 1989-03-14 | 1992-05-26 | The Boeing Company | Apparatus and method for handling honeycomb core |
US5054831A (en) * | 1989-04-07 | 1991-10-08 | Rutgers University | Piercing element gripping apparatus |
US5125708A (en) | 1991-05-20 | 1992-06-30 | Nicky Borcea | Wedge gripper |
DE4345042C1 (de) | 1993-12-31 | 1995-05-04 | Hebel Ag | Vorrichtung zum Entfernen der beim Schneiden von plastischen Porenbetonblöcken od. dgl. entstehenden oberen Abfallschicht |
US6092848A (en) | 1998-12-01 | 2000-07-25 | Gimatic S.P.A. | Pneumatic parallel or radial gripper |
US6309001B1 (en) * | 1999-03-01 | 2001-10-30 | Abb Flexible Automation, Inc. | Article piercing end effector |
JP2000317871A (ja) | 1999-05-11 | 2000-11-21 | Akihiro Hayashi | 異物の付着を排除しながら把持する搬送用把持具 |
US6394521B1 (en) | 2000-03-10 | 2002-05-28 | Millo Bertini | Gripper with enhanced gripping power accuracy and repeatability |
KR20040038004A (ko) | 2002-10-31 | 2004-05-08 | 기아자동차주식회사 | 자동차의 통합형 글래스 안테나 |
GB2411376B (en) | 2004-02-24 | 2007-10-03 | Biomet Merck Ltd | Gripping tool |
FR2870930B1 (fr) | 2004-05-28 | 2006-07-07 | Buyer Mimeure Edouard De | Dispositif autorisant l'extraction de pointe de fleche ou de fleche tiree a l'arc de son support receptif |
CN101279653B (zh) * | 2008-04-02 | 2010-06-09 | 格兰达技术(深圳)有限公司 | 一种标签夹具及应用该标签夹具的手机电池自动裹标机 |
EP2490866B1 (en) | 2009-10-20 | 2021-08-25 | Nexus Biosystems, Inc. | Gripper apparatus and method for containers of different sizes |
IT1397845B1 (it) | 2010-02-04 | 2013-02-04 | Gimatic Spa | Pinza pneumatica ad aghi |
US8141920B2 (en) * | 2010-02-23 | 2012-03-27 | Accel Pak, Incorporated | Gripper |
-
2010
- 2010-09-09 KR KR1020100088175A patent/KR100996440B1/ko active IP Right Grant
-
2011
- 2011-08-09 WO PCT/KR2011/005786 patent/WO2012033285A2/ko active Application Filing
- 2011-08-09 DE DE112011103023T patent/DE112011103023T5/de not_active Ceased
- 2011-08-09 BR BR112013005411A patent/BR112013005411B1/pt not_active IP Right Cessation
- 2011-08-09 CN CN201180043666.XA patent/CN103108818B/zh active Active
- 2011-08-09 US US13/820,191 patent/US8714608B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0557647A (ja) * | 1991-09-03 | 1993-03-09 | Nec Corp | スポンジ供給用ロボツトハンド |
JPH07256582A (ja) * | 1994-03-23 | 1995-10-09 | Toumei Eng:Kk | メカニカルハンド |
JPH09225714A (ja) * | 1996-02-16 | 1997-09-02 | Plus Eng:Kk | 4爪チャック |
JP2005333827A (ja) * | 2004-05-24 | 2005-12-08 | Mayekawa Mfg Co Ltd | 食材の把持移動方法及び装置 |
Also Published As
Publication number | Publication date |
---|---|
US20130187398A1 (en) | 2013-07-25 |
WO2012033285A3 (ko) | 2012-05-03 |
CN103108818A (zh) | 2013-05-15 |
BR112013005411B1 (pt) | 2019-12-10 |
BR112013005411A2 (pt) | 2016-06-07 |
KR100996440B1 (ko) | 2010-11-24 |
CN103108818B (zh) | 2014-11-05 |
US8714608B2 (en) | 2014-05-06 |
DE112011103023T5 (de) | 2013-07-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2012033285A2 (ko) | 핀-타입 그리퍼 장치 | |
KR100996441B1 (ko) | 핀-타입 그리퍼 장치 | |
WO2013108992A1 (ko) | 홀딩-포인트를 갖는 그리퍼 장치 | |
WO2016167585A1 (ko) | 슬롯 다이 코팅 장치 | |
WO2013162182A1 (ko) | 인-라인 진공펌프 | |
WO2013162268A1 (ko) | 병렬형 5자유도 마이크로 로봇 | |
WO2015026036A1 (ko) | 전선 포설용 이송장치 | |
WO2018207983A1 (ko) | 툴어셈블리체인저 | |
WO2009151250A2 (en) | Slide gate | |
WO2015141980A1 (ko) | 진공 시스템용 체크-밸브 어셈블리 | |
WO2021201396A1 (ko) | 픽커 장치 | |
WO2015147388A1 (ko) | 오토크린머신 | |
WO2022114385A1 (ko) | 거더 정밀 거치용 다중 유압 로봇 시스템 | |
WO2023243926A1 (ko) | 다기능 반송로봇을 이용한 반도체 웨이퍼 세정장비 | |
WO2016122073A1 (ko) | 비닐 컷팅장치용 절단헤드 | |
WO2019074175A1 (en) | BIAXIAL ANTENNA USING A SINGLE ENGINE | |
WO2017047840A1 (ko) | 손가락 운동장치 | |
WO2014030870A1 (ko) | 직각으로 토출되는 시트성형용 압출기다이스 | |
WO2017164704A1 (ko) | 복합 광원 모듈을 가지는 카메라 접사용 기구 및 이를 이용한 지문 시편 촬영 방법 | |
WO2022039337A1 (ko) | 자동 피치 조절이 가능한 픽커장치 | |
WO2021153967A1 (ko) | 핑거 어셈블리 및 이를 포함하는 로봇핸드 | |
WO2017073840A1 (ko) | 초고속 하이브리드 프레스를 위한 초고속 이송로봇 | |
WO2017043809A1 (ko) | 계측기용 웨이퍼 센터링 디바이스 | |
WO2022139178A1 (ko) | 자력결합을 이용하는 로드락 챔버용 기판 이송 장치 | |
EP4058275A1 (en) | Apparatus for fixing thermoplastic composite |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201180043666.X Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11823718 Country of ref document: EP Kind code of ref document: A2 |
|
DPE2 | Request for preliminary examination filed before expiration of 19th month from priority date (pct application filed from 20040101) | ||
WWE | Wipo information: entry into national phase |
Ref document number: 13820191 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1120111030231 Country of ref document: DE Ref document number: 112011103023 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 11823718 Country of ref document: EP Kind code of ref document: A2 |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112013005411 Country of ref document: BR |
|
ENP | Entry into the national phase |
Ref document number: 112013005411 Country of ref document: BR Kind code of ref document: A2 Effective date: 20130306 |