WO2012033285A3 - 핀-타입 그리퍼 장치 - Google Patents

핀-타입 그리퍼 장치 Download PDF

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Publication number
WO2012033285A3
WO2012033285A3 PCT/KR2011/005786 KR2011005786W WO2012033285A3 WO 2012033285 A3 WO2012033285 A3 WO 2012033285A3 KR 2011005786 W KR2011005786 W KR 2011005786W WO 2012033285 A3 WO2012033285 A3 WO 2012033285A3
Authority
WO
WIPO (PCT)
Prior art keywords
pin
type gripper
slide blocks
gripper
transferring
Prior art date
Application number
PCT/KR2011/005786
Other languages
English (en)
French (fr)
Other versions
WO2012033285A2 (ko
Inventor
조호영
Original Assignee
한국뉴매틱 주식회사
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 한국뉴매틱 주식회사 filed Critical 한국뉴매틱 주식회사
Priority to DE112011103023T priority Critical patent/DE112011103023T5/de
Priority to US13/820,191 priority patent/US8714608B2/en
Priority to CN201180043666.XA priority patent/CN103108818B/zh
Priority to BR112013005411A priority patent/BR112013005411B1/pt
Publication of WO2012033285A2 publication Critical patent/WO2012033285A2/ko
Publication of WO2012033285A3 publication Critical patent/WO2012033285A3/ko

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0071Gripping heads and other end effectors with needles engaging into objects to be gripped
    • 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00Separating articles from piles
    • B65H3/22Separating articles from piles by needles or the like engaging the articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H5/00Feeding articles separated from piles; Feeding articles to machines
    • B65H5/08Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
    • B65H5/14Details of grippers; Actuating-mechanisms therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2403/00Power transmission; Driving means
    • B65H2403/50Driving mechanisms
    • B65H2403/53Articulated mechanisms
    • B65H2403/532Crank-and-rocker mechanism
    • B65H2403/5321Crank-and-rocker mechanism with oscillating crank, i.e. angular movement of crank inferior to 360
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2403/00Power transmission; Driving means
    • B65H2403/90Machine drive
    • B65H2403/93Fluid power drive

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • Jigs For Machine Tools (AREA)
  • Actuator (AREA)
  • Clamps And Clips (AREA)

Abstract

본 발명은 유연 재료의 대상물을 홀딩, 이송하기에 적합한 핀-타입의 그리퍼 장치에 관한 것이다. 본 발명의 장치는 중앙 실린더 유닛과, 피스톤 로드의 단부 좌·우측에 경사지게 배치되어 스커트형으로 확장되는 한 쌍의 슬라이드 블록과, 피스톤 운동을 블록에 전달하는 링크를 포함하여 이루어진다. 대상물에 침투하는 핀은 상기 슬라이드 블록의 단부에 장착된다. 본 발명의 장치는 하나의 실린더 유닛을 이용하여 두 개의 슬라이드 부재를 동시에 제어하도록 되어 있다. 따라서 두 개의 실린더와 복잡한 설계를 필요로 하는 종래 장치에 비하여, 구조 및 제어가 간단하며 경제적인 장점이 있다.
PCT/KR2011/005786 2010-09-09 2011-08-09 핀-타입 그리퍼 장치 WO2012033285A2 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112011103023T DE112011103023T5 (de) 2010-09-09 2011-08-09 Nadelgreifer
US13/820,191 US8714608B2 (en) 2010-09-09 2011-08-09 Pin-type gripper
CN201180043666.XA CN103108818B (zh) 2010-09-09 2011-08-09 销钉型夹子
BR112013005411A BR112013005411B1 (pt) 2010-09-09 2011-08-09 pinça do tipo pino

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 WO2012033285A2 (ko) 2012-03-15
WO2012033285A3 true 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)

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WO2013013202A2 (en) * 2011-07-20 2013-01-24 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
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
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
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
DE102017209661A1 (de) * 2017-04-28 2018-10-31 Albrecht Bäumer GmbH & Co.KG Spezialmaschinenfabrik Nadelgreifer zur Handhabung von Werkstücken mittels Greifnadeln
EP3395511A1 (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
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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
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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

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JPH07256582A (ja) * 1994-03-23 1995-10-09 Toumei Eng:Kk メカニカルハンド
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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
BR112013005411B1 (pt) 2019-12-10
KR100996440B1 (ko) 2010-11-24
BR112013005411A2 (pt) 2016-06-07
US8714608B2 (en) 2014-05-06
CN103108818A (zh) 2013-05-15
CN103108818B (zh) 2014-11-05
WO2012033285A2 (ko) 2012-03-15
DE112011103023T5 (de) 2013-07-04
US20130187398A1 (en) 2013-07-25

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