WO2017029012A1 - Dispositif et procédé de manutention et/ou de manipulation d'articles tels que des conteneurs ou des colis - Google Patents

Dispositif et procédé de manutention et/ou de manipulation d'articles tels que des conteneurs ou des colis Download PDF

Info

Publication number
WO2017029012A1
WO2017029012A1 PCT/EP2016/065678 EP2016065678W WO2017029012A1 WO 2017029012 A1 WO2017029012 A1 WO 2017029012A1 EP 2016065678 W EP2016065678 W EP 2016065678W WO 2017029012 A1 WO2017029012 A1 WO 2017029012A1
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator
piece goods
electrical energy
handling
movement space
Prior art date
Application number
PCT/EP2016/065678
Other languages
German (de)
English (en)
Inventor
Peter Zeiner
Kurt Perl
Original Assignee
Krones Aktiengesellschaft
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 Krones Aktiengesellschaft filed Critical Krones Aktiengesellschaft
Publication of WO2017029012A1 publication Critical patent/WO2017029012A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0045—Contactless power transmission, e.g. by magnetic induction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source

Definitions

  • Device and method for handling and / or manipulating articles such as containers or piece goods
  • the present invention relates to a device for handling, stacking and / or manipulating articles, groupings, containers, piece goods, packaged and / or piece goods or the like with the features of
  • the invention also relates to a method with the
  • the height and / or positionally variable within a definable range of motion is movably suspended on a stationary section.
  • Known packaging or palletizing systems for stacking and palletizing objects such as packages or containers with several articles such as beverage containers usually have horizontal conveyors with conveyor belts on which the piece goods or packages are transported in uninterrupted or irregular sequence to a handling device. There is a shift, alignment and / or turning individual piece goods or containers to bring them into a suitable spatial arrangement that forms a basis to push the piece goods or containers in subordinate Gruppierstationen to stackable cargo or bundle layers.
  • Handling devices can also be provided with grippers, for example, suspended from a gantry system and moved in a defined range of motion, rotated and also can be moved in the vertical direction to lift individual cargo or containers for turning and / or moving.
  • the grippers can, for example, also be arranged on multi-axis robot arms, which are laterally attached to the
  • Another gripping device shows, for example, DE 102 04 513 A1.
  • a plurality of opposing gripping arms are guided in a central piece.
  • a gripper arm is displaceable by means of an actuator with respect to another gripping arm, so that both gripping arms can be closed.
  • gripping portions for gripping building material packages are provided on the mutually facing sides.
  • Deltarobotern or parallel kinematic robots are based, which are referred to in a three-arm design as Tripode.
  • Each of the arms of such a tripod or delta robot consists of a driven at the base about a frame-fixed pivot axis pivotally mounted upper arm and articulated to the upper arm and the coupling element connected to the lower arm.
  • the forearm is passive, free from a drive to its pivoting relative to the upper arm or the
  • One or more of the lower arms can be connected, for example, via ball joints with the respectively associated upper arms and the coupling element.
  • Such a single forearm is free to pivot and has no inherent stability.
  • All upper arms of a delta robot are in each case mounted so as to be pivotable about preferably pivot axes lying within a common plane.
  • Three connected to the coupling element and each with its associated upper arm forearms form a force triangle in each position, which can only move when the three upper arms synchronously calculated for them
  • Two or more pivot axes can be parallel; As a rule, all pivot axes have two points of intersection with other pivot axes.
  • At least one of the lower arms may consist of two linkage elements, also referred to as ellipses and spokes, forming a parallelogram linkage, for guiding the coupling element in at least one predetermined orientation relative to the base.
  • the coupling element serves as a work platform, which is also referred to in practice as a tool center point (TCP).
  • TCP tool center point
  • a manipulator may be arranged, for example.
  • TCP tool center point
  • a manipulator may be arranged, for example.
  • In the form of mutually deliverable gripping arms o.
  • Handling device so that thus articles, containers o.
  • Piece goods can be gripped and rotated, moved or lifted from a support surface.
  • the arranged on the working platform or the TCP manipulator can optionally be rotatably mounted to align the manipulator or perform a desired rotation of the article or piece goods can.
  • a drivable rotatable mounting of the manipulator on the coupling element is also conceivable to arrange the manipulator non-rotatably on the coupling element and the entire
  • Coupling element to rotate with appropriate compensation movement of the arms by means of the telescopic shaft relative to the base. Along with this, however, is the
  • the known parallel kinematics robots or so-called tripods can cover a work space available for the respective robot, which is composed of the length of the upper arms, the distance between the attachment of the upper arms to the center of a frame-fixed base, the length of the lower arms, the distance of the attachment
  • Ball segment connects. Furthermore, the working space at the upper edge is possibly still limited by maximum pivoting angle gimbal telescopic drive shafts.
  • lifting columns are used with vertically movable and / or within a height-variable horizontal plane pivotable manipulators.
  • Such a manipulator can, for example, be formed by a shutter gripper head, a support plane with slide elements or the like.
  • the manipulators are equipped with grippers or other moving parts, which may have a mechanical, electrical, pneumatic or hydraulic drive.
  • mechanical drives transmission elements are necessary such as. Propeller o. The like., While in all other types of drive line-bound energy transfers are required. Since these lines are exposed in the running in rapid succession and sometimes very fast positioning movements associated manipulator movements a high mechanical load, they are usually also a relatively high wear, so they need to be replaced more frequently, unplanned shutdowns due to failure lines should be avoided become.
  • This manipulator comprises one or more means for gripping, moving and / or handling the articles,
  • the manipulator has at least one electromotive and / or electromagnetic drive for the particular rotary or
  • the device has at least one arranged within the movement space or at the edge of the movement space interface to the contactless
  • the device according to the invention can be preferably disposed within the definable range of motion or at the edge of the movement space of the manipulator at least one mating interface for contactless energy transfer to the at least one electrical energy storage of the manipulator. If in the present context of an interface and a counter-interface is mentioned, so are primarily matching contact surfaces,
  • Contact areas, mating surfaces or other areas meant that allow in contactless contact an energy transfer. Although the contact surfaces, contact areas, mating surfaces or other areas can indeed touch each other, no electrical contacts are connected to one another, but the energy flow or the energy transmission takes place without contact, that is to say without contact. across the interfaces, during the
  • energy transmission can also be at a distance from one another.
  • the contactless transfer of energy from the at least one counter interface to the at least one electrical energy store of the manipulator can be effected in particular by inductive means. If matching coil sets are flowed through in the approximated interfaces or counter-intersections of current, then the coil or the coil set of the counter interface can act as a primary winding, while the coil or the coil set of the interface on the manipulator as
  • Secondary winding can act, in the current-carrying primary winding, an electric current is induced, which in turn is used to load the electrical energy storage in the manipulator.
  • the energy store associated with the manipulator can be formed in particular by at least one capacitor and / or by at least one accumulator.
  • Drive motors in the manipulator can also be several capacitors and / or
  • Accumulators be present, which preferably have an energy management, so that a sufficient residual charge can be ensured before the
  • the at least one counter-interface can be moved or adjusted in position on the movement space or within the movement space
  • Movement space is arranged.
  • Manipulator are provided at the edge of the movement space or within the movement space. The latter option may be particularly useful if the manipulator can take two or more meaningful rest or intermediate positions in which an energy transfer can take place.
  • the device according to the invention may, for example, comprise at least one gantry robot with at least one manipulator movable in at least two different spatial directions.
  • the device according to the invention can also comprise at least one lifting column with at least one manipulator which can be moved vertically and / or pivoted within a height-variable horizontal plane.
  • this device may optionally be formed by a gantry robot or by a lifting column in the above configuration.
  • Parallel kinematics robot comprising an upper suspension, on which at least two separately driven and independently movable
  • Actuator arms is formed by at least two relatively pivotable arm portions, and wherein the at least two mutually pivotable arm portions of each of the at least two actuating arms by a pivotally mounted on the upper suspension articulated upper arm and an articulated on the upper arm articulated forearm are formed.
  • the parallel kinematic robot comprises a manipulator, which comprises one or more means for gripping and / or handling the articles, groupings, containers, piece goods, packaged and / or piece goods and is mechanically coupled to the forearms of the at least two actuating arms, so that a position of the manipulator can be predetermined by a movement of one or more of the at least two actuating arms.
  • the manipulator of the parallel kinematic robot has at least one electromotive and / or electromagnetic drive for, in particular, rotary or oscillatory movement of the means for gripping and / or handling the articles, groupings, containers, piece goods, container and / or piece goods, at least this drive partially and / or temporarily fed by a manipulator spatially associated electrical energy storage.
  • Device variant or the parallel kinematic robot has an interface for contactless transmission of electrical energy to the at least one electrical energy storage.
  • this device can optionally be formed by a parallel kinematic robot with at least two actuating arms, but in particular with three actuating arms or with more than three actuating arms.
  • a parallel kinematic robot with at least two actuating arms, but in particular with three actuating arms or with more than three actuating arms.
  • Packaging machines or other machine environments are used, it may be useful in the interest of a low manipulator weight to use small actuators that can be supplied with relatively small energy storage, but often need to be recharged.
  • the advantages lie in the saving of wear-prone and a risk of damage
  • both the shafts and the optional cables or hose lines can be saved if the supply of the mounted or moving drives on the gripper or manipulator, which are provided for rotations, gripper jaws, etc., takes place by means of a battery or capacitor.
  • Condenser can be carried out in each case in a suitable phase of the working cycle, for example. During a waiting period until manipulation of the next container.
  • the above-mentioned object of the invention is further achieved by a method having the features of independent method claim 10.
  • the invention proposes a method for handling, stacking and / or manipulating articles, groupings, containers, piece goods,
  • Container and / or piece goods or the like by means of at least one manipulator before, the height and / or position variable within a definable
  • Movement is movably suspended on a stationary section, and the one or more means for gripping, moving and / or handling of the articles,
  • the manipulator has at least one electromotive and / or
  • This drive for rotational or oscillatory movement of the means for gripping and / or handling the articles, groupings, containers, piece goods, container and / or piece goods.
  • This drive is at least partially and / or temporarily fed by at least one spatially associated with the manipulator electrical energy storage, said electrical energy storage is supplied via at least one located within the movement space or at the edge of the movement space interface by contactless energy transfer with electrical energy.
  • the method may also provide that the at least one fixed or movable or adjustable at the movement space or within the
  • Movement space arranged counter interface is approached regularly and / or in response to a state of charge of the electrical energy storage by the manipulator, so that the accumulator or capacitor, the energy storage typically can form, can be supplied cyclically with the necessary energy to supply the electric drive for the manipulator or for one or more of the manipulator functions. It makes sense, the contactless energy transfer from the at least one mating interface to the at least one electrical
  • the present invention also relates to a method for operating an arrangement, comprising at least two parallel kinematic robots according to one of the embodiments described above, whose movement spaces adjoin one another or partially overlap, and which each have at least one separate counter-interface for contactless transmission of electrical energy is assigned to the energy storage on the manipulator, wherein the at least two manipulators are moved alternately to the counter interface for energy transfer, while the at least one further manipulator acts away from the associated counter interface in the movement space.
  • several staggered arranged robots can operate in a coordinated manner, so that, for example, one of the robot gets its energy storage loaded while the other acts in accordance with regulations.
  • the invention can be particularly in the packaging technology, in the
  • FIG. 1 shows a schematic view of an embodiment of a device according to the invention for handling and / or manipulating articles, groupings, containers or piece goods.
  • FIG. 2 shows a schematic detail view of the device according to FIG. 1.
  • FIGS. 1 to 2 refer to a delta kinematics robot with three similar pivoting arms or to a so-called.
  • Tripod relate, which may be part of a handling device or a manipulator for handling, for rotating, moving or picking up articles, general cargo or containers. Regarding a possible
  • German Offenlegungsschrift DE 10 2013 106 004 A1 to the entire contents of which reference is hereby expressly made.
  • the drives for the three pivot arms, etc. should therefore be omitted here.
  • the device 10 according to FIG. 1 or FIG. 2 could also have four similar pivoting arms, which can also be referred to as a so-called quadpod. Also variants with only two Stellarmen - so-called Duopods - are also variants with only two Stellarmen - so-called Duopods - are
  • FIG. 1 shows a conceivable embodiment of a device 10 according to the invention for handling and / or manipulation of articles, groups, containers, cargo or the like, not shown here, depending on the design variant either for handling and / or for
  • FIG. 2 shows some of the components of the device 10 more clearly.
  • the articles, groups, containers or piece goods, not shown in FIGS. 1 and 2 are in particular on a supporting plane and / or one
  • Handling device 10 is disposed above the support plane and / or the conveyor section 12 and includes an upper suspension 18, are hinged to the three separately driven actuating arms 20 and stored.
  • Each of these three actuating arms 20 is formed by two relatively pivotable arm portions 22 and 24, namely each by an upper arm 22 which is movable about a horizontal pivot axis and is suspended from the upper suspension 18 hinged and driven by a motor, and by a forearm 24, which is hingedly connected to the upper arm 22 and leads downwards, so that all three forearms 24 meet in a lower coupling section 26, the so-called.
  • Tool head, tool carrier or tool center point or TCP are hinged to the three separately driven actuating arms 20 and stored.
  • Each of these three actuating arms 20 is formed by two relatively pivotable arm portions 22 and 24, namely each by an upper arm 22 which is movable about a horizontal pivot axis and is suspended from the upper suspension 18 hinged and driven by a motor, and by a forearm 24, which is hingedly connected
  • a separately activatable gripping device 28 with a pair of gripping jaws which can be counteracted to one another is provided on this lower tool head, tool carrier or coupling section 26 or the TCP, the gripping and / or manipulation of the articles, groupings, located on the conveyor section 12 , Containers or general cargo serves.
  • each of the three actuating arms 20 can be actuated within certain limits, which are defined by the respective pivoting radius, independently of the other actuating arms 20, which results in a free mobility of the manipulator 16 results in a defined movement space 30 together with its gripping device 28, wherein a position of the gripping device 28 within the movement space 30 can be predetermined by a movement of one or more of the total of three actuating arms 20. This movement or
  • Working space 30 is - relative to the tool center point 26 - in the vertical direction or in the z-direction, a relatively flat cylinder, at its lower edge, a likewise relatively flat spherical segment connects, as indicated in Fig. 1.
  • the upper suspension 18 provides in the illustrated embodiment of FIG. 1 a support over a total of three inclined support beams 32, which in turn in a frame 34 of the device 14 for handling, conveying, grouping and / or packaging of articles, cargo, groups and / or containers.
  • the frame 34 may be, for example, a rigid steel support frame o. The like. With screwed vertical and horizontal beams, which receives the horizontal conveyor section 12 in the lower region.
  • the construction shown, however, is in no way limiting, but provides only one variant of a variety possible or useful feasible embodiments for the design of the device, its parts and the frame and suspension parts.
  • an electromotive drive assigned to the tool carrier 26 or the tool center point 26, which serves as a drive for the jaws of the gripping device 28 which can be delivered against each other.
  • This electromotive drive is powered by a manipulator 16 spatially associated electrical energy storage, which has a relatively low capacity and therefore must be recharged again. This often repeated reloading takes place by means of at least one arranged within the movement space 30 or at the edge of the movement space 30 interface 36 for contactless
  • the electrical energy storage can be charged and supplied with new energy.
  • FIG. 2 shows the device 10 formed by the delta-kinematics robot with three actuating arms 20 with the electromotive drive 38 arranged on the tool carrier 26 or the tool center point 26, which for the opposing opening and advancing movements 40 of FIGS Jaws 42 of the
  • Gripping device 28 is responsible.
  • the arranged on the rotatable part of the tool carrier 26 electromotive drive 38 is fed by a manipulator 16 spatially associated electrical energy storage 44, for example, by a
  • the electrical energy store 44 is coupled to a first transfer surface 46, which points outward to a second transfer surface 48 as soon as the gripping device 28 or the
  • Tool carrier 26 has moved to the loading position, where a contactless electrical energy transfer can take place.
  • the electrical energy store 44 at each approach of the manipulator 16 and the gripping device 28 to the edge the movement space 30 arranged interface 36 is loaded for contactless energy transfer and supplied with new energy.
  • the first and second transmission surfaces 46 and 48 forming the interface 36 for contactless energy transmission can be equipped, for example, with coils, so that the energy transmission can take place inductively.
  • the coil or coil set of the stationary second transmission surface 48 can function as a primary winding while the coil or coil set of the first one disposed on the gripper 28
  • Transfer surface 46 can act as a secondary winding in the at
  • an electrical current is induced current-carrying primary winding, which in turn is used to load the electrical energy storage 44 in the manipulator 16.
  • the second transfer surface 48 as a stationary counter interface to the mobile interface 36 and the mobile, arranged on the manipulator 16 first
  • Transfer surface 46 is designated. Thus, if a counter-interface is mentioned, then in the present context also the second transfer surface 48 is meant. If an interface 36 is mentioned, then it comprises at least the first transfer surface 46 (see FIG. 2).
  • the inventive device 10 has been described with reference to the in
  • the device 10 according to the invention may also include a gantry robot, not shown here, with at least one manipulator movable in at least two different spatial directions.
  • the device 10 according to the invention can also comprise at least one lifting column with at least one manipulator which can be moved vertically and / or pivoted within a height-adjustable horizontal plane.
  • this device can optionally by a parallel kinematic robot according to Fig. 1 and Fig. 2, by a Gantry robot, be formed by a lifting column or by another suitable handling device.
  • TCP Tool Center Point

Abstract

L'invention concerne un dispositif (10) et un procédé de manutention, d'empilage et/ou de manipulation d'articles, de groupements, de conteneurs, de colis, de couches de conteneurs et/ou de colis ou similaires. Un manipulateur (16) de hauteur et/ou de position variable(s) est suspendu sur une partie fixe, lequel comprend un ou plusieurs moyens de préhension, de déplacement et/ou de manutention des articles, groupements, conteneurs, colis, couches de conteneurs et/ou de colis. Le manipulateur (16) comporte au moins un entraînement (38) électromotorisé et/ou électromagnétique pour déplacer les moyens de préhension et/ou de manutention des articles, groupements, conteneurs, colis, couches de conteneurs et/ou couches de colis. L'entraînement (38) est alimenté par un accumulateur d'énergie (44) électrique associé spatialement au manipulateur (16). En outre, le dispositif (10) comprend au moins une interface (36) disposée à l'intérieur de l'espace de déplacement (30) ou sur le bord de l'espace de déplacement (30) pour le transfert sans contact d'énergie électrique à l'au moins un accumulateur d'énergie (44) électrique.
PCT/EP2016/065678 2015-08-14 2016-07-04 Dispositif et procédé de manutention et/ou de manipulation d'articles tels que des conteneurs ou des colis WO2017029012A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015113492.6A DE102015113492A1 (de) 2015-08-14 2015-08-14 Vorrichtung und Verfahren zur Handhabung und/oder zum Manipulieren von Artikeln wie Gebinden oder Stückgütern
DE102015113492.6 2015-08-14

Publications (1)

Publication Number Publication Date
WO2017029012A1 true WO2017029012A1 (fr) 2017-02-23

Family

ID=56404088

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/065678 WO2017029012A1 (fr) 2015-08-14 2016-07-04 Dispositif et procédé de manutention et/ou de manipulation d'articles tels que des conteneurs ou des colis

Country Status (2)

Country Link
DE (1) DE102015113492A1 (fr)
WO (1) WO2017029012A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3849052A4 (fr) * 2018-09-07 2022-06-08 SMC Corporation Collecteur à vanne sans fil

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112247980A (zh) * 2020-10-16 2021-01-22 苏州鸿渺智能科技有限公司 一种工业机器人上下料操作台

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1277451A2 (fr) * 2001-07-17 2003-01-22 Hugh Steeper Ltd. Dispositif de préhension
DE10204513A1 (de) 2002-02-05 2003-08-21 Probst Gmbh Greifvorrichtung zum Greifen von Gegenständen, insbesondere von Baustoffpaketen
EP1459856A1 (fr) * 2003-03-17 2004-09-22 Nitta Corporation Robot muni d'un système automatique de remplacement des batteries de son outil
EP1798007A1 (fr) * 2005-11-16 2007-06-20 Abb Research Ltd. Méthode pour changer l'outil d'un robot industriel et système comprenant un robot industriel et un outil
US20080147089A1 (en) * 2005-12-20 2008-06-19 Intuitive Surgical, Inc. Wireless communication in a robotic surgical system
DE102010006155A1 (de) 2009-01-29 2010-08-05 Fanuc Ltd Parallelroboter
US20110208353A1 (en) * 2003-12-17 2011-08-25 Abb Research Ltd. Tool for an industrial robot
EP2388216A1 (fr) 2010-05-18 2011-11-23 Krones AG Dispositif de prise
US8210068B2 (en) 2009-11-05 2012-07-03 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Rotation mechanism and robot using the same
EP2677270A1 (fr) * 2012-06-22 2013-12-25 Hexagon Technology Center GmbH Bras articulé CMM
DE102013208082A1 (de) 2013-05-02 2014-11-06 Krones Aktiengesellschaft Vorrichtung zum Umgang mit Artikeln
DE102013106004A1 (de) 2013-06-10 2014-12-11 Krones Aktiengesellschaft Vorrichtung zum Umgang mit Artikeln und Verfahren zum Betrieb einer derartigen Vorrichtung
EP2821159A1 (fr) * 2013-07-01 2015-01-07 Comau S.p.A. Tête d'outil permettant d'effectuer des opérations industrielles comportant un système de surveillance sans fil

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8167522B2 (en) * 2005-03-30 2012-05-01 Brooks Automation, Inc. Substrate transport apparatus with active edge gripper
NL2010312C2 (en) * 2013-02-15 2014-08-18 Oldin Beheer B V Load handling robot with three single degree of freedom actuators.

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1277451A2 (fr) * 2001-07-17 2003-01-22 Hugh Steeper Ltd. Dispositif de préhension
DE10204513A1 (de) 2002-02-05 2003-08-21 Probst Gmbh Greifvorrichtung zum Greifen von Gegenständen, insbesondere von Baustoffpaketen
EP1459856A1 (fr) * 2003-03-17 2004-09-22 Nitta Corporation Robot muni d'un système automatique de remplacement des batteries de son outil
US20110208353A1 (en) * 2003-12-17 2011-08-25 Abb Research Ltd. Tool for an industrial robot
EP1798007A1 (fr) * 2005-11-16 2007-06-20 Abb Research Ltd. Méthode pour changer l'outil d'un robot industriel et système comprenant un robot industriel et un outil
US20080147089A1 (en) * 2005-12-20 2008-06-19 Intuitive Surgical, Inc. Wireless communication in a robotic surgical system
DE102010006155A1 (de) 2009-01-29 2010-08-05 Fanuc Ltd Parallelroboter
US8210068B2 (en) 2009-11-05 2012-07-03 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Rotation mechanism and robot using the same
EP2388216A1 (fr) 2010-05-18 2011-11-23 Krones AG Dispositif de prise
EP2677270A1 (fr) * 2012-06-22 2013-12-25 Hexagon Technology Center GmbH Bras articulé CMM
DE102013208082A1 (de) 2013-05-02 2014-11-06 Krones Aktiengesellschaft Vorrichtung zum Umgang mit Artikeln
DE102013106004A1 (de) 2013-06-10 2014-12-11 Krones Aktiengesellschaft Vorrichtung zum Umgang mit Artikeln und Verfahren zum Betrieb einer derartigen Vorrichtung
EP2821159A1 (fr) * 2013-07-01 2015-01-07 Comau S.p.A. Tête d'outil permettant d'effectuer des opérations industrielles comportant un système de surveillance sans fil

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3849052A4 (fr) * 2018-09-07 2022-06-08 SMC Corporation Collecteur à vanne sans fil
TWI809187B (zh) * 2018-09-07 2023-07-21 日商Ｓｍｃ股份有限公司 無線閥箱

Also Published As

Publication number Publication date
DE102015113492A1 (de) 2017-02-16

Similar Documents

Publication Publication Date Title
EP3020513B1 (fr) Procédé de maniement et/ou de manipulation des articles comme des récipients ou des marchandises au détail
EP2799190B1 (fr) Dispositif de manutention d'articles
WO2017067726A1 (fr) Robot à cinématique parallèle et procédé pour faire fonctionner un tel robot
DE102014223389A1 (de) Vorrichtung und Verfahren zur Handhabung von Artikeln wie Gebinde, Stückgüter oder dergleichen
EP2813328B1 (fr) Dispositif de manutention d'articles et procédé de fonctionnement d'un tel dispositif
EP3221092B1 (fr) Dispositif et procédé de manipulation d'articles tels que des groupements d'articles, des colis ou analogues
DE102015216550A1 (de) Robotergreifer
DE102016106082A1 (de) Robotersystem mit umkonfigurierbarer Organanordnung
EP3144255A1 (fr) Dispositif destine a reconditionner des marchandises au detail regroupees en emballages unitaires
DE102016220643A1 (de) Robotergreifer mit beweglichen Hilfssaugelementen
EP3365139A1 (fr) Robot à cinématique parallèle et procédé de manipulation dudit robot
DE102015225332A1 (de) Parallelkinematik-Roboter, insbesondere Industrieroboter
DE102013213057A1 (de) Vorrichtung zum Umgang mit Artikeln
WO2017140400A1 (fr) Dispositif et procédé de manutention et/ou de manipulation d'articles tels que des colis ou des marchandises
EP3221093B1 (fr) Dispositif et procédé de manutention et/ou de manipulation d'articles tels que des ensembles d'articles ou des colis
WO2017029012A1 (fr) Dispositif et procédé de manutention et/ou de manipulation d'articles tels que des conteneurs ou des colis
EP3006382A1 (fr) Unite de manipulation et/ou de prehension et procede de manipulation d'objets
EP3173192B1 (fr) Dispositif et procédé pour le contrôle coordonné d'au moins deux robots à cinématique parallèle
DE102016113448A1 (de) Parallelkinematik-Roboter, Verfahren zu dessen Herstellung und Verwendung eines Parallelkinematik-Roboters
DE102015223528A1 (de) Parallelkinematik-Roboter mit mindestens einer Entlastungseinrichtung und Verfahren zum Betreiben eines Parallelkinematik-Roboters
DE102014223416A1 (de) Vorrichtung zur Handhabung und/oder zum Manipulieren von Artikeln wie Gebinden oder Stückgütern
DE102013213609A1 (de) Vorrichtung zum Umgang mit Artikeln
DE102015219610A1 (de) Parallelkinematik-Roboter und Verfahren zu dessen Handhabung
EP3826812A1 (fr) Procédé et système de commande pour étalonner un dispositif de manipulation
DE102015115965A1 (de) Parallelkinematik-Roboter und Verfahren zu dessen Handhabung

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: 16736827

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 16736827

Country of ref document: EP

Kind code of ref document: A1