WO2018220230A1 - Palettenroboter mit greifwerkzeug - Google Patents
Palettenroboter mit greifwerkzeug Download PDFInfo
- Publication number
- WO2018220230A1 WO2018220230A1 PCT/EP2018/064636 EP2018064636W WO2018220230A1 WO 2018220230 A1 WO2018220230 A1 WO 2018220230A1 EP 2018064636 W EP2018064636 W EP 2018064636W WO 2018220230 A1 WO2018220230 A1 WO 2018220230A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- scissors
- gripping
- gripping tool
- drive
- guide
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0666—Multiple scissor linkages vertically arranged
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0475—Exchangeable fingers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
- B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
- B66C11/04—Underhung trolleys
- B66C11/06—Underhung trolleys running on monorails
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C7/00—Runways, tracks or trackways for trolleys or cranes
- B66C7/02—Runways, tracks or trackways for trolleys or cranes for underhung trolleys or cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0616—Suspended platforms, i.e. the load platform hangs from the base
Definitions
- the invention relates to a handling device, comprising a relative to a carrier movable drive carriage, wherein on the drive carriage with its one end a scissor lift is arranged, wherein further at the other end of the scissors, a gripping tool is arranged.
- pallet robots that are used for moving objects.
- Objects are, for example, flat structures such as cardboard, wooden boards and the like. But it can be offset with such a pallet robot and other items such as europallets, boxes and the like.
- the invention has for its object to improve a known handling device in terms of their operation. This object is solved by the features of claim 1.
- a handling device comprising a drive carriage which is movable relative to a carrier, wherein a plurality of scissors links having scissors is arranged on the drive carriage, wherein at the second end of the scissor a movable by means of the scissors relative to the drive carriage carrier plate is arranged , wherein on the support plate, a gripping tool is arranged, wherein the gripping tool has at least two guide rods mounted on the support plate, wherein on each of a guide rod in its end a gripping element is arranged, wherein the distance between the gripping elements controlled by a drive is variable and wherein the Gripping elements are arranged and attached to each other via a respective coupling element on its associated guide rod.
- the distance between the gripping elements By controlling the distance between the gripping elements, it is possible to pick up, move and set down an object to be moved. For this purpose, the distance of the gripping elements to one another is controlled by a control device. In the operation of such handling devices, it may happen that objects of different sizes and dimensions must be handled. It is extremely expensive, different gripping tools that are adapted to the different sizes and dimensions, vorzuhalten as such gripping tools are costly. In addition, each time when objects of different sizes are to be handled, in which the sizes differ significantly from one another, it is necessary to exchange the gripping tool currently in operation with another gripping tool adapted to the other size of the object. For this complex electrical connections, compressed air connections and the like must be separated, changed the gripping tool and then the connections are reconnected.
- the gripping tool can be adapted to different sizes of objects in that the respective guide rod is exchangeably fixed to the gripping element via a coupling element. If, for example, objects of smaller dimensions are to be handled, a short guide rod is possible. If objects larger dimensions to handle, long guide rods come into consideration. With the short guide rods a recording of a larger dimension object would not be possible. Therefore, a change is required. This change can be made simply by moving the respective guide rod to be changed out of its bearing in the gripping tool, releasing the coupling element and removing the previous guide rod.
- two guide rods are arranged and fastened to each gripper element, wherein the guide rods are respectively mounted on the carrier plate and are displaceable relative thereto.
- the object is thus received and thereby aligned by the reduction of the distance between the two gripping elements and can be optimally absorbed.
- the carrier plate in sandwich construction, wherein a support plate attached to the scissors can not change its position with respect to the scissors or only slightly displaced. A rotation of this carrier plate with respect to the scissors is not given.
- a further support plate is present, which is arranged at a distance plane-parallel to the arranged on the scissors support plate.
- sensor elements for detecting the position of at least one guide rod with respect to the carrier plate are provided and arranged on the carrier plate.
- the position of the gripper elements of the gripping tool can be determined at any time and the recording process for the object can be controlled as a function of the determined position.
- actuators such as drives (for example, electric motors, air motors, or the like) and Means for handling the articles (such as vacuum-operated suction cups or the like).
- This type of arrangement of the gripping tool on the lifting scissors is advantageously used in connection with the above-described sandwich construction of the carrier plate for use. This makes it possible that the gripping tool can perform both a linear movement (in particular of the upper support plate with respect to the scissors) and a rotational movement (between the two plane-parallel support plates).
- centering means are provided which cause the carrier plate to be aligned in a predeterminable position with respect to the scissors.
- the ends of the lifting scissor members of the scissors, with which the scissors is connected to the gripping tool are connected via attachment points with the carrier plate of the gripping tool.
- the scissor members change their angle of attack during the opening and closing of the scissors with respect to the carrier plate.
- centering means which cause the carrier plate is aligned in a predetermined position with respect to the scissors.
- a handling device also called a pawn robot
- the handling device shown not only shows the design according to the invention, but also other essential features of the handling device, which contribute alone or in combination with each other to an effective operation of this device.
- This handling device 1 comprises several components with their individual elements, which will be described in detail below.
- One component is a carrier with a drive carriage, which is present in the upper part of the handling device 1.
- a gripping tool for handling objects such as flat structures such as cardboard, wooden boards, Euro pallets and the like.
- This gripping tool can be seen in the lower part of FIG.
- Another component is a scissors, which connects the upper part of the handling device 1 with the gripping tool.
- the handling device 1 on a drive carriage 2, which is movable relative to a fixedly mounted side member 3.
- At least one drive wheel 4 of the drive carriage 2 is of. a drive motor
- control device 6 with which control signals can be received in order to operate the individual components of the handling device 1.
- the control signals are wired and / or wireless to the control device
- control device 6 sent. It is also conceivable that signals from the control device 6 to an independent of the handling device 1 external control and / or Monitoring device, which can also send the control signals to the control device 6, are sent (or also received).
- the longitudinal member 3 is fixedly mounted.
- the assembly takes place, for example, under the ceiling of a building, in particular a factory building.
- it is conceivable that it is elevated at least two points, in particular exactly two points.
- Of particular advantage is the arrangement of exactly two uprights at the two ends of the longitudinal member 3, since thus the entire intermediate region between these two points can be traveled by the drive carriage 2. With the drive carriage 2 thus a horizontal movement is realized.
- a scissors 7 is arranged for an up and down movement (vertical movement) of the gripping tools arranged below it.
- the gripping tool can be changed in height. Due to the vertical movement of the gripping tool and the horizontal movement of the drive carriage 2, objects can be picked up by means of the gripping tool, changed in their position and deposited again.
- the scissors 7 consists in a conventional manner of several HubscherengNeder 8.
- the end of two scissor members 8 is arranged via an attachment point 9 on the underside of the drive carriage 2.
- the ends of two further scissors links 9 are arranged on a support plate 11 of the gripping tool.
- the attachment points 9, 10 allow the angle at which the respective lifting scissor members 8 abut with respect to the underside of the drive carriage 2 or the top side of the carrier plate 11 to be changed, in order thus to determine the height H between the gripping tool and the drive carriage 2 to change targeted.
- Below the support plate 11 of the gripping tool at least one bearing point 12 is arranged, wherein this bearing point 12 receives at least one guide rod 13.
- a gripping element 14 is arranged at the end of the guide rod 13.
- a total of four bearing points 12 are present, with two bearing points 12 of a guide rod 13 are assigned.
- a gripping member 14 is closed, arranged.
- the two opposing gripping elements 14 can by means of a controllable drive motor 15, which acts on the guide rods 13, be changed in their distance A to each other to take an object (by the distance A is reduced) or release this after weaning ⁇ by the Distance A is at least slightly increased again).
- the height H of the scissors 7 is changed by means of an adjusting element 16.
- the adjusting element 16 is a stop. 17 assigned, with which it is attached to the gripping element. On the stop. 17 facing away from the adjusting element 16 is connected to a drive 18.
- the adjusting element 16 is, for example, a toothed belt which is located between the drive 18 and the stop. 17 is arranged.
- FIG. 1 An alternative embodiment with respect to the gripping tool is shown in FIG.
- the gripping tool has gripping elements 14 which can be moved by the drive motor 15 in their distance A to Changing the distance A objects can grab or drop again after they have been changed in position by movement of the scissors 7 and / or method of the drive carriage 2.
- the gripping tool can in particular comprise suction tulips 19 arranged on the carrier plate 11. These suction tulips 19 are operated together with a device 20 for generating a vacuum. By means of the device 20, a vacuum is generated which is transmitted to the suction cups 19 in a suitable manner (for example through hoses and / or through the interior of the lifting scissor members 8).
- these suction tulips 19 are operated in a controlled manner in order to absorb an object by suction by means of the vacuum. Thereafter, the object can be brought by means of the scissors 7 and / or the method of the drive carriage 2 in a different position and released by removing the vacuum on the suction tulip 19 again and stored with it. If the vacuum is transmitted through the interior of the lifting scissor members 8, these are sealingly connected together. This means that not only the connection points of the scissors members 8 with each other, but also the attachment points 9, 10 are formed correspondingly tight to allow the transmission of the vacuum. The same applies to the connection from the upper ends of the scissors members 8, which are arranged on the drive carriage 2, to the device 20 for generating a vacuum.
- the drive or the movement of the gripping elements 14 takes place via compressed air.
- a device 21 for generating compressed air is provided in the drive carriage 2. Again, the compressed air generated by the device 21 can be transmitted via compressed air hoses to the gripping elements 14. It is also conceivable that the compressed air is transmitted from the device 21 to the gripping elements 14 via the interior of the scissor arms 8. Also in this case, the connecting points of the scissor members 8 with each other and the attachment points 9, 10 seals are formed to avoid that at these points, where movable parts are connected to each other, compressed air (or vacuum) can escape.
- the two devices 20, 21 may each be present alone, so that the gripping tool is operated either only with a vacuum or only with compressed air. It is also conceivable that the gripping elements 14 are operated controlled by the drive motor 15 and additionally the suction tulips 19 are present, so that in this case in addition to the drive motor 15 and the device 20 for generating a vacuum is present. In this case, the device 21 for generating compressed air can be omitted. In addition, it is conceivable that the gripping elements 14 are operated by means of compressed air, so that in this case in addition to the Ansaugulpen 19 and the device 20 for generating a vacuum and the device 21 for generating compressed air is present.
- the scissors 7 comprises two strands of scissor members 8, it can be thought of one strand or both strands for the transmission (and storage) of compressed air or a strand or both strands for the transmission (and storage) of vacuum or the one strand for to form and deploy the transfer (and storage) of compressed air and the other strand for the transfer (and storage) of vacuum.
- FIG. 3 shows that the adjusting element 16 is a belt element, in particular a toothed belt.
- This adjusting element 16 is arranged between the fixed to the drive carriage 2 arranged drive 18 and the stop. 17 on the support plate 11 of the gripping tool.
- the sensor element 23 is coupled to one of the lifting scissor members 8, so that when the scissors 7 are raised or lowered, the position of the sensor element 23 with respect to the guide rod 22 changes and this change is detected by means of the sensor element 23 and a measure of the height H. is.
- the output value of the sensor element 23 is wireless or wired to the control device 6 (and optionally another control and / or Matterwachungsvorrichtu g outside the handling device 1) transmitted.
- the sensor element 23 is coupled via suitable coupling means, not shown, in a coupling point K with its associated scissors link 8. In this case, the guide rod is used
- FIG. 4 shows that the guide rod 22 does not have a sensor element
- the coupling element 23 is coupled, but has a coupling element 24.
- the coupling element 24 is coupled, but has a coupling element 24.
- the coupling 24 can be moved relatively linearly to the guide rod 22 when the scissor 7 up or moved together by means of the drive 18 and thus the height H is changed.
- the coupling ensures a targeted positive guidance of the scissors 7. It is thus avoided that the scissors 7 can come into vibration during their process.
- the drive 18 is an electric motor, it is possible, for example, to deduce from the number of its revolutions a change in the height H or the height H (in absolute terms).
- further detection means such as a laser distance measurement between the drive carriage 2 and the carrier plate 11.
- a second guide rod 22 which is also associated with its own coupling element 24.
- This latter Coupling element 24 (not visible in FIG. 4), in turn, is coupled with other lifting-scissor members 8, likewise not shown, in a further coupling point K, these further lifting-scissor members 8 forming the second string of the lifting scissors 7.
- the arrangement described above results in a symmetrical structure of the forced operation of the scissors 7, when this is opened or closed.
- the drive 18 is for example an electric motor (not shown) which acts on a toothed belt, which is supported on the gripping tool and by changing the height H or the position of the gripping tool with respect to the drive carriage 2 and also the position of the gripping tool with respect to the work surface changed.
- FIGS. 5 and 6 show further detail views of the longitudinal member 3 in cooperation with the drive carriage 2.
- the longitudinal member 3 is formed as an H-shaped carrier.
- This carrier has a middle leg 25 and starting from the two ends of the middle leg 25 protruding upper leg 26 and lower leg 27.
- the intermediate region between the legs 25, 26, 27 is thus available, in particular to arrange the drive means of the drive carriage 2, the control device 6, optionally the devices 20, 21 and means for guiding the drive carriage 2 with respect to the side rail 3 during its movement or to integrate within this area.
- the control device 6 optionally the devices 20, 21 and means for guiding the drive carriage 2 with respect to the side rail 3 during its movement or to integrate within this area.
- not a single element projects beyond the ends of the two legs 26, 27.
- the integration has the advantage that a compact design of the drive carriage 2 is realized.
- the at least one drive wheel 4, which is already shown schematically in FIG. 1, is connected via a shaft 28 to an electric motor 29, which moves the drive carriage 2 along the longitudinal carrier 3.
- the drive wheel 4 is supported on the middle limb 25, preferably exactly in the middle between the two limbs 26, 27. It can also be supported at another location on the middle leg 25 or on one of the two legs 26, 27.
- a guide wheel 30 is likewise preferably arranged in the middle of the center leg 25 (again preferably exactly opposite the position of the drive wheel 4).
- the guide wheel 30 is supported on a base 31 of the drive carriage 2.
- This support can either be rigid or, as shown in Figure 5, take place via a spring element 32.
- the support via a spring element 32 has the advantage that not only tolerances of the longitudinal member 3 during the process of the drive carriage 2 can be compensated, but also that a cornering is possible when the longitudinal member 3 has an arc shape in its longitudinal extent.
- the drive carriage 2 has at least one supporting wheel 33 which is arranged, for example, via a shaft 34 on a base of the drive carriage 2 (for example its side part) and is supported there.
- the at least one supporting wheel 33 is supported on the lower leg 27.
- the drive carriage 2 each have approximately in its end region in each case a supporting wheel 33, that is, a total of four supporting wheels 33.
- Two of the supporting wheels 33 are thus supported on one side of the middle leg 25 on the lower leg 27 and the two other supporting wheels 33 on the other side.
- three load-bearing wheels tripod principle
- FIG. 6 shows how power supply means are integrated within the drive carriage 2 and in the inner region of the H-shaped longitudinal member 3 between the legs 25, 26, 27.
- the power supply means is a busbar 35, which is arranged over the longitudinal course of the longitudinal member 3 at its center leg 25.
- a power distributor 36 is arranged, which is connected via current collector 37 to the busbar 35. While three current collectors 37 are shown in FIG. 6, more or fewer than three current collectors 37 can also be installed.
- the power supply means not only for the power supply, for example to the drives 15 or 18, but also to transmit control and / or sensor signals about it.
- the drive carriage 2 may also include a cover 38 which covers at least partially or completely the free area of the longitudinal member 3, formed by the ends of the legs 26, 27.
- a cover 38 has the advantage that the inner region of the longitudinal member 3 and thus the inner region of the drive carriage 2 is protected against access during operation of the handling device 1. In addition, disturbing contamination of this interior area are avoided by the closed cover 38.
- a lateral part of the drive carriage 2 is connected to a hinge 39.
- a mounting flap (which could also be referred to as maintenance flap, so the cover 38) is arranged to be movable.
- FIG. 7 shows the gripper tool shown schematically in FIG. 1 with further details.
- the basic principle remains that on the support plate 11 mounted guide rods 13 are provided, on which gripping elements, in particular plate-shaped gripping elements are arranged.
- the drive motor 15 operated electrically or with compressed air or the like
- the distance A between the gripping elements 14 is changed controlled to receive the object to be moved, move and set down again.
- the guide rods 13 are mounted in bearing points 12 on the support plate 11 and movable relative thereto.
- the gripping elements 14 are not fixed to the guide rods 13, in particular at its ends, arranged and fixed, but the arrangement and attachment via a coupling element 40.
- the coupling element 40 may, for example, a screw-clamp attachment of the end of the guide rod 13th be on the associated part of the gripping element 14. This gives a simple exchange of the elements involved. While maintaining the guide rods 13 thus different gripping elements 14 can be used. For the same or different gripping elements 14 and the guide rods 13 can be exchanged, so that, for example, short, medium and long guide rods, which are selected depending on the dimensions of the object to be handled, can be used. Not shown, but there are sensor elements which are arranged in particular on the support plate 11. With these sensor elements, the position of at least a guide rod 13, preferably all guide rods 13, determined in relation to the support plate 11 and transmitted to the control device 6.
- the scissors 7 can be arranged on the gripping tool for the purpose of centering the gripping tool with respect to the scissors 7.
- the respective ends of the lifting scissor members 8 with their attachment points 0 are arranged on a guide carriage 41.
- the angle of the lifting scissor members 8 arranged there can be changed with respect to the surface of the support plate 11. This is done when the scissor 7 is opened or closed.
- the respective guide carriage 41 is slidably disposed on a guide rail 42 and thus is positionally variable with the guide carriage 41 in operative connection.
- the carrier plate 11 and thus the entire gripping tool is always centered (in the sense of a defined position) with respect to the drive carriage 2 or aligned with respect to the scissor 7. This centering is not always given for example by shocks when receiving the object.
- the scissors 7 can be aligned via the operative connection of the guide carriage 41 with the guide rail 42 with respect to the gripping tool.
- compensation means 44 are arranged on a base 43 of the support plate, is effected with the compensation means 44 that then, if the scissors 7 is no longer centrally aligned with the gripping tool, a return to the centrally aligned position is ensured .
- These pouring means 44 may be, for example, spring elements. It is also conceivable not to arrange the compensating means 44 on the base 43 of the carrier plate 11, but the compensating means 44 (for example in the form a cable) to the two opposite guide carriage 41 to arrange and fasten and at least two, preferably three deflection rollers, which are arranged and fixed to the support plate 11, to redirect.
- the support plate 11 is designed as a one-piece planar structure.
- the guide rods are located with the gripping elements and their associated storage.
- the gripping elements can be rotated about the vertical axis of the handling device 1. This rotation can be stepped (for example by 90 °) or steplessly controlled.
- an adjustment of the position of the gripping elements 14 with respect to the male object is possible.
- the detection of the position of the male object can be done for example by suitable image capture means.
- FIG. 8 shows a particularly preferred embodiment of the centering of the gripping tool with respect to the center vertical axis of the scissors 7 or the drive carriage 2 shown.
- the respective scissor members 8 are in turn arranged on a respective guide carriage 41.
- a guide carriage 41 is associated with a fixed to the support plate 11 guide rail 42 and is in operative connection with this.
- deflection rollers 45, 46 and 47 are mounted on the support plate 11 in the arrangement shown.
- One end of a cable 48 is attached to the one end of the guide carriage 41 of the one strand of the scissors 7 and the other end to the opposite guide carriage 41 of the same strand of the scissors 7. Due to this staggered arrangement of the deflection rollers 45,46 and 47 and the corresponding offset and the resulting leadership of the cable 48 on the one hand a guided linear reciprocating motion of the gripping tool is allowed, but on the other hand also causes, if a deflection of the centered position occurred (for example, due to an external impact), the gripping tool returns to its center position with respect to the vertical axis of the handling device 1.
- the arrangement shown in Figure 8 the deflection rollers 45, 46 and 47 and the cable 48 on the other side of the scissors 7, that is, on the opposite strand of the scissors 7, are arranged.
- an arrangement of only two deflection rollers can be considered, wherein the one deflection roller on the support plate 11 is arranged approximately in the region between two guide carriage of a strand of the scissors 11 and causes an offset of the cable.
- a further deflection roller is present on the support plate, which realizes a deflection of the cable to about or exactly 80 °.
- the latter arrangement is preferably in the one strand realized the scissors 7, in which case in the other strand of the scissors 7, the arrangement shown in Figure 8 is present.
- a gripping tool for handling objects such as europallets, boxes or the like
- a gripping tool for handling objects such as europallets, boxes or the like
- two guide rods of flexible length arranged parallel to each other.
- gripping elements for example plate-shaped elements
- the guide rods are arranged on a carrier plate and are controlled by drive elements, for example stepper motors.
- the actuators and sensors required for the movement of the guide rods or the gripper elements arranged thereon are all arranged centrally on the carrier plate.
- the position detection of the gripping elements is decentralized, so that no external sensors in the range of travel of the gripping elements are required.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2018277339A AU2018277339A1 (en) | 2017-06-02 | 2018-06-04 | Pallet robot having a gripping tool |
CN201880048481.XA CN110944932B (zh) | 2017-06-02 | 2018-06-04 | 具有抓取装置的托盘机器人 |
US16/618,476 US20200180918A1 (en) | 2017-06-02 | 2018-06-04 | Pallet robot with grab |
EP18729106.7A EP3630669A1 (de) | 2017-06-02 | 2018-06-04 | Palettenroboter mit greifwerkzeug |
CA3065869A CA3065869A1 (en) | 2017-06-02 | 2018-06-04 | Pallet robot having a gripping tool |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017112239.7 | 2017-06-02 | ||
DE102017112239 | 2017-06-02 |
Publications (1)
Publication Number | Publication Date |
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WO2018220230A1 true WO2018220230A1 (de) | 2018-12-06 |
Family
ID=62528440
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2018/064636 WO2018220230A1 (de) | 2017-06-02 | 2018-06-04 | Palettenroboter mit greifwerkzeug |
Country Status (7)
Country | Link |
---|---|
US (1) | US20200180918A1 (de) |
EP (1) | EP3630669A1 (de) |
CN (1) | CN110944932B (de) |
AU (1) | AU2018277339A1 (de) |
CA (1) | CA3065869A1 (de) |
DE (1) | DE102018113202A1 (de) |
WO (1) | WO2018220230A1 (de) |
Cited By (1)
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CN110980575A (zh) * | 2019-12-19 | 2020-04-10 | 吴庆荣 | 一种新型马桶组装用抓取升降机构 |
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CN109969979B (zh) * | 2019-01-15 | 2021-04-20 | 北京博奥瑞科技有限公司 | 一种航空用的新型航空飞机尾翼清洗用升降平台 |
CN112549421B (zh) * | 2020-11-19 | 2022-11-18 | 太仓市众翔精密五金有限公司 | 一种基于物联网的智能化注塑生产流转系统 |
CN113954116A (zh) * | 2021-10-21 | 2022-01-21 | 江苏新美星包装机械股份有限公司 | 一种自定心容器抓手 |
CN115009753A (zh) * | 2022-08-09 | 2022-09-06 | 浙江仰天云信息技术有限公司 | 纸质文档储存用的电磁式放置储存装置 |
CN116890352B (zh) * | 2023-09-11 | 2023-11-10 | 四川吉埃智能科技有限公司 | 一种拿取型智能机器人 |
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JPS59149292A (ja) * | 1983-02-12 | 1984-08-27 | 中西 吉光 | 輸送装置 |
US20050079041A1 (en) * | 2003-10-13 | 2005-04-14 | International Business Machines Corporation | Hoisting device for use with overhead traveling carriage system |
EP1705108A1 (de) * | 2005-03-22 | 2006-09-27 | ROFA Rosenheimer Förderanlagen GmbH | Hebevorrichtung und Träger umfassend einer solchen Hebevorrichtung |
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JP2771517B2 (ja) * | 1996-07-16 | 1998-07-02 | 山形日本電気株式会社 | 垂直移載装置および垂直移載方法 |
US6712230B2 (en) * | 2001-11-07 | 2004-03-30 | Transportes Continuos Interiores, S.A. | Perfected device to transport vehicles in assembly lines |
JP6007880B2 (ja) * | 2013-10-10 | 2016-10-12 | 株式会社ダイフク | 天井搬送車 |
US9688328B2 (en) * | 2014-07-09 | 2017-06-27 | Toyota Motor Engineering & Manufacturing North America, Inc. | Compact hoist for overhead applications |
JP6641926B2 (ja) * | 2015-11-26 | 2020-02-05 | 株式会社ダイフク | 物品搬送設備 |
CN205527336U (zh) * | 2016-03-10 | 2016-08-31 | 湖州中辰建设有限公司 | 一种搬运装配板材的滑行小车 |
CN205603056U (zh) * | 2016-04-18 | 2016-09-28 | 滁州卷烟材料厂 | 卷筒的移动装置 |
CN205772750U (zh) * | 2016-06-29 | 2016-12-07 | 中国船舶重工集团公司第七一六研究所 | 一种吊装装置 |
CN106219405A (zh) * | 2016-09-13 | 2016-12-14 | 上汽通用五菱汽车股份有限公司 | 一种侧围总成吊具 |
-
2018
- 2018-06-04 CN CN201880048481.XA patent/CN110944932B/zh active Active
- 2018-06-04 US US16/618,476 patent/US20200180918A1/en not_active Abandoned
- 2018-06-04 AU AU2018277339A patent/AU2018277339A1/en not_active Abandoned
- 2018-06-04 CA CA3065869A patent/CA3065869A1/en not_active Abandoned
- 2018-06-04 EP EP18729106.7A patent/EP3630669A1/de not_active Withdrawn
- 2018-06-04 WO PCT/EP2018/064636 patent/WO2018220230A1/de active Application Filing
- 2018-06-04 DE DE102018113202.6A patent/DE102018113202A1/de not_active Ceased
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS59149292A (ja) * | 1983-02-12 | 1984-08-27 | 中西 吉光 | 輸送装置 |
US20050079041A1 (en) * | 2003-10-13 | 2005-04-14 | International Business Machines Corporation | Hoisting device for use with overhead traveling carriage system |
EP1705108A1 (de) * | 2005-03-22 | 2006-09-27 | ROFA Rosenheimer Förderanlagen GmbH | Hebevorrichtung und Träger umfassend einer solchen Hebevorrichtung |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110980575A (zh) * | 2019-12-19 | 2020-04-10 | 吴庆荣 | 一种新型马桶组装用抓取升降机构 |
Also Published As
Publication number | Publication date |
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CN110944932B (zh) | 2021-11-23 |
DE102018113202A1 (de) | 2018-12-06 |
EP3630669A1 (de) | 2020-04-08 |
CN110944932A (zh) | 2020-03-31 |
US20200180918A1 (en) | 2020-06-11 |
CA3065869A1 (en) | 2018-12-06 |
AU2018277339A1 (en) | 2020-01-02 |
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