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1. WO2020115075 - GRIPPER SYSTEM FOR INDUSTRIAL ROBOTS FOR GRIPPING ITEMS, AND METHOD FOR CONTROLLING THE SAME

Publication Number WO/2020/115075
Publication Date 11.06.2020
International Application No. PCT/EP2019/083552
International Filing Date 03.12.2019
IPC
B25J 15/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads
B65G 47/90 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
47Article or material-handling devices associated with conveyors; Methods employing such devices
74Feeding, transfer, or discharging devices of particular kinds or types
90Devices for picking-up and depositing articles or materials
B66C 1/46 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
1Load-engaging elements or devices attached to lifting, lowering, or hauling gear of cranes, or adapted for connection therewith for transmitting forces to articles or groups of articles
10by mechanical means
42Gripping members engaging only the external or internal surface of the articles
44and applying frictional forces
46by inflatable elements
CPC
B25J 15/0023
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
0023Gripper surfaces directly activated by a fluid
B25J 15/0047
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
15Gripping heads ; and other end effectors
0047for internally gripping hollow or recessed objects
B65G 47/908
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
47Article or material-handling devices associated with conveyors; Methods employing such devices
74Feeding, transfer, or discharging devices of particular kinds or types
90Devices for picking-up and depositing articles or materials
908with inflatable picking-up means
B66C 1/46
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
1Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
10by mechanical means
42Gripping members engaging only the external or internal surfaces of the articles
44and applying frictional forces
46by inflatable elements
Applicants
  • NORDSON CORPORATION
Inventors
  • STREIT, Frank
Agents
  • EISENFÜHR SPEISER PATENTANWÄLTE RECHTSANWÄLTE PARTGMBB
Priority Data
10 2018 009 437.603.12.2018DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) GREIFERSYSTEM FÜR INDUSTRIEROBOTER ZUM GREIFEN VON STÜCKGUT UND VERFAHREN ZUR STEUERUNG HIERFÜR
(EN) GRIPPER SYSTEM FOR INDUSTRIAL ROBOTS FOR GRIPPING ITEMS, AND METHOD FOR CONTROLLING THE SAME
(FR) SYSTÈME DE PRÉHENSION POUR ROBOTS INDUSTRIELS, POUR ASSURER LA PRÉHENSION DE PRODUITS EN VRAC ET PROCÉDÉ DE COMMANDE CORRESPONDANT
Abstract
(DE)
Die Erfindung betrifft ein Greifersystem (1) zum Greifen von Stückgut (7), welches mindestens eine Ausnehmung (8) aufweist, wobei das Greifersystem (1) an einer Vorrichtung befestigt und von dieser in Höhenrichtung oberhalb des Stückguts (7) verlagerbar ist und des Weiteren folgende Aspekte aufweist: a) einen Greiferkörper (2) mit mindestens einem Lochgreifer (3), welcher in die mindestens eine Ausnehmung (8) eingeführt und dort kraftschlüssig und/oder formschlüssig lösbar befestigt werden kann, b) einen den Lochgreifer (3) umschließenden Stabilisator (4) und c) einen Verstellmechanismus (5) für den Stabilisator (4). Die Erfindung betrifft ferner ein Verfahren zur Steuerung eines an einer Vorrichtung befestigten und von dieser in Höhenrichtung oberhalb eines Stückguts (7) verlagerbaren Greifersystems (1).
(EN)
The invention relates to a gripper system (1) for gripping items (7) which have at least one aperture (8), wherein the gripper system (1) is fastened on an apparatus and can be displaced thereby in a heightwise direction above the item (7) and, in addition, has the following aspects: a) a gripper body (2) with at least one hole gripper (3), which can be introduced into the at least one aperture (8) and releasably fastened there with force-fitting and/or form-fitting action, b) a stabilizer (4), which surrounds the hole gripper (3), and c) an adjusting mechanism (5) for the stabilizer (4). The invention also relates to a method for controlling a gripper system (1) which is fastened on an apparatus and can be displaced thereby in a heightwise direction above an item (7).
(FR)
L'invention concerne un système de préhension (1) pour assurer la préhension de produits en vrac (7) qui présente une cavité (8), le système de préhension (1) étant fixé à un dispositif et pouvant être déplacé en hauteur au-dessus des produits en vrac (7) et présentant par ailleurs les aspects suivants : a) un corps de préhension (2) comportant au moins un grappin perforé (3), qui est inséré dans la au moins une cavité (8) où il peut être fixé de manière détachable à force et/ou par complémentarité de forme, b) un stabilisateur (4) entourant le grappin perforé (3) et c) un mécanisme de déplacement (5) pour le stabilisateur (4). L'invention concerne en outre un procédé de commande d'un système de préhension (1) fixé au dispositif et pouvant être déplacé en hauteur au-dessus d'un produit en vrac (7).
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Latest bibliographic data on file with the International Bureau