BRPI0416013A - prendedor para pegar e depositar artigos - Google Patents
prendedor para pegar e depositar artigosInfo
- Publication number
- BRPI0416013A BRPI0416013A BRPI0416013-4A BRPI0416013A BRPI0416013A BR PI0416013 A BRPI0416013 A BR PI0416013A BR PI0416013 A BRPI0416013 A BR PI0416013A BR PI0416013 A BRPI0416013 A BR PI0416013A
- Authority
- BR
- Brazil
- Prior art keywords
- article
- blades
- tool
- drive means
- support members
- Prior art date
Links
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C17/00—Other devices for processing meat or bones
- A22C17/0093—Handling, transporting or packaging pieces of meat
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0045—Manipulators used in the food industry
-
- 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
-
- 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
- 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
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Food Science & Technology (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Advancing Webs (AREA)
- Vehicle Body Suspensions (AREA)
- Supporting Of Heads In Record-Carrier Devices (AREA)
- Packaging For Recording Disks (AREA)
- Details Of Garments (AREA)
- De-Stacking Of Articles (AREA)
Abstract
"PRENDEDOR PARA PEGAR E DEPOSITAR ARTIGOS". A patente de invenção refere-se a uma ferramenta para ser fixada na extremidade móvel de um braço robótico controlado por computador, para que os artigos possam ser pegos, opcionalmente girados em trânsito e abaixados em uma segunda posição. A ferramenta compreende duas lâminas, cada uma tendo uma extremidade de bordo e uma extremidade de fuga, ambas girando entre uma primeira posição em que suas extremidades de bordo são separadas por um grande vão e uma segunda posição em que as extremidades de bordo estão em contato, ou são separadas por um vão menor. Meios de acionamento efetuam o movimento relativo entre as duas lâminas para que, em uso, a ferramenta possa ser abaixada com as lâminas separadas e em lados opostos do artigo, até que as lâminas façam contato com uma superfície que contém o artigo e o meio de acionamento é operado de modo a mover as lâminas para dentro, abaixo do artigo, de modo que, quando, subseqüentemente, a ferramenta é elevada, o artigo seja elevado com ela. A ferramenta pode incluir um suporte a vácuo, ou duas ou mais cavilhas, cada uma engatando positivamente o artigo, e a rotação do artigo é obtida girando-se o suporte a vácuo, ou o membro que pende da cavilha, em um plano que é, geralmente, paralelo ao plano que contém as duas lâminas. Um membro de suporte pode ser posicionado acima de cada uma das lâminas e o meio de acionamento move tanto os membros de suporte quanto as lâminas, até que o artigo seja pego entre os membros de suporte e, em seguida, apenas as lâminas continuam a se mover abaixo do artigo. O meio de acionamento mantém os membros de suporte na posição de pegar o artigo quando as lâminas são, subseqüentemente, retiradas debaixo do artigo, para impedir que o atrito na parte inferior, causado pelo fato de o artigo ser arrastado, desprenda ou desloque o artigo. Tipicamente, o meio de acionamento apenas desengata os membros de suporte do artigo após as lâminas se moverem da parte de baixo do mesmo. Um sistema de câmeras provê sinais de imagem para um braço robótico controlado por computador, para determinar a orientação de cada artigo a ser pego e gerar sinais de controle para girar a ferramenta.
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0325068A GB0325068D0 (en) | 2003-10-28 | 2003-10-28 | Improved pick and place gripper |
GB0415202A GB0415202D0 (en) | 2004-07-07 | 2004-07-07 | Improved pick and place gripper |
GB0417665A GB2407552B (en) | 2003-10-28 | 2004-08-09 | Improved pick and place gripper |
PCT/GB2004/004517 WO2005051812A1 (en) | 2003-10-28 | 2004-10-27 | Improved pick and place gripper |
Publications (1)
Publication Number | Publication Date |
---|---|
BRPI0416013A true BRPI0416013A (pt) | 2007-01-02 |
Family
ID=34636891
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BRPI0416013-4A BRPI0416013A (pt) | 2003-10-28 | 2004-10-27 | prendedor para pegar e depositar artigos |
Country Status (13)
Country | Link |
---|---|
US (1) | US7904198B2 (pt) |
EP (1) | EP1685045B2 (pt) |
KR (1) | KR101205281B1 (pt) |
AT (1) | ATE370090T1 (pt) |
AU (1) | AU2004293242B2 (pt) |
BR (1) | BRPI0416013A (pt) |
CA (1) | CA2543279C (pt) |
DE (1) | DE602004008323T3 (pt) |
DK (1) | DK1685045T4 (pt) |
ES (1) | ES2291935T5 (pt) |
NO (1) | NO345806B1 (pt) |
PL (1) | PL1685045T5 (pt) |
WO (1) | WO2005051812A1 (pt) |
Families Citing this family (82)
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EP2036841B1 (de) | 2007-09-13 | 2010-01-06 | Multivac Sepp Haggenmüller GmbH & Co. KG | Vorrichtung zur Aufnahme und zum Transport eines Gutes |
DE102008046491A1 (de) | 2007-09-13 | 2009-03-19 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Vorrichtung zur Aufnahme und zum Transport eines Gutes |
DE102008023762A1 (de) | 2007-09-13 | 2009-03-19 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Vorrichtung zur Aufnahme und zum Transport eines Gutes |
DE102008023770A1 (de) | 2007-09-13 | 2009-03-19 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Vorrichtung zur Aufnahme und zum Transport eines Gutes |
US8490367B2 (en) | 2008-03-03 | 2013-07-23 | H.W.J. Designs For Agribusiness, Inc. | Bagging assembly |
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DE102009018836A1 (de) * | 2009-04-28 | 2010-11-11 | Nordischer Maschinenbau Rud. Baader Gmbh + Co. Kg | Vorrichtung und Verfahren zum Separieren von Produktteilen geschnittener Produkte |
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CN101708611B (zh) * | 2009-11-09 | 2011-07-27 | 天津大学 | 一种具有三维平动一维转动的并联机构 |
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DE202010010157U1 (de) | 2010-07-13 | 2010-10-14 | Weber Maschinenbau Gmbh Breidenbach | Sortier- und/oder Förder- und/oder Verpackungsanlage |
KR101271827B1 (ko) | 2010-07-22 | 2013-06-07 | 포항공과대학교 산학협력단 | 탄소 박막 제조 방법 |
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FR2978436B1 (fr) * | 2011-07-29 | 2015-12-04 | Vendee Concept | Installation pour la manutention de produits, en particulier de tranches de denrees alimentaires |
DE102011119659B4 (de) * | 2011-11-29 | 2021-04-29 | Multivac Sepp Haggenmüller Se & Co. Kg | Greifervorrichtung |
EP3028827A1 (en) * | 2014-12-05 | 2016-06-08 | SMR Patents S.à.r.l. | Method and device for automating the assembly of automotive mirrors |
ITPR20120039A1 (it) * | 2012-06-20 | 2012-09-19 | Gevis S R L | Dispositivo e metodo di misura di un pezzo |
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US8783438B2 (en) | 2012-11-30 | 2014-07-22 | Heb Grocery Company, L.P. | Diverter arm for retail checkstand and retail checkstands and methods incorporating same |
US9292889B2 (en) | 2013-06-18 | 2016-03-22 | Zume Pizza, Inc. | Systems and methods of preparing food products |
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KR101510075B1 (ko) * | 2013-12-24 | 2015-04-08 | 전자부품연구원 | 로봇제어시스템 및 그 제어방법 |
CN104458137B (zh) * | 2014-10-30 | 2017-04-05 | 泉州永春中大机械技术有限公司 | 一种转位式阀门密封试验*** |
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DE102015005166B4 (de) | 2015-04-23 | 2019-01-10 | Eismann Innovations GmbH | Fahrzeug mit einer Einrichtung zur Bearbeitung von Nahrungsmitteln |
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DE102015113220A1 (de) * | 2015-08-11 | 2017-02-16 | Weber Maschinenbau Gmbh Breidenbach | Produktgreifer |
DE102015223999A1 (de) * | 2015-12-02 | 2017-06-08 | Krones Ag | Parallelkinematik-Roboter zum Manipulieren von Stückgütern mit wenigstens einem Manipulator und mindestens einer Betätigungseinrichtung für den wenigstens einen Manipulator sowie Verfahren zum Manipulieren von Stückgütern mittels mindestens eines Parallelkinematik-Roboters |
ES2729279T3 (es) * | 2015-12-08 | 2019-10-31 | Marel As | Dispositivo de recoger y colocar para recoger y reubicar un ítem alimenticio deformable y método para hacer el mismo |
US10566230B2 (en) | 2016-04-01 | 2020-02-18 | Sunpower Corporation | Gripper for semiconductor devices |
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CN107457943B (zh) * | 2016-06-02 | 2023-05-30 | 宁波胶点密封工业有限公司 | 一种送料流水线及其平板硫化机 |
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DE102017100620A1 (de) * | 2017-01-13 | 2018-07-19 | Weber Maschinenbau Gmbh Breidenbach | Produktgreifer |
US10444400B2 (en) * | 2017-02-20 | 2019-10-15 | Morpho Detection, Llc | Tray conveyor baggage handling and imaging system |
US11712810B2 (en) * | 2017-05-03 | 2023-08-01 | Multivac Sepp Haggenmüller Se & Co. Kg | Gripper |
US10459450B2 (en) | 2017-05-12 | 2019-10-29 | Autonomy Squared Llc | Robot delivery system |
USD835199S1 (en) * | 2017-05-16 | 2018-12-04 | Sega Games Co., Ltd. | Gripping device for game machine |
TW201909054A (zh) | 2017-07-11 | 2019-03-01 | 美商促美股份有限公司 | 使用販賣亭及自動分送車輛之多模式分配系統及方法 |
TW201909065A (zh) | 2017-07-14 | 2019-03-01 | 美商促美股份有限公司 | 以販賣亭為根據之販賣及或準備物品,例如,準備食物,之系統及方法 |
US10509415B2 (en) * | 2017-07-27 | 2019-12-17 | Aurora Flight Sciences Corporation | Aircrew automation system and method with integrated imaging and force sensing modalities |
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MY198013A (en) * | 2017-10-06 | 2023-07-26 | Maekawa Seisakusho Kk | Clamping device for bone-in limb meat, loading device for bone-in limb meat, and clamping method for bone-in limb meat |
JP6342567B1 (ja) * | 2017-11-16 | 2018-06-13 | シナノケンシ株式会社 | カム型ハンド機構 |
US10759062B2 (en) | 2017-12-08 | 2020-09-01 | Dishcraft Robotics, Inc. | Article of dishware gripping systems |
USD900862S1 (en) | 2018-03-20 | 2020-11-03 | Zume Pizza, Inc. | Display screen with graphical user interface |
MX2020009848A (es) * | 2018-03-22 | 2020-10-15 | Packaging Progressions Inc | Montaje de alineacion. |
NL2021352B1 (en) * | 2018-07-19 | 2020-01-29 | Blueprint Holding Bv | A Packing Method of Packing Articles into a Packing Box, and corresponding Packing Device |
WO2020106151A1 (en) * | 2018-11-22 | 2020-05-28 | Humboldt B.V. | Method and device for positioning and/or handling carcasses and/or carcass parts during the slaughter of animals on an industrial scale |
CN109571525B (zh) * | 2018-12-26 | 2024-02-27 | 安徽理士电源技术有限公司 | 一种电池极群组铸焊自动装卸机械手及自动装卸方法 |
US10583996B1 (en) * | 2019-01-17 | 2020-03-10 | JLS Automation | Bread handler |
MX2021008961A (es) | 2019-02-05 | 2021-08-24 | F R Drake Co | Maquina automatizada para descargar y transferir piezas de carne de aves de corral cortadas y limpias. |
CN109896275A (zh) * | 2019-03-14 | 2019-06-18 | 北京卫星环境工程研究所 | 多规格料箱快速抓取方法及装置 |
JP6947775B2 (ja) * | 2019-04-26 | 2021-10-13 | ファナック株式会社 | ハンド装置 |
GB201906418D0 (en) | 2019-05-07 | 2019-06-19 | Valka Ehf | Conveyor system and method |
EP3744649B1 (en) | 2019-05-27 | 2021-07-07 | Mespack, S.L. | Conveyor device for conveying flexible containers along a packaging line |
CN114131641A (zh) * | 2020-09-03 | 2022-03-04 | 天津工业大学 | 一种可移动式气动机械手 |
CN113173234B (zh) * | 2021-05-25 | 2022-07-08 | 白城师范学院 | 一种用于水下检测的机器鱼及其工作方法 |
US11643285B1 (en) * | 2021-11-09 | 2023-05-09 | Fu-Han Wei | Automatic picking fixture device |
CN117047383B (zh) * | 2023-10-12 | 2023-12-05 | 吉林大学 | 基于数字孪生的焊装生产线用防滑耐磨的自动定位工装 |
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-
2004
- 2004-10-27 AT AT04769021T patent/ATE370090T1/de not_active IP Right Cessation
- 2004-10-27 DE DE602004008323.2T patent/DE602004008323T3/de active Active
- 2004-10-27 PL PL04769021T patent/PL1685045T5/pl unknown
- 2004-10-27 WO PCT/GB2004/004517 patent/WO2005051812A1/en active IP Right Grant
- 2004-10-27 AU AU2004293242A patent/AU2004293242B2/en not_active Ceased
- 2004-10-27 US US10/541,802 patent/US7904198B2/en not_active Expired - Fee Related
- 2004-10-27 NO NO20061854A patent/NO345806B1/no not_active IP Right Cessation
- 2004-10-27 KR KR1020067010519A patent/KR101205281B1/ko not_active IP Right Cessation
- 2004-10-27 EP EP04769021.9A patent/EP1685045B2/en active Active
- 2004-10-27 BR BRPI0416013-4A patent/BRPI0416013A/pt active Search and Examination
- 2004-10-27 DK DK04769021.9T patent/DK1685045T4/da active
- 2004-10-27 CA CA2543279A patent/CA2543279C/en not_active Expired - Fee Related
- 2004-10-27 ES ES04769021.9T patent/ES2291935T5/es active Active
Also Published As
Publication number | Publication date |
---|---|
DE602004008323T2 (de) | 2008-05-15 |
CA2543279C (en) | 2012-07-17 |
DE602004008323T3 (de) | 2015-04-16 |
DK1685045T3 (da) | 2007-12-17 |
CA2543279A1 (en) | 2005-06-09 |
EP1685045A1 (en) | 2006-08-02 |
AU2004293242A1 (en) | 2005-06-09 |
WO2005051812A1 (en) | 2005-06-09 |
KR20060096505A (ko) | 2006-09-11 |
US7904198B2 (en) | 2011-03-08 |
EP1685045B1 (en) | 2007-08-15 |
ES2291935T3 (es) | 2008-03-01 |
ES2291935T5 (es) | 2015-02-12 |
DE602004008323D1 (de) | 2007-09-27 |
ATE370090T1 (de) | 2007-09-15 |
KR101205281B1 (ko) | 2012-11-27 |
AU2004293242B2 (en) | 2011-02-24 |
PL1685045T3 (pl) | 2007-12-31 |
US20060182603A1 (en) | 2006-08-17 |
EP1685045B2 (en) | 2014-12-03 |
DK1685045T4 (da) | 2015-03-09 |
NO345806B1 (no) | 2021-08-16 |
NO20061854L (no) | 2006-07-24 |
PL1685045T5 (pl) | 2015-05-29 |
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