CN105600424A - Device and method for handling articles such as containers, general cargo, or the like - Google Patents
Device and method for handling articles such as containers, general cargo, or the like Download PDFInfo
- Publication number
- CN105600424A CN105600424A CN201510778755.9A CN201510778755A CN105600424A CN 105600424 A CN105600424 A CN 105600424A CN 201510778755 A CN201510778755 A CN 201510778755A CN 105600424 A CN105600424 A CN 105600424A
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- China
- Prior art keywords
- axle
- manipulator
- steering portion
- manipulation device
- linear steering
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- Legal status (The legal status 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 status listed.)
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Classifications
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- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- 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
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- 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
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- 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
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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Disclosed are a device and a method for handling articles such as containers, general cargo, or the like. The device comprises an upper suspension piece, on which at least three driven actuating arms pivotally mounted, the at least three actuator arms each consist of at least two relatively pivotable arm portions and independently can be operated from one another. Furthermore, the device has a manipulator comprising one or more means for gripping said articles and is mechanically coupled to the at least three actuator arms so that through a movement of one or more of the at least three actuator arms a position of the manipulator can be specified. Furthermore, a linear guide with the manipulator and the upper suspension in each case via a cardanically acting joint is connected and at least one operating device over which the one or more means for temporarily gripping and releasing are driven by products. The at least one operating device is formed as a shaft and passes through the linear guide. Further, the at least one as a shaft formed actuator relative to the linear guide can be rotated.
Description
Technical field
The present invention relates to for carrying such as bundle, part goods or such article, thering is independenceA kind of equipment of the feature of claim and a kind of method.
Background technology
Known for piling superimposition palletisation transport object, such as the article with multiple for example container for drinkParcel or the packaging facilities of bundle or palletisation transporting equipment conventionally have with conveyer beltHorizontal feed device, on described horizontal feed device by part goods or bundle with continuous or unevenEven order is transported to Handling device. Carry out there each part goods or bundle passing, orientation and/ or rotate, to make part goods or bundle obtain the layout that is suitable for space, this layout forms a kind of basePlinth, so that by the part goods in rearmounted grouping station or bundle and stacked part goods layer or the bundle of heapPricking thing layer promotes together.
The method that uses different rotation bundle to use in current filling production line and stacking production line,These methods for example can have suitable movable baffle plate or two and have the band of friction speed. ?The Handling device of knowing also can be provided with fixture, and these fixtures for example can be suspended on gantry system(Portalsystem) upper, and in the range of movement limiting, pass, rotate and this outer Vertical SquareTo motion, to can promote each part goods or bundle of needing rotation and/or passing. Described fixtureFor example also can be arranged on multi-axis robot arm, described multi-axis robot arm in side in horizontal feedOn device.
In the time carrying part goods or bundle like this, in practice for displacement and/or directed part goods or bundlePrick the object of thing and catch, lifting member goods or bundle and they are transported in packets inner and are expectedPosition or orientation in. In addition, by prior art, for example by document EP2388216A1Know a lot of capture apparatus. It is spaced and via machine that known capture apparatus has two levelsTool connects the crawl arm on the support that is arranged on intermediate arrangement. This crawl arm can move toward each other, withJust catch object. In addition, crawl arm can be in the masterpiece used time limiting vertically and against supportDismantle from support. Two crawl arms have clamping clip on end freely, and clamping clip is being caught objectIn time, contacts with corresponding body surface.
Document DE10204513A1 for example shows another kind of capture apparatus. There, multiple mutualOpposed crawl arm is directed in middleware. Crawl arm can be by means of regulating element with respect to separatelyA crawl arm is passed, thereby can lock two crawl arms. On the bottom of crawl arm, towardsSide is each other provided with the crawl section for capturing construction material parcel.
In addition, exist other for capturing, pass, the carrying of rotation and/or displacement article or bundleDevice, these capture apparatus are based on so-called Delta robot (Deltarobotern) or parallel fortuneMobile robot (Parallelkinematik-Robotern), described parallel motion robot is in the enforcement of three armsIn mode, be also referred to as triangle part (Tripode). Such triangle part or Delta robot eachArm all comprise can be on pedestal around fixing pivot axis driven the upper arm arranged pivotally andWith upper arm with couple the underarm that element is hingedly connected. At this, that underarm is configured to is passive, with underArm is with respect to upper arm or to couple the drive unit of pivotable of element irrelevant. In described underarm one orThe multiple underarms of person for example can and couple element via the upper arm of spherical joint and corresponding subordinate and be connected. ThisFreely pivotable and do not there is inherent stability of single underarm. Whole upper arm of Delta robotCorrespondingly can be around preferably driving and support to the pivot axis in whole internal plane. Three withThe underarm that couples element and be correspondingly connected with the upper arm of its subordinate forms power triangle in each positionShape, only when three upper arm synchronously implement for upper arm, around the fixing pivot axis of upper armWhen pivoting action, this triangle of forces could move. Two or more pivot axis can extend abreast,Conventionally all pivot axis has two point of contacts with different pivot axis.
Described at least one underarm can comprise two be also referred to as ancon (Elle) and spoke, formThe connecting rod element of parallelogram connection-rod, so that it is relative along at least one predetermined direction to couple elementDirected in pedestal. At this, couple element as workbench, this workbench is also claimed in practiceFor tool center point (TCP). On this TCP, can be provided with manipulator, for example form is can be relativeThe crawl arm of feeding or the manipulator of similar Handling device, thus therefore can capture and rotate, passOr promote article, bundle or similar part goods by bearing-surface.
Be arranged in workbench in other words the manipulator on TCP can be supported rotationally alternatively,So that can directed manipulator or realize article or the rotation of the expectation of part goods. Replace manipulator at couplingThe rotating supporting in driven ground connecing on element also it is contemplated that in principle, and manipulator is not rotatableBe arranged in couple on element and whole couple element arm by means of telescopic shaft with respect to pedestalIn corresponding statokinetic situation, rotate. But what bring is couple element only restricted thereuponThe shortcoming of rotational angle. This restricted passage is reached upper arm and/or is coupled element and underarm and/or be adjacent toThe end stop of the hinged connection of the underarm of the contact of opposite side draws.
By document DE102010006155A1, DE102013208082A1 and US8210The known this Handling device with triangle part of 068B1.
Known " triangle part " has high accuracy and in addition can be in order to carry corresponding articleMove rapidly. In order can to receive corresponding article and can again to release after carrying or locationPut, known triangle part has movable manipulator. So manipulator for example can be pneumatically, liquidPress ground or be triggered electrically, thereby this wire interconnecting piece and corresponding manipulator are coupled. At triangleThe freedom of motion aspect of part, this wire interconnecting piece may have obstruction. In addition wire interconnecting piece,Must lay reliably, thereby just can get rid of the danger that wire interconnecting piece damages in the time that triangle part moves.Due to these reasons, by the known triangle part of prior art due between manipulator and the actuator of outfitLoaded down with trivial details coupling and there is complicated structure and the restricted freedom of motion of part.
Summary of the invention
Therefore task of the present invention is, provide a kind of correspondingly for carrying the equipment of article, shouldEquipment is characterised in that simple structure and high freedom of motion. In addition, task of the present invention is,A kind of method is provided, and the method allows with high freedom of motion carrying article. In addition, the method shouldCan implement simply.
Above-mentioned task solves by a kind of device and a kind of method, and described device and described method comprise powerProfit requires 1 and 9 feature. Other favourable designs are described by dependent claims.
Be configured to carrying such as bundle, part goods or such thing according to equipment of the present inventionProduct. Particularly can form by container for drink and/or by multiple container for drink that are bundled into bundleDescribed article.
Described equipment further comprises the suspender of top, and on described suspender, being fixed with at least three canDriven in relative rotation ground regulating arm. Each regulating arm in described at least three regulating arms can be forThe object of its driving and be equipped with independent actuator, described actuator preferable configuration is motor and drawsPlay the motion of the rotation of regulating arm. Described regulating arm directly flange is connected to causing that it is correspondingly equipped withOn moving device. Actuator can be supported by the suspender of top. Particularly, can actuator be hung at thisBe arranged in top suspender on. The pivot center of described at least three regulating arms can be in parallel with each otherExtend. The actuator of described at least three regulating arms can be connected with control module, and this control module in advanceDescribed in determining at least three regulating arms the motion of one or more regulating arm in case locate definitely withUnder the manipulator that also will describe in detail.
Described at least three regulating arms comprise respectively at least two arm sections that can be pivoted relative to each other alsoAnd can handle independently of each other. The pivotal axis of at least two arm sections that can be pivoted relative to each otherLine can extend in parallel to each other. In particularly preferred embodiments, the arm section of corresponding below is logicalCross at least two parallel connecting rods and form, described connecting rod is mechanically connected with manipulator. Therefore, manipulatorCan move in other words via described at least three regulating arms motion.
Comprise that according to already mentioned manipulator before equipment of the present invention one or more is for grabbingGet the device of article and mechanically couple with described at least three regulating arms. At this, with significant sideFormula is respectively arranged with at least one joint between at least three regulating arms and manipulator. Therefore, Ke YitongDescribed in crossing, at least three regulating arms, the motion of one or more regulating arm pre-determines the position of manipulatorPut. In particularly preferred embodiments, described at least three regulating arms are hingedly connected with support ring,This support ring is around linear steering portion and to be configured to the manipulation device of axle directed and exist with manipulatorMechanically coupling grounding connection. Mechanical coupling between support ring and manipulator can allow mechanical palmistryFor relatively rotating of support ring.
Also comprise linear steering portion according to equipment of the present invention, described linear steering portion and manipulator and suspensionPart connects by the joint of a universal effect respectively. The position of linear steering portion can be in particularly preferred realityExecute in mode like this and select, thus make linear steering portion be positioned at all described between at least three regulating armsOr all, at least three regulating arms arrange around linear steering portion. The joint of corresponding universal effectCan in simple embodiment, be configured to gimbal suspension. But this concept will be understood widely, fromAnd for example also can establish according to the scope of the embodiment it is contemplated that of equipment of the present inventionThere are spherical joint and/or other joints acting on universally.
In addition, at least one manipulation device is set using as according to the part of equipment of the present invention, logicalCross described at least one manipulation device can trigger for temporary transient crawl and discharge one of article orMultiple devices. In addition, described one or more device can with the mechanically embedding of at least one manipulation deviceConnect.
According to the present invention, described at least one manipulation device is configured to axle, and this axle can run through linear steeringPortion and rotating with respect to linear steering portion in order to trigger described at least one or multiple device. SpyNot preferred embodiment, at least one manipulation device that is configured to axle can run through linear steering completelyPortion. In order to be configured at least one behaviour that the kinematic configuration of rotation of at least one manipulation device of axle is axleVertical device can be equipped with independent actuator, and this actuator is single with already mentioned control before if desiredUnit connects.
By be configured to axle manipulation device according to layout of the present invention and described one or more deviceThere is following possibility by axle with respect to the triggering rotatablely moving of linear steering portion in part: at manipulatorRegion in omitted loaded down with trivial details wire interconnecting piece.
In addition linear steering portion can be arranged mutually coaxially with the manipulation device that is configured to axle. InstituteStating coaxial layout between at least one manipulation device that is configured to axle and linear steering portion also can beWhen positioning mechanical arm or in the time of described at least three regulating arms motion, keep coherent.
In addition, linear steering portion can comprise that at least two telescopic or telescopically is interconnectiveHousing component, the interconnective housing component of described at least two telescopicallies is configured to the behaviour of axle by least oneVertical device runs through. For mentioned those skilled in the art, be clear that, it is contemplated that itsLinear steering portion described in his embodiment also can by three, four or more than four telescopic orThe interconnective housing component composition of person's telescopically. Particularly, at least two telescopic housing components canTo there is at least in part respectively the moulding of hollow cylindrical.
As already mentioned above, the manipulation device that is configured to axle can be equipped with independent actuatorBy this actuator trigger turning cylinder in other words.
It is contemplated that on independent actuator position suspender up and/or top outstanding at thisIn suspension member. The pivot center of axle for example can prolong through independent actuator and/or through the center of gravity of actuatorStretch. Therefore, described actuator can connect by the joint flange of the universal effect in the middle of being arranged in if desiredReceive at least one manipulation device that is configured to axle. Particularly, described actuator can turn relativelyMoving ground is connected with the suspender of top.
In particularly preferred embodiments, linear steering cage structure is another axle, described another axle and machineTool hand does not connect rotatably, thereby manipulator can rotate by rotatablely moving of another axle.Particularly, at least one linear steering portion that is configured to the manipulation device of axle and is configured to another axle is at thisCan rotate independently of each other. In addition, be configured to the manipulation device of at least one axle and be configured to anotherThe linear steering portion of axle can have identical pivot center.
In addition, described one or more device can comprise at least two mutual opposed clamping clips, usesCan be configured to by least one the manipulation of axle in the relative spacing of clamping clip capturing and discharge articleDevice pre-determines. For example only in mutual opposed clamping clip can be via at least one structureMake as the manipulation device of axle moves on one's own initiative, in contrast, can not cause by least one manipulation deviceThe active movement of corresponding opposed clamping clip. In other embodiments that it is contemplated that, described equipmentHave one or more transfer element, at least one is configured to the manipulation device of axle by these transfer elementsRotatablely move and change into all adjustment of the active of at least two mutual opposed clamping clips. Can be byCapture corresponding article and then by the motion of manipulator, article carried out to displacement in clamping clip. ?This, it is contemplated that, on horizontal feed device, transports article, by described equipment or manipulatorCapture and at horizontal feed device top offset article. At this, article for example can be with respect to horizontal feedDevice travelling speed and slow down or accelerates and if desired rotation and/or with respect to horizontal feed deviceThroughput direction displacement obliquely.
In addition the transmission device that, has at least one gearratio speed level can be arranged in and be configured to axle at leastBetween a manipulation device and one or more device. Thus, one or more is for capturing articleThe triggering of device can carry out with high accuracy, wherein, be applied on axle to capture articleIt is very little that torque can keep.
In addition, the invention still further relates to one for carrying such as bundle, part goods or such thingThe method of product. At this, according to the embodiment it is contemplated that of method of the present invention, can be provided withFace describe according to the feature of the various embodiments of equipment of the present invention. Also can be according to of the present inventionIn the embodiment it is contemplated that of equipment, be provided with described below according to the various realities of method of the present inventionExecute the feature of mode.
Implement according to a kind of equipment of method utilization of the present invention, this equipment comprises the suspender of top,On this suspender, be fixed with at least three and driven rotatably ground regulating arm. Described at least three tuneJoint arm comprises respectively at least two arm sections that can be pivoted relative to each other and can enter independently of each otherRow is handled or is adjusted independently of each other. Corresponding adjustment can come via control module true in advanceFixed.
In addition, utilize its enforcement to have manipulator according to the equipment of method of the present invention, this manipulator comprisesOne or more is for capturing the device of article and mechanically coupling with at least three regulating arms, therebyMotion by one or more regulating arm in described at least three regulating arms can pre-determine machineThe position of tool hand.
Utilize it to implement also to comprise linear steering portion and at least one structure according to the equipment of method of the present inventionMake the manipulation device for axle, described linear steering portion and manipulator and suspender are respectively by a universal effectJoint connect. Described at least one manipulation device that is configured to axle runs through linear steering portion. Therefore, structureMake and be contained at least in part in linear steering portion for the manipulation device of axle. In addition, can be via at least oneThe individual manipulation device that is configured to axle triggers one or more for temporarily capturing and discharge the device of articlePart, wherein, the manipulation device that is configured to axle in order to trigger described one or more device with respect to lineProperty guide part rotate.
In particularly preferred embodiments, linear steering portion can be configured to another axle, described another axleBe not connected rotatably with manipulator. Manipulator can be by rotatablely moving of another axle with describedAnother axle rotates together. Therefore, manipulator can turn over together identical with axle in the time that another axle rotatablely movesRotational angle.
In addition, manipulator can turn over 360 ° and/or turn over and exceed by rotatablely moving of another axle360 °. As long as article turn over and approximately exceed 180 ° by means of manipulator, may be meaningfully,Discharge and make after article manipulator further altogether turn over 360 ° and again return with identical rotation directionIn initial turned position. In manipulator turns over the possible embodiment of 360 °, described methodCan implement with augmented performance the carrying of article. Can specify at this, in the scope of described methodManipulator only rotates along a rotation direction, and does not rotate consistently with contrary rotation direction.
Particularly, the manipulation device that is configured to axle has the orientation coaxial with respect to linear steering portion, andThis being oriented in by described at least three regulating arms when one or more regulating arm positioning mechanical armKeep coherent. As long as linear steering cage structure be another axle, described another axle be configured at least oneThe manipulation device of axle has identical pivot center.
In addition can specify, be configured to the manipulation device of axle and described one or more device via havingThe transmission device of at least one gearratio speed level connects, and wherein, described transmission device will be configured to the behaviour of axleThe transmission of torque of vertical device is given the adjustment movement of described one or more device.
In particularly preferred embodiments, described one or more device can comprise at least two phasesMutual opposed clamping clip, phase when relative the rotatablely moving of described clamping clip between axle and linear steering portionFor moving each other or moving. Each clamping clip can have flexible contact element, these flexibilitiesContact element applies power with corresponding article and contacts in the time capturing article.
Also can at least one be configured to the manipulation device of axle by actuator trigger, this actuator can not phaseTo being placed in rotationally on the suspender of top.
In a preferred embodiment, article can transport during carrying article on horizontal feed deviceAnd captured by manipulator at this. After capturing, manipulator can cause with respect to horizontal feed deviceThe rotation that transporting direction tilts and/or the adjustment of side and/or the corresponding article that capture are defeated with respect to levelSend acceleration and/or the deceleration of the travelling speed of device.
Brief description of the drawings
Set forth in more detail embodiments of the invention and advantage thereof by means of accompanying drawing below. Each element is mutualNot realistic dimension scale always of dimension scale in the drawings, because simplified some shapes and beExplanation and show enlargedly some other shape compared with other elements better.
Fig. 1 shows the schematic perspective view according to the embodiment of equipment of the present invention;
Fig. 2 shows the schematic detailed view of the lower part of the equipment shown in Fig. 1;
Fig. 3 shows the schematic cross section of the represented equipment of the embodiment shown in Fig. 1 and Fig. 2 and looksFigure.
For of the present invention identical or act on identical element and use identical Reference numeral. In addition,For the sake of clarity only at each shown in the drawings of for describing essential accompanying drawing mark respective drawingsNote. Shown embodiment only presents the embodiment that can how to construct such as the present invention, and can notBe regarded as the restriction of sealing.
Detailed description of the invention
Fig. 1 shows the schematic perspective view according to the embodiment of equipment 1 of the present invention. Equipment 1Be configured to the container for drink that crawl, rotation, displacement are bundled into bundle, these container for drink are at Fig. 1In do not illustrate together.
As can finding out in Fig. 1, equipment 1 has the suspender 3 of top. Three adjustingsArm 5 is rotatably mounted on the suspender 3 of top via the drive unit 8 arranging respectively. At this,Rotatablely moving of regulating arm 5 carried out like this, thereby the pivot center of regulating arm is extended in parallel to each other.
Three regulating arms 5 further comprise at least two arm sections that can be pivoted relative to each other 7 and 9,Wherein, the arm section 7 of below correspondingly by two in parallel to each other directed connecting rod form. On correspondingArm section 9 drive unit 8 that arrange corresponding to it of side is connected or at its corresponding drive unit arranging8 upper flanges connect.
In addition, three regulating arms can move independently of each other. In addition the drive unit 8 of entirety and control,Unit processed connects, and this control module pre-determines the motion of regulating arm 5 and triggers drive unit 8.
On end below three regulating arms 5, manipulator 10 is connected like this with three regulating arms 5,Thereby manipulator 10 can be moved by the motion of three regulating arms 5 so that carrying article. CauseThis, the control module not illustrating together in Fig. 1 is according to coming for the default position of manipulator 10Pre-determine the motion of regulating arm 5 to capture and carrying article. Whole three regulating arms 5 are via supportingRing 17 mechanically couples with the pedestal 20 of manipulator 10. At the pedestal of support ring 17 and manipulator 10Mechanical connection between 20 or to couple be such design, thus make this connection or couple permission machineTool hand 10 is with respect to the relative torsion of support ring 17.
Manipulator 10 roughly in centre not rotatably flange be connected in linear steering portion 16, itsIn, described linear steering portion 16 is configured to another axle 18 and therefore manipulator 10 can be via describedAnother axle 18 rotates.
A kind of manipulation device 12 that is configured to axle 14 is further disclosed, can by means of this manipulation deviceTrigger clamping clip 22 and 24 to close and open. Another axle 18 and be configured to the manipulation dress of axle 14It is identical putting 12 pivot center. Another axle 18 and axle 14 are directed coaxially with each other. Because canVia the manipulation device 12 Crush trigger hands 10 that are configured to axle 14 manipulator 10 mutually opposed in other wordsClamping clip 22 and 24, so do not need pneumatic, hydraulic pressure or electronic wire interconnecting piece, instituteState wire interconnecting piece for Crush trigger hand 10 in other words clamping clip 22 be connected with manipulator 10 with 24.
At this, advantageously there is following possibility: manipulator 10 is together with its clamping clip 22 and 24Turn over and exceed 360 ° via another axle 18, rotate because do not have wire interconnecting piece to hinder completely. Thus,With respect to the performance of having been improved significantly by the known equipment of prior art in the time carrying article, because mechanicalHand 10 needn't reverse to it is transported towards output directional.
As previously mentioned, in embodiment shown in Figure 1, two clamping clips 22 and 24Can by be configured to axle 14 manipulation device 12 rotation and relative to each other adjust phase in other wordsTo in each other motion or opposing in each other motion. Clamping clip 22 and 24 is via being configured to axle 14Corresponding sports when manipulation device 12 triggers is current indicates to illustrate by means of arrow. Two clamping clips 22With 24 on the pedestal 20 of manipulator 10 in suspension and can fix to linear movement. Clamping clip 22 Hes24 triggering is carried out via gearratio speed level transmission device, that be connected with axle 14, described transmissionThan speed level in Fig. 1 invisible and by the transmission of torque of axle 14 the adjusting fortune to clamping clip 22 and 24Moving.
Linear steering portion 16 in other words another axle 18 comprises two housing components 4 and 6, these two housing componentsRelative to each other telescopically interconnects and a cavity is provided respectively and is configured to axle 14 to holdManipulation device 12. The manipulation device 12 that is configured to axle 14 is couple to machinery by joint via universal effectOn hand 10 and actuator 30.
Described actuator 30 is not placed on the suspender 3 of top rotatably. Be configured to axle 14Operating element 12 can move rotationally via actuator 30, the clamping of mobile manipulator 10 thusPincers 22 and 24 are to capture or release article.
Fig. 2 show the equipment shown in Fig. 1 lower part schematic detailed view and this spyThe embodiment that manipulator 10 is at length shown again, as this manipulator be designed to byAccording to equipment of the present invention or according to method of the present invention like that.
Clamping clip 22 and 24 is for the side towards corresponding clamping clip 22 or 24 opposite each other at articleOn face, capture article and there is the contact element 19 of multiple flexibilities. These flexible contact elements 19 are at folderClencher 22 applies power and contacts with corresponding article during with 24 feed motion and by corresponding article baseOn this, be immovably fixed on manipulator 10.
Fig. 2 also at length shows the arm section 7 (seeing Fig. 1) of the below of regulating arm 5, this arm againSection be configured on bar linkage structure and end thereunder with support ring 17 respective hinge be connected.As has been mentioned, manipulator 10 can via another or outside axle 18 with respect toSupport ring 17 is rotated.
Fig. 3 shows the schematic viewgraph of cross-section of the equipment 1 of the embodiment shown in Fig. 1 and Fig. 2.In Fig. 3, can find out again and be configured to the operating element 12 of axle 14 and be configured to another axle 18Linear steering portion 16. Axle 14 and another axle 18 have coaxial orientation and identical pivot center. MachineThe rotation of tool hand 10 can cause by the linear steering portion that is configured to another axle 18, wherein, rotatesAxis in Fig. 3 vertically in other words along the direction orientation on perspective plane.
With reference to one, the present invention is preferred embodiment described. But, for those skilled in the art canWith imagination, can convert or change the present invention, and the protection model that does not deviate from following claim at thisEnclose.
Reference numerals list:
1 equipment
The suspender of 3 suspenders, top
4 first housing components
5 regulating arms
6 second housing components
The arm section of 7 belows
8 drive units
The arm section of 9 tops
10 manipulators
12 operating elements, manipulation device
14 axles
16 linear steering portions
17 support rings
18 another axles
19 contact elements
20 pedestals
22 clamping clips
24 clamping clips
30 actuators
Claims (15)
1. for carrying the equipment (1) such as bundle, part goods or such article, instituteThe equipment of stating comprises:
The suspender (3) of-top, on described suspender, be fixed with at least three rotationally byThe regulating arm (5) driving, wherein, described at least three regulating arms (5) comprise respectively at least twoThe arm section (7,9) that can be pivoted relative to each other and can handling independently of each other.
-manipulator (10), described manipulator comprises that one or more is for capturing the device of articleAnd mechanically couple with described at least three regulating arms (5), thereby can be by described at least threeThe motion of one or more regulating arm in individual regulating arm (5) pre-determines described manipulator(10) position, and described equipment also comprises:
-linear steering portion (16), described linear steering portion and described manipulator (10) and described outstandingSuspension member (3) connects via the joint of a universal effect respectively, and
-at least one manipulation device (12), can trigger for temporarily via described manipulation deviceOne or more device that captures and discharge article, is characterized in that,
-described at least one manipulation device (12) is configured to axle (14), and described axle runs through described lineProperty guide part (16) and can be with respect to described in order to trigger described one or more deviceLinear steering portion (16) rotates.
2. equipment according to claim 1, wherein, described linear steering portion (16) and structureMake and arrange coaxially with each other for the manipulation device (12) of axle (14).
3. equipment according to claim 1, wherein, described at least three regulating arms (5)Around described linear steering portion (16) be configured to manipulation device (12) location of axle (14).
4. equipment according to claim 1, wherein, described linear steering portion (16) comprisesAt least two interconnective housing components of telescopically (4,6), described at least two telescopically phasesThe housing component (4,6) connecting is configured to the manipulation device (12) of axle (14) by least oneRun through.
5. equipment according to claim 1, wherein, is configured to the manipulation device of axle (14)(12) be equipped with actuator (30), can trigger and be configured to axle (14) via described actuatorManipulation device (12), wherein, described actuator (30) can not relatively rotate with the suspender of topGround connects.
6. equipment according to claim 1, wherein, described one or more device hasAt least two clamping clips (22,24), for capturing and discharging between described clamping clip relative of articlePre-determine apart from the manipulation device (12) that can be configured to axle (14) via at least one.
7. equipment according to claim 1, wherein, is being configured at least one of axle (14)Between individual manipulation device (12) and described one or more device, be furnished with and there is at least one biographyMoving than the transmission device of speed level.
8. according to the equipment described in any one in claim 1 to 7, wherein, described linear steeringPortion (16) is configured to another axle (18), and described another axle can not be relative with described manipulator (10)Connect rotationally, thereby described manipulator (10) can be by the rotation of described another axle (18)Move and rotate.
9. for utilizing the equipment carrying method such as bundle, part goods or such article,Described equipment comprises:
The suspender (3) of-top, on described suspender, be fixed with at least three rotationally byThe regulating arm (5) driving, wherein, described at least three regulating arms (5) comprise respectively at least twoThe arm section (7,9) that can be pivoted relative to each other and can handling independently of each other;
-manipulator (10), described manipulator comprises that one or more is for capturing the device of articleAnd mechanically couple with described at least three regulating arms (5), thereby can be by described at least threeThe motion of one or more regulating arm in individual regulating arm (5) pre-determines described manipulator(10) position; And described equipment also comprises:
-linear steering portion (16), described linear steering portion and described manipulator (10) and described outstandingSuspension member (3) connects via the joint of a universal effect respectively, and
-at least one is configured to the manipulation device (12) of axle (14), and described manipulation device runs through instituteState linear steering portion (16) and by described manipulation device can trigger for temporarily capture andDischarge one or more device of article, wherein,
-described in be configured to axle (14) manipulation device (12) in order to trigger described one or manyIndividual device and rotating with respect to described linear steering portion (16).
10. method according to claim 9, wherein, described linear steering portion (16) structureMake as another axle (18), described another axle is not connected rotatably with described manipulator (10),And wherein, described manipulator (10) by rotatablely moving of described another axle (18) with instituteStating another axle (18) rotates together.
11. methods according to claim 10, wherein, described manipulator (10) passes through instituteState rotatablely moving of another axle (18) and turn over 360 ° and/or turn over and exceed 360 °.
12. methods according to claim 9, wherein, described in be configured to the behaviour of axle (14)Vertical device (12) has the orientation coaxial with respect to described linear steering portion (16) and this fixedLocate described manipulator to one or more regulating arm in by least three regulating arms (5)(10) time, keep coherent.
13. methods according to claim 9, wherein, described in be configured to the behaviour of axle (14)Vertical device (12) and described one or more device are by having at least one gearratio speed levelTransmission device connects, and wherein, described transmission device will be configured to the manipulation device (12) of axle (14)Transmission of torque give the adjustment movement of described one or more device.
14. methods according to claim 13, wherein, described one or more device bagDraw together at least two mutual opposed clamping clips (22,24), described clamping clip is being configured to axle (14)Manipulation device (12) and linear steering portion (16) between relatively rotate time relative to each other moveMoving.
15. methods according to claim 9, wherein, described at least one be configured to axle (14)Manipulation device triggers via actuator (30), and described actuator is not placed in rotatablyOn the suspender (3) of side.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014223389.5A DE102014223389A1 (en) | 2014-11-17 | 2014-11-17 | Device and method for handling articles such as containers, piece goods or the like |
| DE102014223389.5 | 2014-11-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105600424A true CN105600424A (en) | 2016-05-25 |
Family
ID=55855083
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510778755.9A Pending CN105600424A (en) | 2014-11-17 | 2015-11-13 | Device and method for handling articles such as containers, general cargo, or the like |
Country Status (4)
| Country | Link |
|---|---|
| CN (1) | CN105600424A (en) |
| DE (1) | DE102014223389A1 (en) |
| FR (1) | FR3028441A1 (en) |
| IT (1) | ITUB20155622A1 (en) |
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| CN107813607A (en) * | 2016-09-12 | 2018-03-20 | 波音公司 | For handling the surface treatment component and correlation technique of contoured surface |
| CN110422533A (en) * | 2019-08-21 | 2019-11-08 | 派罗(廊坊)机器人科技有限公司 | Sorting equipment and sorting device |
| CN112996739A (en) * | 2018-09-12 | 2021-06-18 | 施密特默尔曼教授 & 柯林根律师事务所破产清算股份公司 | Package gripper system |
| CN112978324A (en) * | 2021-03-29 | 2021-06-18 | 中建材创新科技研究院有限公司 | Intelligent feeding system and production control system |
| CN113382803A (en) * | 2018-12-14 | 2021-09-10 | 埃佩多夫股份公司 | Laboratory automat for automatically processing laboratory samples |
| WO2021219036A1 (en) * | 2020-04-28 | 2021-11-04 | 深圳市优必选科技股份有限公司 | Neck mechanism of robot |
| US11389953B2 (en) | 2019-01-31 | 2022-07-19 | Caterpillar Inc. | Hydraulic delta robot control system |
| CN116553153A (en) * | 2023-04-25 | 2023-08-08 | 广州科百欣香料有限公司 | Extract essence device for cigarette |
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| DE102016211187A1 (en) * | 2016-06-22 | 2017-12-28 | Krones Ag | Gripping device for detecting several piece goods, system for handling several piece goods and method for manipulating several piece goods |
| DE102016214736A1 (en) | 2016-08-09 | 2018-02-15 | Krones Aktiengesellschaft | Tool head, gripping and / or manipulation device with such a tool head and method for handling piece goods or containers |
| DE102016115602A1 (en) | 2016-08-23 | 2018-03-01 | Krones Ag | Delta robot with two rotary shafts |
| CN106737593B (en) * | 2016-12-31 | 2019-06-04 | 中国工程物理研究院激光聚变研究中心 | The Three Degree Of Freedom device of the even single branch driving of the adjustable solution of dynamic characteristic |
| DE102017120367A1 (en) | 2017-09-05 | 2019-03-07 | Krones Aktiengesellschaft | Parallel kinematic robot and method for its operation |
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Also Published As
| Publication number | Publication date |
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| ITUB20155622A1 (en) | 2017-05-16 |
| DE102014223389A1 (en) | 2016-05-19 |
| FR3028441A1 (en) | 2016-05-20 |
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Application publication date: 20160525 |