EP2476637A3 - Device and method for placing, holding and/or handling flat objects - Google Patents

Device and method for placing, holding and/or handling flat objects Download PDF

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Publication number
EP2476637A3
EP2476637A3 EP11192889.1A EP11192889A EP2476637A3 EP 2476637 A3 EP2476637 A3 EP 2476637A3 EP 11192889 A EP11192889 A EP 11192889A EP 2476637 A3 EP2476637 A3 EP 2476637A3
Authority
EP
European Patent Office
Prior art keywords
holding
flat objects
cantilever
supported
cantilever arms
Prior art date
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.)
Granted
Application number
EP11192889.1A
Other languages
German (de)
French (fr)
Other versions
EP2476637B1 (en
EP2476637A2 (en
Inventor
Kai Wegener
Richard Eschlbeck
Peter Kirschner
Dennis Fritsch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Krones AG
Original Assignee
Krones AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Krones AG filed Critical Krones AG
Priority to SI201130550T priority Critical patent/SI2476637T1/en
Publication of EP2476637A2 publication Critical patent/EP2476637A2/en
Publication of EP2476637A3 publication Critical patent/EP2476637A3/en
Application granted granted Critical
Publication of EP2476637B1 publication Critical patent/EP2476637B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0816—Suction grippers separating from the top of pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/08—Separating articles from piles using pneumatic force
    • B65H3/0808—Suction grippers
    • B65H3/0883—Construction of suction grippers or their holding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B65H3/54—Pressing or holding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/50—Auxiliary process performed during handling process
    • B65H2301/51—Modifying a characteristic of handled material
    • B65H2301/512—Changing form of handled material
    • B65H2301/5121—Bending, buckling, curling, bringing a curvature
    • B65H2301/51214—Bending, buckling, curling, bringing a curvature parallel to direction of displacement of handled material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/30—Other features of supports for sheets
    • B65H2405/35—Means for moving support
    • B65H2405/353—Means for moving support vertically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2406/00—Means using fluid
    • B65H2406/30—Suction means
    • B65H2406/34—Suction grippers
    • B65H2406/343—Details of sucking member

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

Die Erfindung betrifft eine Aufnahme-, Halte- und/oder Handhabungsvorrichtung (10) für flächige Gegenstände (38), mit mindestens zwei steuerbaren Sauggreifern (14), die jeweils an freien Enden (16) beweglicher und zumindest in Teilbereichen elastisch verformbarer, an einer Brücke (20) gelagerter oder dort abgestützter Auslegerarme (18) angeordnet und fixiert sind, welche Auslegerarme (18) jeweils wenigstens einen Unterzug (22) und einen Oberzug (24) umfassen, die am freien Ende (16) des Auslegerarms (18) aufeinandertreffen und dort verbunden sind, wobei dem Oberzug (24) eine Zugeinrichtung (26) zur Erzeugung einer Zugkraft mit zumindest einer horizontalen Richtungskomponente ungefähr parallel zur Längserstreckungsrichtung des Auslegerarms (18) zugeordnet ist.The invention relates to a receiving, holding and / or handling device (10) for flat objects (38), with at least two controllable suction pads (14), each at free ends (16) movable and elastically deformable at least in some areas, at a Bridge (20) supported or supported there cantilever arms (18) are arranged and fixed, which cantilever arms (18) each comprise at least one beam (22) and a top (24), which meet at the free end (16) of the cantilever arm (18) and there are connected, wherein the upper pull (24) is associated with a pulling device (26) for generating a tensile force with at least one horizontal direction component approximately parallel to the longitudinal direction of the extension arm (18).

Die Erfindung betrifft weiterhin ein Verfahren zur Aufnahme, zum Halten und/oder zur Handhabung von flächigen Gegenständen (38) über mindestens zwei steuerbare Sauggreifer (14), die jeweils an freien Enden (16) beweglicher und zumindest in Teilbereichen elastisch verformbarer, an einer Brücke (20) gelagerter oder abgestützter Auslegerarme (18) angeordnet sind, welche Auslegerarme (18) jeweils wenigstens einen Unterzug (22) und einen Oberzug (24) umfassen, die am freien Ende (16) des Auslegerarms (18) aufeinandertreffen und dort verbunden sind. Zumindest der Oberzug (24) wird über eine Zugeinrichtung (26) mit zumindest einer horizontalen Richtungskomponente ungefähr parallel zur Längserstreckungsrichtung des Auslegerarms (18) bewegt.

Figure imgaf001
The invention further relates to a method for receiving, holding and / or handling flat objects (38) via at least two controllable suction grippers (14), each at free ends (16) movable and elastically deformable at least in some areas, on a bridge (20) are mounted or supported cantilever arms (18) are arranged, which cantilever arms (18) each comprise at least one beam (22) and a top pull (24) which meet at the free end (16) of the cantilever arm (18) and are connected there , At least the top pull (24) is moved via a pulling device (26) with at least one horizontal direction component approximately parallel to the longitudinal extension direction of the extension arm (18).
Figure imgaf001
EP20110192889 2011-01-18 2011-12-09 Device and method for placing, holding and/or handling flat objects Active EP2476637B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SI201130550T SI2476637T1 (en) 2011-01-18 2011-12-09 Device and method for placing, holding and/or handling flat objects

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011008848 2011-01-18
DE102011084830 2011-10-19

Publications (3)

Publication Number Publication Date
EP2476637A2 EP2476637A2 (en) 2012-07-18
EP2476637A3 true EP2476637A3 (en) 2014-01-22
EP2476637B1 EP2476637B1 (en) 2015-05-06

Family

ID=45349373

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20110192889 Active EP2476637B1 (en) 2011-01-18 2011-12-09 Device and method for placing, holding and/or handling flat objects

Country Status (7)

Country Link
US (1) US8690149B2 (en)
EP (1) EP2476637B1 (en)
CN (1) CN102602714B (en)
AU (1) AU2011265490B2 (en)
BR (1) BR102012001259B1 (en)
DE (1) DE102012200535A1 (en)
SI (1) SI2476637T1 (en)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2537160T3 (en) * 2010-12-31 2015-06-03 Fundación Tecnalia Research & Innovation Claw device for handling flexible elements
ES1078327Y (en) * 2012-12-05 2013-04-04 Simplicity Works Europe Sl TOOL TO TRANSPORT AND CONFORM FLEXIBLE LAMINARY PARTS.
DE102014225981A1 (en) 2014-12-16 2016-06-16 Krones Aktiengesellschaft Device and method for receiving, holding and / or handling of flat objects
CN104773543B (en) * 2015-02-28 2017-02-22 唐山瑞可达科技有限公司 Paper separation and transfer mechanism for package platen press equipment
DE102015103147A1 (en) * 2015-03-04 2016-09-08 Krones Aktiengesellschaft Handling device and method for receiving flat objects
CN104891220B (en) * 2015-04-20 2018-01-12 扬州恒佳机械有限公司 Prevent from picking up the plate automatic feeding device and feeding method of multi-layered board
KR102352280B1 (en) * 2015-04-28 2022-01-18 삼성디스플레이 주식회사 Manufacturing apparatus for mask frame assembly, and manufacturing method using the same
CN105173804A (en) * 2015-09-02 2015-12-23 张家港市紫东机械科技有限公司 Automatic paper feeding device
CN106826881B (en) * 2017-02-22 2023-05-30 佛山市艾乐博机器人股份有限公司 A hand claw and tongs for centre gripping material
DE102017118255A1 (en) 2017-08-10 2019-02-14 Krones Aktiengesellschaft For receiving flat blanks trained working tool with multiple elastic cantilever arms
CN108249152B (en) * 2018-01-30 2020-05-15 泰州万诺纺织科技有限公司 Raw materials operation device for textile production
JP6988541B2 (en) * 2018-02-15 2022-01-05 トヨタ自動車株式会社 Separator adsorption device
CN108673083A (en) * 2018-05-28 2018-10-19 安徽安元智能科技有限公司 Rotor feeding device
CN108773665A (en) * 2018-05-28 2018-11-09 安徽安元智能科技有限公司 Rotor feeding device
CN108792590A (en) * 2018-05-28 2018-11-13 安徽安元智能科技有限公司 The charging method of rotor feeding device
US11919152B2 (en) 2018-09-20 2024-03-05 Trumpf Maschinen Austria Gmbh & Co. Kg. Vacuum gripper, feed unit, and method for conveying flat components
CN109130245A (en) * 2018-10-26 2019-01-04 常州市新创智能科技有限公司 A kind of wind turbine blade root preformed member is laid with production line and control method automatically
CN111115253B (en) * 2018-10-31 2021-11-23 富鼎电子科技(嘉善)有限公司 Material taking device and material taking robot with same
CN113695117B (en) * 2021-09-08 2023-05-12 北京东方昊为工业装备有限公司 Fitting access control method suitable for spraying large-sized workpiece
CN114735501B (en) * 2022-03-15 2023-04-25 大连理工大学 Automatic conveying system for low-rigidity sheet materials
CN116511775B (en) * 2023-06-21 2023-08-25 成都广成科技有限公司 Elevator sheet metal part welding and fixing device
CN116902602B (en) * 2023-09-12 2023-11-21 常州市正文印刷有限公司 Carton aligning and stacking device

Citations (3)

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US5083763A (en) * 1988-10-27 1992-01-28 Cimcorp Oy Method and apparatus for the picking up and handling of sheets of material, in particular sheets of porous and flexible material
US5433426A (en) * 1994-05-23 1995-07-18 Bond; Irvin D. Apparatus for removing a non-magnetic sheet from a stack of sheets
EP1382559A1 (en) * 2002-07-19 2004-01-21 Villeroy & Boch AG Handling apparatus with suction cups

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US2941799A (en) 1956-04-30 1960-06-21 Adolf C Reincke Sheet material separator and handling device
JPS61136839A (en) * 1984-12-08 1986-06-24 Rengo Co Ltd Intermediate-paper feeding apparatus
JPS61166441A (en) 1985-01-18 1986-07-28 Hoya Corp Apparatus for separating piled trays
US5033730A (en) * 1990-02-28 1991-07-23 Sri International Variable position vacuum article pickup apparatus
JP2866771B2 (en) * 1992-09-24 1999-03-08 富士写真フイルム株式会社 Single-sheet unit
US5622362A (en) 1993-08-19 1997-04-22 Amada Company, Limited Plate material separating apparatus
US5716047A (en) * 1994-03-31 1998-02-10 Canon Kabushiki Kaisha Recording or reading apparatus and sheet supply device with drive system having first and second mechanisms
US5415338A (en) * 1994-05-03 1995-05-16 Wilkes; Adam Solder marking device and method of marking solder
JP3673604B2 (en) * 1996-10-31 2005-07-20 キヤノン株式会社 Sheet supply apparatus and recording / reading apparatus using the apparatus
DE50009373D1 (en) 2000-12-04 2005-03-03 Trumpf Gmbh & Co Device for separating flexible plate-like workpieces of a stack, in particular sheets of a stack of sheets
US7134833B2 (en) * 2004-08-03 2006-11-14 Flexicell, Inc. Servo adjustable gripper device
DE102006023298B3 (en) 2006-05-18 2007-11-29 Illig Maschinenbau Gmbh & Co. Kg Raising uppermost plastic plate from stack of plates involves uppermost plate that has been picked up undergoing alternating bending during lifting movement; lifting first takes place parallel to stack and then alternate bending occurs
JP2010195535A (en) 2009-02-25 2010-09-09 Sharp Corp Suction device and takeout device of sucked object

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5083763A (en) * 1988-10-27 1992-01-28 Cimcorp Oy Method and apparatus for the picking up and handling of sheets of material, in particular sheets of porous and flexible material
US5433426A (en) * 1994-05-23 1995-07-18 Bond; Irvin D. Apparatus for removing a non-magnetic sheet from a stack of sheets
EP1382559A1 (en) * 2002-07-19 2004-01-21 Villeroy & Boch AG Handling apparatus with suction cups

Also Published As

Publication number Publication date
CN102602714A (en) 2012-07-25
US20120181740A1 (en) 2012-07-19
CN102602714B (en) 2014-11-05
BR102012001259B1 (en) 2019-12-17
SI2476637T1 (en) 2015-09-30
EP2476637B1 (en) 2015-05-06
DE102012200535A1 (en) 2012-07-19
US8690149B2 (en) 2014-04-08
EP2476637A2 (en) 2012-07-18
BR102012001259A2 (en) 2014-01-07
AU2011265490B2 (en) 2016-05-19
AU2011265490A1 (en) 2012-08-02

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