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 PDFInfo
- 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
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. 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).
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)
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)
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 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
-
2011
- 2011-12-09 EP EP20110192889 patent/EP2476637B1/en active Active
- 2011-12-09 SI SI201130550T patent/SI2476637T1/en unknown
- 2011-12-22 AU AU2011265490A patent/AU2011265490B2/en active Active
-
2012
- 2012-01-09 US US13/346,264 patent/US8690149B2/en active Active
- 2012-01-16 DE DE102012200535A patent/DE102012200535A1/en not_active Withdrawn
- 2012-01-18 BR BR102012001259A patent/BR102012001259B1/en active IP Right Grant
- 2012-01-18 CN CN201210016328.3A patent/CN102602714B/en active Active
Patent Citations (3)
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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