KR880003713A - 진공 흡인손 - Google Patents
진공 흡인손 Download PDFInfo
- Publication number
- KR880003713A KR880003713A KR870009939A KR870009939A KR880003713A KR 880003713 A KR880003713 A KR 880003713A KR 870009939 A KR870009939 A KR 870009939A KR 870009939 A KR870009939 A KR 870009939A KR 880003713 A KR880003713 A KR 880003713A
- Authority
- KR
- South Korea
- Prior art keywords
- frame
- gripping
- plate
- holding
- vacuum suction
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
-
- 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
- B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
- B65G2249/04—Arrangements of vacuum systems or suction cups
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S294/00—Handling: hand and hoist-line implements
- Y10S294/902—Gripping element
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
내용 없음
Description
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명에 따른 진공 흡인손의 실시예를 도시한 측면도.
제2도는 제1도의 Ⅱ선 단면도.
제3도는 본 발명에 따른 진공 흡인손의 다른 실시예를 도시한 평면도.
Claims (2)
- 물체를 흡인 및 지지할 수 있고, 물체조종기와 결합되는 프레임(1)과, 진동원과 연결되며, 상기 프레임(1)내에 형성되는 오목부(2)와, 다수의 구멍(7)이 형성된 다공성판(6)과, 상기 프레임(1)의 저부에 오목부(2)로서 형성되어 다공성판(6)으로 덮히는 진공실과, 상기 다공성판(6)의 외측면에 부착되며, 연속적 기포가 형성된 스폰지재(8)등으로 구성되는 진공 흡인손.
- 산업용 로보트의 팔중 팔목부위에 접속되는 프레임(101)의 중심부에 위치하여 진공흡인력으로 물체(M)의 상부면을 흡인하는 흡인장치(120)와, 이 흡인장치(120)의 양측에 배치되어 물체(M)의 양측면을 협지하는 협지장치(140)로 구성되는 혼합식기계손에 있어서, 협지장치(140)에 포함되는 협지프레임(150)은 경첩핀(141)으로 상기 프레임(101)에 부착되고, 협지폭 및 협지력을 가변시킬 수 있으며, 협지판(170)은 상기 협지프레임(150)에 대해서 수직방향 이동하여 물체(M)를 협지할 수 있고, 상기 협지판(170)은 구동원인 피스톤 실린더장치(164)의 피스톤로드(169)의 이동거리의 2배만큼 래크와 피니언장치(160)에 의해 수직방향으로 이동되는 것을 특징으로 하며, 산업용 로보트에 사용되는 혼합식 기계손.※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP86-137288 | 1986-09-09 | ||
JP1986137288U JPH074140Y2 (ja) | 1986-09-09 | 1986-09-09 | 真空吸着ハンド |
JP137288 | 1986-09-09 | ||
JP86-140590 | 1986-09-16 | ||
JP140590 | 1986-09-16 | ||
JP1986140590U JPH047909Y2 (ko) | 1986-09-16 | 1986-09-16 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR880003713A true KR880003713A (ko) | 1988-05-28 |
KR950005123B1 KR950005123B1 (ko) | 1995-05-18 |
Family
ID=26470653
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1019870009939A KR950005123B1 (ko) | 1986-09-09 | 1987-09-09 | 산업용 로봇의 복합기구손 |
Country Status (6)
Country | Link |
---|---|
US (1) | US4828304A (ko) |
EP (2) | EP0260128B1 (ko) |
KR (1) | KR950005123B1 (ko) |
AU (2) | AU592667B2 (ko) |
CA (1) | CA1308763C (ko) |
DE (2) | DE3788286T2 (ko) |
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DE3817615A1 (de) * | 1988-05-25 | 1989-08-24 | Daimler Benz Ag | Sauggreifer |
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DE68919065T2 (de) * | 1988-12-20 | 1995-03-02 | Texas Instruments Inc | Vorrichtung zum Aufheben eines Halbleiterplättchens. |
US5161847A (en) * | 1989-09-07 | 1992-11-10 | Canon Kabushiki Kaisha | Robot hand |
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DE69207136T2 (de) * | 1991-09-30 | 1996-05-15 | Gisulfo Baccini | Vorrichtung zur Bearbeitung von elektrischen Schaltungen |
EP0554592B1 (en) * | 1992-02-04 | 1995-12-13 | House Food Industrial Co., Ltd. | A suction-type robot hand |
EP0616874B1 (de) * | 1993-03-24 | 1997-09-10 | Hauni Maschinenbau Aktiengesellschaft | Robotarm eines Flächenportalroboters |
US5330311A (en) * | 1993-05-14 | 1994-07-19 | Ohmstede-Cawley, Ltd. | Robot means for unloading open boxes |
CA2173858C (en) * | 1993-11-04 | 2005-04-26 | Christopher Luke Crozier | Vacuum lifting device |
US5387068A (en) * | 1993-12-06 | 1995-02-07 | Ford Motor Company | Method and system for loading rigid sheet material into shipping containers at a work station and end effector for use therein |
DE4425127A1 (de) * | 1994-07-15 | 1996-01-18 | Dreier Systemtechnik Ag | Lageranlage zum Kommissionieren |
US5664617A (en) * | 1995-03-24 | 1997-09-09 | Columbia Aluminum Corporation | Sow lifter |
US5632590A (en) * | 1995-06-30 | 1997-05-27 | Ford Motor Company | Method and system for loading panels into shipping containers at a work station and end effector for use therein |
US6203083B1 (en) * | 1997-01-30 | 2001-03-20 | Siemens Aktiengesellschaft | Sucking pipette for picking up electric components |
DE19752896A1 (de) * | 1997-11-28 | 1999-06-02 | Focke & Co | Verfahren und Vorrichtung zum Handhaben von Folien-Weichpackungen |
WO1999056518A1 (en) * | 1998-04-28 | 1999-11-04 | Koninklijke Philips Electronics N.V. | Component-handling machine |
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US20130015675A1 (en) * | 2011-07-15 | 2013-01-17 | Douglas Pickard | Apparatus, system, and method for layer picking and order fulfillment for items stored in a warehouse |
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KR101969839B1 (ko) * | 2012-05-07 | 2019-04-18 | 삼성디스플레이 주식회사 | 패널 이송용 흡착기 |
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CN105764655B (zh) * | 2013-12-10 | 2017-06-27 | Nok株式会社 | 覆盖材料及机器人把持部的覆盖构造 |
KR101500385B1 (ko) * | 2013-12-31 | 2015-03-09 | 현대자동차 주식회사 | 무빙파트 핸들링 장치 |
CN106794967B (zh) * | 2014-10-13 | 2019-05-28 | J.施迈茨有限公司 | 电池夹具 |
CN108290297B (zh) | 2015-09-08 | 2021-12-03 | 伯克希尔格雷股份有限公司 | 用于在自动***中提供高流量真空采集的***和方法 |
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CA3169689C (en) | 2016-01-08 | 2024-04-02 | Berkshire Grey Operating Company, Inc. | Systems and methods for acquiring and moving objects |
CN105798939A (zh) * | 2016-04-19 | 2016-07-27 | 中国工程物理研究院激光聚变研究中心 | 大口径光学元件真空抓取*** |
CN106185313B (zh) * | 2016-08-30 | 2019-01-25 | 苏州万商集包装设备有限公司 | 夹持机构 |
US10639787B2 (en) | 2017-03-06 | 2020-05-05 | Berkshire Grey, Inc. | Systems and methods for efficiently moving a variety of objects |
JP6702909B2 (ja) * | 2017-04-12 | 2020-06-03 | ファナック株式会社 | ロボットシステム |
WO2019028242A1 (en) * | 2017-08-03 | 2019-02-07 | Soft Robotics, Inc. | ROBOTIC PREHENSOR FOR HANDLING CARNEOUS PRODUCTS |
EP3706966A2 (en) | 2017-11-07 | 2020-09-16 | Berkshire Grey, Inc. | Systems and methods for providing dynamic vacuum pressure at an end effector using a single vacuum source |
CN107953357A (zh) * | 2017-12-25 | 2018-04-24 | 无锡特恒科技有限公司 | 一种快速抓取装置 |
CN112752634B (zh) | 2018-07-27 | 2024-05-24 | 伯克希尔格雷营业股份有限公司 | 用于高效地交换端部执行器工具的***和方法 |
CN114174017A (zh) | 2019-08-08 | 2022-03-11 | 伯克希尔格雷股份有限公司 | 用于在可编程运动装置中提供具有噪声减低的顺应性末端执行器的***和方法 |
EP4185445A1 (en) | 2020-07-22 | 2023-05-31 | Berkshire Grey Operating Company, Inc. | Systems and methods for object processing using a passively folding vacuum gripper |
WO2022020178A1 (en) | 2020-07-22 | 2022-01-27 | Berkshire Grey, Inc. | Systems and methods for object processing using a vacuum gripper that provides object retention by shroud inversion |
US20220212352A1 (en) * | 2021-01-04 | 2022-07-07 | The Boeing Company | Part transfer system |
CN114476743B (zh) * | 2022-01-19 | 2024-01-30 | 业成科技(成都)有限公司 | 片材抓放装置 |
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-
1987
- 1987-09-04 US US07/092,973 patent/US4828304A/en not_active Expired - Fee Related
- 1987-09-08 CA CA000546295A patent/CA1308763C/en not_active Expired - Fee Related
- 1987-09-09 EP EP87307981A patent/EP0260128B1/en not_active Expired - Lifetime
- 1987-09-09 DE DE90201735T patent/DE3788286T2/de not_active Expired - Fee Related
- 1987-09-09 DE DE8787307981T patent/DE3785712T2/de not_active Expired - Fee Related
- 1987-09-09 AU AU78190/87A patent/AU592667B2/en not_active Ceased
- 1987-09-09 KR KR1019870009939A patent/KR950005123B1/ko not_active IP Right Cessation
- 1987-09-09 EP EP90201735A patent/EP0396210B1/en not_active Expired - Lifetime
-
1989
- 1989-11-08 AU AU44473/89A patent/AU612527B2/en not_active Ceased
Also Published As
Publication number | Publication date |
---|---|
AU7819087A (en) | 1988-03-17 |
DE3785712D1 (de) | 1993-06-09 |
DE3788286T2 (de) | 1994-03-31 |
DE3788286D1 (de) | 1994-01-05 |
DE3785712T2 (de) | 1993-08-19 |
AU592667B2 (en) | 1990-01-18 |
AU612527B2 (en) | 1991-07-11 |
EP0396210A3 (en) | 1990-12-12 |
KR950005123B1 (ko) | 1995-05-18 |
CA1308763C (en) | 1992-10-13 |
US4828304A (en) | 1989-05-09 |
AU4447389A (en) | 1990-03-01 |
EP0396210B1 (en) | 1993-11-24 |
EP0260128A3 (en) | 1988-04-27 |
EP0260128A2 (en) | 1988-03-16 |
EP0260128B1 (en) | 1993-05-05 |
EP0396210A2 (en) | 1990-11-07 |
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