WO2022162527A1 - Tête de manipulation d'objets en lot - Google Patents
Tête de manipulation d'objets en lot Download PDFInfo
- Publication number
- WO2022162527A1 WO2022162527A1 PCT/IB2022/050639 IB2022050639W WO2022162527A1 WO 2022162527 A1 WO2022162527 A1 WO 2022162527A1 IB 2022050639 W IB2022050639 W IB 2022050639W WO 2022162527 A1 WO2022162527 A1 WO 2022162527A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- head
- crosspieces
- beams
- spacing
- gripping
- Prior art date
Links
- 125000006850 spacer group Chemical group 0.000 claims description 33
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000001154 acute effect Effects 0.000 description 4
- 230000001788 irregular Effects 0.000 description 4
- 210000001520 comb Anatomy 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 239000007769 metal material Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- 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
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B21/00—Packaging or unpacking of bottles
- B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
- B65B21/14—Introducing or removing groups of bottles, for filling or emptying containers in one operation
- B65B21/18—Introducing or removing groups of bottles, for filling or emptying containers in one operation using grippers engaging bottles, e.g. bottle necks
- B65B21/20—Introducing or removing groups of bottles, for filling or emptying containers in one operation using grippers engaging bottles, e.g. bottle necks with means for varying spacing of bottles
Definitions
- the present invention generally relates to the technical field of batch object handling units, and more particularly to the field of batch object handling heads.
- the present invention relates to a batch object handling head which comprises a member for fixing to a handling unit, a plurality of gripping heads extending along respective extension axes parallel to each other. to the others, each intended to pick up an object, and an operating member interposed between the fixing member and the gripping heads and adapted to adjust the spacing between said gripping heads, in which said operating member comprises:
- JP H09 295 608 A discloses another known manipulation head.
- the present invention aims to improve the known handling heads, for example in order to offer more freedom as to the adjustment of the spacing of the objects within the batch handled.
- the present invention provides a head for manipulating objects in batches as described above, in which the maneuvering member further comprises, on the one hand, at least two transverse crosspieces, parallel to each other , to which the carriages are linked in transverse translation so that each carriage is linked in translation both to a beam and to a crosspiece, and, on the other hand, means for adjusting the longitudinal spacing between the crosspieces, and in which the means for adjusting the longitudinal spacing between the crosspieces comprise a spacing comb, the teeth of which are intended to be inserted between the crosspieces.
- the manipulation head according to the invention makes it possible to adjust the spacing of the gripping heads in two directions, longitudinal and transverse, orthogonal to each other and to the axes of extension of the gripping heads.
- the adjustment of the gaps in the two directions is facilitated thanks to the present invention.
- the batch object handling head according to the present invention is designed so as to be light and easy to handle, and the spacing comb thus makes it possible to fix the longitudinal spacing between the crosspieces, and therefore the spacing longitudinal between the gripping heads within each beam.
- the spacer comb is an independent part intended to be attached to the crosspieces.
- the spacing comb is attached to the crosspieces only once the spacing has been adjusted between the gripping heads so that the spacing comb does not weigh down the handling head when adjusting said spacing.
- the independent spacer comb contributes to the overall lightening of the handling head.
- the teeth of the spacer comb are separated by notches spaced at regular intervals.
- the manipulation head thus makes it possible to place the objects equidistant from each other within each beam.
- the notches separating the teeth of the spacer comb are spaced at an irregular pitch, so that when the comb cooperates with the crosspieces, these are not all placed at the same distance from each other. others.
- the manipulation head arranged according to this variant makes it possible to take objects of different sizes, within the same batch.
- a different spacing comb for each desired longitudinal spacing between the sleepers.
- each carriage has one end forming a slider, adapted to move along a rail carried by the corresponding beam.
- each carriage is guided in translation along the beam to which it is linked, in particular when adjusting the longitudinal spacing between the crosspieces.
- each carriage is adapted to move along the beam to which it is linked, in a simple manner, without weighing down the handling head.
- each carriage has a through opening receiving the crosspiece relative to which said carriage is adapted to move.
- each carriage is guided in translation along the crosspiece to which it is linked, in particular when adjusting the transverse spacing between the beams.
- the guidance of each carriage along the corresponding crosspiece is carried out in a simple and light manner, which does not weigh down the handling head.
- the extension axes of the crosspieces extend in a plane parallel and distinct from that in which the extension axes of the beams extend.
- the adjustment of the transverse spacing between the beams is independent of the adjustment of the longitudinal spacing between the crosspieces. The adjustment of each transverse and longitudinal spacing is facilitated.
- the maneuvering member comprises a fixed central beam and two movable side beams, interconnected by two connecting arms parallel to each other so as to form, on either side of the central beam, two deformable parallelograms.
- the pivoting of the connecting arms symmetrically modifies the transverse spacing between each side beam and the central beam.
- a single movement (the pivoting of the link arms) makes it possible to simultaneously adjust the spacing between three beams. It should be noted that the same principle of realization is also possible in the case of the implementation of an odd number of beams greater than three.
- each of the central and lateral beams receives part of the carriages.
- all the beams receive trolleys so that the quantity of objects that the manipulation head can take within the same batch is increased.
- the member for fixing to the handling unit is carried by the central beam.
- the central beam alone supports the fixing member.
- each gripping head comprises gripping means linked in translation, in the direction of extension of the gripping head, to the carriage to which the gripping head is fixed.
- the head for manipulating objects in batches has a certain flexibility in the direction of extension (here vertical), which allows it to take fragile objects, and reduces the risk of breaking or dropping objects during their pick-up and/or drop-off.
- the gripping means are suction cup means of generally cylindrical shape intended to take the objects by suction.
- Such gripping means are particularly suitable for handling objects of different shapes.
- the gripping means are here particularly suitable for gripping bottles by the neck.
- FIG. 1 is a front perspective view of a batch object handling head according to the invention, in which the gripping heads are spaced apart to receive objects 82 millimeters in diameter,
- FIG. 2 is a front perspective view of the manipulation head of figure 1, in which the gripping heads are spaced apart from each other to receive objects 58 millimeters in diameter,
- FIG. 3 is a top view of the manipulation head of figure 1,
- FIG. 4 is a rear view of the manipulation head of figure 1
- FIG. 5 is a side view of the manipulation head of figure 1
- FIG. 6 is an enlarged view of part IV of figure 5, and,
- FIG. 7 is a view of the spacer comb of the manipulation head of figure 1.
- the invention relates to a handling head 1 for batch objects, as illustrated in Figures 1 to 5.
- a handling head 1 is intended to take a plurality of objects (not shown) for the move from point A to point B.
- the handling head 1 of batch objects is particularly suitable for taking objects to put them on a pallet for transport.
- the handling head 1 of batch objects comprises for this purpose, on the one hand, a fixing member 20 to a handling unit (not shown), and, d on the other hand, a plurality of gripping heads 30 extending along respective extension axes Z parallel to each other.
- the direction in which the extension axes Z of the gripping heads 30 extend is shown vertically in all of Figures 1 to 5.
- the vertical direction forms a trihedron with a longitudinal direction X and a transverse direction Y orthogonal to each other.
- the terms “lower” and “upper” will be defined with respect to the vertical direction.
- the term “lower” will designate a face of the manipulation head 1 turned towards the manipulated objects
- the term “upper” will designate a face of the manipulation head 1 turned away from them, it that is, to the handling unit.
- the gripping heads 30 are arranged at a lower end of the manipulation head 1, while the fixing member 20 is arranged at the upper end of the manipulation head 1.
- Each gripping head 30 is intended to pick up an object, so that the manipulation head 1 provided with the plurality of gripping heads 30 is suitable for picking up a batch of several objects.
- the handling head 1 of batch objects comprises an operating member 10, interposed between the fixing member 20 and said gripping heads 30 (see figures 1 and 2).
- the maneuvering member 10 comprises a supporting structure from which the gripping heads 30 are here suspended, and means for adjusting the distance between the gripping heads 30.
- the operating member 10 comprises: - at least two beams 110, 111, parallel to each other, which extend along the longitudinal direction X perpendicular to the axes of extension Z of the gripping heads 30, and,
- the maneuvering member 10 comprises more precisely three beams each extending along its own axis of extension, parallel to the longitudinal direction X.
- the three beams are arranged so as to form a central beam 110 which is fixed and two movable side beams 111, interconnected by two connecting arms 120 parallel to each other. This arrangement defines, on either side of the central beam 110, two deformable parallelograms (see FIG. 3).
- the beams 110, 111 are made of rigid metal material, which ensures their robustness for lifting large masses.
- the metal beams 110, 111 are hollow (see FIGS. 1 and 5) or tubular.
- Each beam 110, 111 is thus formed by four metal walls: an upper wall, a lower wall and two side walls parallel to each other and perpendicular to said upper and lower walls.
- the two parallel connecting arms 120 are attached to the upper and lower walls of each beam 110, 111, via pivot rods 121 (see Figures 4 and 5) passing through said lower and upper walls and held to said walls by brackets 12 and bolts 13 (see Figures 4 and 5).
- Each connecting arm 120 is thus free to rotate with respect to each beam 110, 111, while driving during its pivoting the spacing of the side beams 111 with respect to the central beam 110.
- the link arms 120 are generally arcuate (see Figures 4 and 5) with a concavity facing the extension heads 30. This configuration facilitates the pivoting of the link arms 120.
- the movable side beams 111 When pivoting the arms of the links 120, the movable side beams 111 are forced in translation along the transverse direction Y perpendicular to the longitudinal direction X and to the vertical direction. To do this, the side beams 111 are linked so as to be able to move in translation to at least one crosspiece 140 (see FIGS. 3 and 5) extending along an axis of extension parallel to the transverse direction Y. This crosspiece 140 thus serves as guide to the transverse displacement of the side beams 111.
- the side beams 111 are forced in translation not by a single crosspiece 140, but by a set of crosspieces 140 extending parallel to each other (see FIG. 3).
- the beams 110, 111 are linked in transverse translation to the set of crosspieces 140 by means of carriages 130 (see FIGS. 4 and 5).
- the two connecting arms 120 are attached to the central beam 110 and to the side beams 111 symmetrically with respect to the center of the central beam 110. This configuration balances the beams 110, 111 in particular when pivoting the link arms 120.
- the pivoting of the link arms 120 is automated here. It is in particular controlled and controlled electronically, by a control unit 35, here arranged on the manipulation head 1 (see FIG. 2). Alternatively, it could be manually controlled by an operator.
- the connecting arm 120 forms an acute angle I with the axis of extension of each beam 110, 111.
- the acute angle formed between the connecting arms 120 and the beams 110, 111 is greater in Figure 1 than in Figure 2, so that the beams 110, 111 are further apart from each other in the figure 1 than in figure 2.
- the maneuvering member 10 of the manipulation head 1 comprises maneuvering means making it possible to adjust the acute angle I formed between the connecting arms 120 and the beams 110, 111.
- one of the side beams 111 comprises, on that of its side walls facing the outside of the manipulation head 1, at least one handle 115 on which a operator (human or robotic) can act.
- two handles 115 are more particularly provided, one generally disposed at each end of the side beam 111.
- each gripping head 30 is associated with its own carriage 130, so that the movement of a carriage 130 causes the movement of the single corresponding gripping head 30 .
- each carriage, or at least some of the carriages supports several gripping heads, in which case the movement of this carriage causes the simultaneous movement of all the gripping heads associated with it.
- carriage is understood to mean a generic term which qualifies a part capable of moving relative to another part.
- a trolley within the meaning of the invention may optionally include wheels facilitating its movement, but this is not imperative.
- Each carriage 130 is here both fixed to one of the gripping heads 30 and linked in longitudinal translation to one of the beams 110, 111, that is to say that it is adapted to move along said beam 110, 111. More specifically, each carriage 130 is connected by its upper end to one of the beams 110, 111, and by its lower end to a connecting rod 33 of the gripping head 30, which connecting rod 33 carries at its lower end the gripping means 31 of the gripping head 30 (see Figures 4 and 5).
- each of the central and lateral beams 110, 111 receives a part of the carriages 130. More specifically, as clearly shown in Figures 1 and 2, the central and lateral beams 110, 111 each receive the same number of carriages 130 , namely in this embodiment, eight carriages 130 each.
- the manipulation head 1 of batch objects represented in FIGS. 1 to 5 therefore comprises a total of twenty-four carriages 130 (see FIG. 1).
- each carriage 130 In order to be able to move relative to the beam 110, 111 to which it is attached, the upper end of each carriage 130 forms a slider 132, intended to slide along a rail 112 carried by the beam 110 , 111 (see Figures 4 and 5). Thus, each carriage 130 is suspended from one of the beams 110, 111 via its slider 132, while being free to slide along said beam 110, 111.
- each rail 112 is here a linear guide rail, known to those skilled in the art.
- the three rails 112 of the three beams 110, 111 are all identical.
- each rail 112 is carried by the underside of a beam 15 fixed under the lower wall of the corresponding beam 110, 111 (see Figure 4).
- the beam 15 is split into sections to allow the attachment of the connecting arms 120 to the corresponding beam 110, 111, but receives a rail 112 which extends continuously from one end of the beam 110, 111 to the other.
- beam 15 thus makes it possible to shift the rails 112 downwards so that the movement of the carriages 130 is not hampered by the mechanism making it possible to adjust the transverse spacing between the beams 110, 111.
- a means of stopping for example a stop piece 117 (see Figure 5) at the ends of at least one of the rails 112, so as to prevent the carriages 130 from leaving the rails 112 on which they are engaged.
- the maneuvering member 10 not only allows the carriages 130 to be moved longitudinally along the beams 130, but also allows, thanks to the set of crosspieces 140 extending in the transverse direction Y, to adjust and fix the longitudinal spacing between the gripping heads 30.
- the maneuvering member 10 comprises:
- each crosspiece 140 is formed by a solid rod of metallic material, the longitudinal section of which (that is to say the section perpendicular to the transverse axis) has a hexagonal shape.
- the hexagonal shape associated with the metal material of the rods reinforces their robustness.
- the crosspieces could of course have a section of different shape.
- each carriage 130 here comprises a through opening 136 receiving said crosspiece 140 (see Figure 4).
- the through opening 136 forms a guide for moving the carriage 130 along the crosspiece 140.
- the maneuvering member 10 comprises more precisely eight crosspieces 140 which each make integral with each other three carriages 130 respectively linked to one of the three beams 110, 111.
- the beams 110, 111 and the crosspieces 140 form a mesh and a carriage 130 is provided at each node of this mesh.
- Each carriage 130 is thus both linked in longitudinal translation to a beam 110, 111 and in transverse translation to a crosspiece 140, so that it can be moved, on the one hand, longitudinally (i.e. that is to say along one of the beams 110, 111) by the displacement of one of the crosspieces 140, and, on the other hand, transversely (that is to say along one of the crosspieces 140) by the displacement of the beams 110, 111.
- the through opening 136 of the carriage 130 is provided in a central portion of the carriage 130, between its upper and lower ends respectively connected to a beam
- the extension axes of the crosspieces 140 thus extend in a plane parallel and distinct from that in which the extension axes of the beams 110, 111 extend.
- This configuration facilitates independent adjustments, on the one hand, of the transverse spacing between the gripping heads 30, via the beams 110, 111, and, on the other hand, the longitudinal spacing between the gripping heads 30, via the crosspieces 140.
- the carriages 130 crossed by the same crosspiece 140 are slid simultaneously along the rails 112 of the three beams 110, 111.
- the crosspiece 140 therefore forms a means of simultaneously maneuvering the carriages 130 which are secured through it.
- the adjustment of the longitudinal spacing between the crosspieces 140 makes it possible to adjust the longitudinal spacing between the gripping heads 30 fixed to the carriages 130. This adjustment can be carried out by an operator (human or robotic).
- Each crosspiece 140 therefore has a dual function, that of a guide to cause the transverse displacement of the beams 110, 111 during the pivoting of the connecting arms 120, and that of an operating means for simultaneously moving the carriages 130 that it crosses. .
- the operating member 10 advantageously comprises a spacing comb 150; 160 (see Figures 1, 2 and 7) including the teeth 151; 161 are intended to be inserted between the crosspieces 140.
- the spacer comb 150; 160 forms a means for adjusting the longitudinal spacing between the crosspieces 140 and consequently between the gripping heads 30.
- the spacer comb 150; 160 is an autonomous part intended to be attached to the crosspieces 140.
- the fact that it is autonomous contributes to the overall relief of the manipulation head 1, in particular when adjusting the transverse and/or longitudinal spacings between the heads of gripping 30.
- the spacer comb 150; 160 is here a metal part, the profile of which forms a stair step (see FIGS. 5 and 7) or a “Z” shape.
- the spacer comb 150; 160 thus comprises three segments: a core 150A; 160A here shown horizontally, and two upper and lower wings 150B, 150C; 160B, 160C, here shown vertically (see Figures 2 and 7).
- the core 150A; 160A is perforated in order to lighten the spacer comb 150, 160, while allowing the upper and lower wings 150B, 150C to be connected together; 160B, 160C (see figures 3 and 7).
- the lower wing 150C; 160C of the spacer comb 150; 160 is intended to be positioned at the level of the crosspieces 140 and carries the teeth 151; 161 which must be inserted between said crosspieces 140.
- the teeth 151; 161 of the spacer comb 150; 160 are separated from each other by notches 152; 162 intended to straddle the crosspieces 140 to block their longitudinal movement (see Figures 2 and 7).
- each notch 152; 162 cooperates with one of the crosspieces 140.
- the lower wing 150C; 160C is further provided with a handle 153; 163 (see Figures 1 and 2) to facilitate handling of the spacer comb 150; 160 by an operator (human or robotic) and its installation on the crosspieces 140.
- the upper wing 150B; 160B of the spacer comb 150; 160 is intended to be positioned facing the side wall of the side beam 111 facing the operator (see Figures 1 and 2).
- the upper wing 150B; 160B comprises fastening means to this side beam 111, for example in the form of notches 155, 156; 165, 166 (see figure 7).
- clamping screws for example here knurled screws 170 (see Figures 1 and 3) are mounted at the ends of certain crosspieces and on the side beam 111 to clamp the comb 150; 160 on the supporting structure.
- the spacer comb 150; 160 when positioning the spacer comb 150; 160 on the crosspieces 140, the knurled screws 170 fixed to the side beam 111 are inserted into notches 155, 156 provided in the upper flange 150B (see Figure 7).
- the spacer comb 150; 160 is then movable longitudinally to position the teeth 151; 161 of the lower wing 150C; 160C of the spacer comb 150; 160 facing the interstices separating the crosspieces 140.
- the spacer comb 150; 160 is lowered so that the notches 152; 162 of the lower wing 150C; 160C come into engagement with the crosspieces 140. All the knurled screws 170 are then tightened to firmly hold the spacer comb 150; 160 in place.
- a spacer comb 150 is provided; 160 different for each desired longitudinal spacing between the crosspieces 140.
- the combs 150; 160 respectively shown in Figures 1 and 2 are similar, only the spacing between the notches 152; 162 separating the teeth 151; 161 varies between the spacer combs 150; 160 represented.
- the spacing comb 150 represented in FIGS. 1 and 7 makes it possible to fix the spacing between the crosspieces 140 at a distance equal to approximately 82 millimeters, so that the manipulation head 1 is suitable for picking up objects (for example bottles) 82 millimeters in diameter.
- the spacing comb 160 shown in Figure 2 makes it possible to fix the spacing between the crosspieces 140 at a distance equal to about 58 millimeters, so that the handling head 1 is adapted to pick up objects (for example bottles) 58 millimeters in diameter.
- the notches 152; 162 separating the teeth 151; 161 are spaced at a regular pitch "p" (see Figure 7).
- the term "pitch”, denoted “p”, is understood here to mean the distance separating the central axis from two consecutive notches.
- the notches 152; 162 receiving the crosspieces 140 are respectively spaced apart by 82 millimeters or 58 millimeters.
- the fixing member 20 connecting the handling head 1 to the handling unit is conventionally formed by two handles 21 in the form handle (see figures 1 and 2).
- the handles 21 of the fixing member 20 are attached above the upper wall of the central beam 110, in a central region of this beam 110.
- Clamps (not shown) provided on a robotic arm of the handling unit are intended to be hooked into these handles 21. The movement of the robotic arm to which the handling head 1 is thus hooked makes it possible to move all the objects of the batch taken by the gripping heads 30, in a single operation.
- the gripping means 31 of each gripping head 30 are movable in translation along the extension axis Z. More specifically, the gripping means 31 are movable via the link 33 at the lower end of which they are fixed (see Figures 1, 2 and 4).
- This connecting rod 33 is rigid, and slidable in the vertical direction, between a rest position (shown in Figures 1 and 2 for example) in which it extends entirely outside the carriage 130 and a position work in which it sinks inside the carriage 130, for example when the gripping head 30 supports the object.
- the connecting rod 33 is surrounded by a compression spring 32 which permanently returns it to its rest position.
- the connecting rod 33 slides in the carriage 130 and the spring 32 is compressed when the gripping means 31 come into contact with the object that the gripping head 30 is about to take.
- This mobile connection of the gripping means 31 offers flexibility at the handling head 1 when picking up and setting down the batch of objects, to compensate for any differences in levels between the objects. This configuration notably reduces the risk of breaking or dropping the objects when gripping them.
- the gripping means 31 are here suction cup means, of generally cylindrical shape. These suction cup means are suitable for picking up objects by suction and are well known to those skilled in the art. These suction cup means are connected to a source of depression or vacuum, here not shown to facilitate understanding of the figures. The suction is for example controlled by the control unit 35 (see figures 1, 2 and 3) or by another control means not shown.
- the gripping means 31 are particularly suitable here, in particular thanks to their cylindrical shape, for taking the neck of a bottle by suction.
- the batch object handling head could be adapted to handle larger or smaller batches, and include more or fewer beams and/or more or fewer carriages on each beam, and/or more or fewer sleepers, depending on the size of the batch to be handled.
- the spacer comb is provided with teeth separated by notches spaced from each other with an irregular pitch.
- Such an irregular comb makes it possible to handle, within the same batch, objects of various sizes.
- a single spacing comb is suitable for fixing different longitudinal spacings (regular or irregular) between the crosspieces.
- Such a single spacer comb is provided with teeth whose width is adjustable, which amounts to being able to adjust the spacing pitch between the teeth.
- the spacer comb it is also possible for the spacer comb to have many more teeth than there are crosspieces, so that several teeth are then inserted between two consecutive crosspieces. With such a comb, all the notches separating the teeth do not come into engagement with one of the crosspieces when the spacer comb is placed on the crosspieces, and certain notches are, on the contrary, unused.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
- Paper (AREA)
- Yarns And Mechanical Finishing Of Yarns Or Ropes (AREA)
- Heating, Cooling, Or Curing Plastics Or The Like In General (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112022000829.6T DE112022000829T5 (de) | 2021-01-26 | 2022-01-25 | Kopf zur Handhabung von Gegenständen in Chargen |
AU2022213544A AU2022213544A1 (en) | 2021-01-26 | 2022-01-25 | Batch object handling head |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2100723A FR3119160B1 (fr) | 2021-01-26 | 2021-01-26 | Tête de manipulation d’objets en lot |
FRFR2100723 | 2021-01-26 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022162527A1 true WO2022162527A1 (fr) | 2022-08-04 |
Family
ID=74669178
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/IB2022/050639 WO2022162527A1 (fr) | 2021-01-26 | 2022-01-25 | Tête de manipulation d'objets en lot |
Country Status (5)
Country | Link |
---|---|
AU (1) | AU2022213544A1 (fr) |
CL (1) | CL2023002190A1 (fr) |
DE (1) | DE112022000829T5 (fr) |
FR (1) | FR3119160B1 (fr) |
WO (1) | WO2022162527A1 (fr) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1204129B (de) * | 1961-07-27 | 1965-10-28 | Erhardt Walther | Vorrichtung zum Einlegen von stueckfoermigen Nahrungs- und Genussmitteln unterschiedlicher Groessen in Schachteln |
JPH09295608A (ja) | 1996-04-30 | 1997-11-18 | Kao Corp | 物品ピッチ変更装置 |
WO2002004327A2 (fr) | 2000-07-12 | 2002-01-17 | Lanfranchi S.R.L. | Tete de transfert de contenants, notamment des bouteilles, dans un palettiseur |
EP2192063A1 (fr) * | 2008-11-28 | 2010-06-02 | OPM S.p.A. | Tête de lecture fournie avec des dispositifs de capteur agencés côte-à-côte et à un espacement variable |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104493821A (zh) * | 2014-12-25 | 2015-04-08 | 昆山艾博机器人***工程有限公司 | 一种机器人抓取装置 |
-
2021
- 2021-01-26 FR FR2100723A patent/FR3119160B1/fr active Active
-
2022
- 2022-01-25 AU AU2022213544A patent/AU2022213544A1/en active Pending
- 2022-01-25 WO PCT/IB2022/050639 patent/WO2022162527A1/fr active Application Filing
- 2022-01-25 DE DE112022000829.6T patent/DE112022000829T5/de active Pending
-
2023
- 2023-07-25 CL CL2023002190A patent/CL2023002190A1/es unknown
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE1204129B (de) * | 1961-07-27 | 1965-10-28 | Erhardt Walther | Vorrichtung zum Einlegen von stueckfoermigen Nahrungs- und Genussmitteln unterschiedlicher Groessen in Schachteln |
JPH09295608A (ja) | 1996-04-30 | 1997-11-18 | Kao Corp | 物品ピッチ変更装置 |
WO2002004327A2 (fr) | 2000-07-12 | 2002-01-17 | Lanfranchi S.R.L. | Tete de transfert de contenants, notamment des bouteilles, dans un palettiseur |
EP2192063A1 (fr) * | 2008-11-28 | 2010-06-02 | OPM S.p.A. | Tête de lecture fournie avec des dispositifs de capteur agencés côte-à-côte et à un espacement variable |
Also Published As
Publication number | Publication date |
---|---|
CL2023002190A1 (es) | 2023-12-29 |
AU2022213544A1 (en) | 2023-08-10 |
DE112022000829T5 (de) | 2023-11-09 |
FR3119160A1 (fr) | 2022-07-29 |
FR3119160B1 (fr) | 2023-05-12 |
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