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DE3788286D1 - Handmechanismus. - Google Patents

Handmechanismus.

Info

Publication number
DE3788286D1
DE3788286D1 DE90201735T DE3788286T DE3788286D1 DE 3788286 D1 DE3788286 D1 DE 3788286D1 DE 90201735 T DE90201735 T DE 90201735T DE 3788286 T DE3788286 T DE 3788286T DE 3788286 D1 DE3788286 D1 DE 3788286D1
Authority
DE
Germany
Prior art keywords
hand mechanism
hand
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.)
Expired - Fee Related
Application number
DE90201735T
Other languages
English (en)
Other versions
DE3788286T2 (de
Inventor
Shinichiro No
Minao Kimura
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.)
Yakult Honsha Co Ltd
Original Assignee
Yakult Honsha Co Ltd
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
Priority claimed from JP1986137288U external-priority patent/JPH074140Y2/ja
Priority claimed from JP1986140590U external-priority patent/JPH047909Y2/ja
Application filed by Yakult Honsha Co Ltd filed Critical Yakult Honsha Co Ltd
Application granted granted Critical
Publication of DE3788286D1 publication Critical patent/DE3788286D1/de
Publication of DE3788286T2 publication Critical patent/DE3788286T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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)
DE90201735T 1986-09-09 1987-09-09 Handmechanismus. Expired - Fee Related DE3788286T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP1986137288U JPH074140Y2 (ja) 1986-09-09 1986-09-09 真空吸着ハンド
JP1986140590U JPH047909Y2 (de) 1986-09-16 1986-09-16

Publications (2)

Publication Number Publication Date
DE3788286D1 true DE3788286D1 (de) 1994-01-05
DE3788286T2 DE3788286T2 (de) 1994-03-31

Family

ID=26470653

Family Applications (2)

Application Number Title Priority Date Filing Date
DE90201735T Expired - Fee Related DE3788286T2 (de) 1986-09-09 1987-09-09 Handmechanismus.
DE8787307981T Expired - Fee Related DE3785712T2 (de) 1986-09-09 1987-09-09 Vakuumsaugvorrichtung.

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE8787307981T Expired - Fee Related DE3785712T2 (de) 1986-09-09 1987-09-09 Vakuumsaugvorrichtung.

Country Status (6)

Country Link
US (1) US4828304A (de)
EP (2) EP0396210B1 (de)
KR (1) KR950005123B1 (de)
AU (2) AU592667B2 (de)
CA (1) CA1308763C (de)
DE (2) DE3788286T2 (de)

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DE68919065T2 (de) * 1988-12-20 1995-03-02 Texas Instruments Inc Vorrichtung zum Aufheben eines Halbleiterplättchens.
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EP0535399B1 (de) * 1991-09-30 1995-12-27 Gisulfo Baccini Vorrichtung zur Bearbeitung von elektrischen Schaltungen
EP0554592B1 (de) * 1992-02-04 1995-12-13 House Food Industrial Co., Ltd. Sauggreifer für Roboter
ATE157919T1 (de) * 1993-03-24 1997-09-15 Hauni Maschinenbau Ag 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
EP0978226B1 (de) * 1997-01-30 2001-03-28 Siemens Aktiengesellschaft Saugpipette zum greifen von elektrischen bauelementen
DE19752896A1 (de) * 1997-11-28 1999-06-02 Focke & Co Verfahren und Vorrichtung zum Handhaben von Folien-Weichpackungen
EP0992183A1 (de) * 1998-04-28 2000-04-12 Assembléon N.V. Vorrichtung zur handhabung von bauteilen
EP1083032A1 (de) * 1999-09-09 2001-03-14 Tegulas GmbH Saugkopf
US6364387B1 (en) * 1999-11-10 2002-04-02 Data I/O Corporation Pick and place system and unit therefor
US6264185B1 (en) * 2000-04-19 2001-07-24 Shoda Iron Works Co., Ltd. Suction pad
US6467824B2 (en) * 2001-03-13 2002-10-22 Data I/O Corporation Floating seal pick and place system and unit therefor
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CA2560153C (en) * 2004-03-30 2010-09-21 Jlg Industries, Inc. Attachment for a telescopic material handler for manipulating a load with five degrees of freedom
US20050220599A1 (en) * 2004-04-02 2005-10-06 Job Matthew A Clamshell and fork-style material handling apparatus
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US7637711B2 (en) * 2005-02-08 2009-12-29 Meadwestvaco Corporation Apparatus with suction head for moving envelopes
US7481472B2 (en) * 2005-03-15 2009-01-27 Sage Automation, Inc. Layer picking end effector system, apparatus and method
DE102006022278A1 (de) * 2006-05-11 2007-11-15 Deutsche Post Ag Greifsystem für gestapeltes Stückgut
US7409812B2 (en) * 2006-06-29 2008-08-12 Smart Motion Robotics, Inc. Robotic packaging device and method
US20080187428A1 (en) * 2007-02-02 2008-08-07 Prototier-1 Inc. Lift mechanism for a vacuum system
US8414042B2 (en) * 2007-10-15 2013-04-09 Delaware Capital Formation, Inc. Articulating package palletizing system
DE102009011301B4 (de) * 2009-03-02 2020-11-26 Kuka Roboter Gmbh Verfahren und Greifer zur Handhabung eines Gebindes mittels eines Manipulators
PT2236252E (pt) * 2009-03-30 2013-01-22 Carel Johannes Wilhelm Theodoor Van Sorgen Dispositivo para segurar um objecto por sucção
US8328252B2 (en) * 2010-03-31 2012-12-11 G.T. Line S.R.L. Grip assembly, particularly for suitcases and trunks
EP2383081B1 (de) * 2010-04-29 2014-06-04 Trumpf Sachsen GmbH Fertigungsverfahren zur Erzeugung eines Handhabungsproduktes
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
DE102011111768A1 (de) 2011-08-24 2013-02-28 Robert Bosch Gmbh Bernoulli-Greifer mit vollflächiger Werkstückanlage
KR101969839B1 (ko) * 2012-05-07 2019-04-18 삼성디스플레이 주식회사 패널 이송용 흡착기
JP5961064B2 (ja) * 2012-07-31 2016-08-02 三星ダイヤモンド工業株式会社 吸着テーブルの製造方法並びに吸着テーブル
DE112013005049T5 (de) 2012-10-19 2015-08-06 Dow Global Technologies Llc Vorrichtung, System und Verfahren zum Heben und Bewegen formbarer und/oder faltbarer Teile
FR2997031B1 (fr) * 2012-10-23 2016-07-01 Bel Fromageries Dispositif de prehension d'au moins un produit deformable.
CN103192402B (zh) * 2013-04-14 2014-12-10 苏州科技学院 一种压电超声振动吸附拾取器
DE102013109948B3 (de) * 2013-09-11 2014-09-04 Phoenix Contact Gmbh & Co. Kg Handhabungsvorrichtung und Verfahren zum Handhaben einer unverschlossenen Faltschachtel und zum Handhaben von in die Faltschachtel einzulegendem Stückgut
JP6383537B2 (ja) * 2013-12-10 2018-08-29 川崎重工業株式会社 ロボットハンド、ロボット、およびロボットセル
KR20160096075A (ko) * 2013-12-10 2016-08-12 엔오케이 가부시키가이샤 피복재 및 로봇 파지부의 피복 구조
KR101500385B1 (ko) * 2013-12-31 2015-03-09 현대자동차 주식회사 무빙파트 핸들링 장치
EP3206984B1 (de) * 2014-10-13 2018-08-01 J. Schmalz GmbH Batteriegreifer
EP4219094B1 (de) 2015-09-08 2024-11-06 Berkshire Grey Operating Company, Inc. Systeme zur vakuumsteuerung in einem gelenkarmendeffektor
CA3107257C (en) 2015-11-13 2023-05-02 Berkshire Grey, Inc. Sortation systems and methods for providing sortation of a variety of objects
EP4046761B1 (de) 2016-01-08 2025-03-26 Berkshire Grey Operating Company, Inc. Systeme und verfahren zur erfassung und bewegung von objekten
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系统
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
WO2018165017A1 (en) 2017-03-06 2018-09-13 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
CN116408824A (zh) 2017-11-07 2023-07-11 伯克希尔格雷营业股份有限公司 使用单个真空源在端部执行器处提供动态真空压力的系统和方法
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
US11865700B2 (en) 2018-07-27 2024-01-09 Berkshire Grey Operating Company, Inc. Systems and methods for efficiently exchanging end effector tools
EP4010152A1 (de) 2019-08-08 2022-06-15 Berkshire Grey Operating Company, Inc. Systeme und verfahren zur bereitstellung von nachgiebigen endeffektoren mit geräuschunterdrückung bei programmierbaren bewegungsvorrichtungen
WO2021122930A1 (en) * 2019-12-19 2021-06-24 Tetra Laval Holdings & Finance S.A. A gripper unit
CA3170700A1 (en) 2020-02-05 2021-08-12 Berkshire Grey Operating Company, Inc. End-effector, programmable motion device and method of operating a programmable motion device
WO2022020159A1 (en) 2020-07-22 2022-01-27 Berkshire Grey, Inc. Systems and methods for object processing using a passively collapsing vacuum gripper
US11964386B2 (en) 2020-07-22 2024-04-23 Berkshire Grey Operating Company, Inc. Systems and methods for object processing using a vacuum gripper that provides object retention by shroud inversion
CA3201277A1 (en) 2020-11-19 2022-05-27 Berkshire Grey Orerating Company, Inc. Systems and methods for object processing using grippers for objects with low pose authority
US12304062B2 (en) 2021-01-04 2025-05-20 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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Also Published As

Publication number Publication date
EP0396210A3 (en) 1990-12-12
DE3788286T2 (de) 1994-03-31
EP0260128A3 (en) 1988-04-27
DE3785712D1 (de) 1993-06-09
AU7819087A (en) 1988-03-17
KR880003713A (ko) 1988-05-28
DE3785712T2 (de) 1993-08-19
EP0260128B1 (de) 1993-05-05
AU592667B2 (en) 1990-01-18
AU612527B2 (en) 1991-07-11
EP0396210B1 (de) 1993-11-24
AU4447389A (en) 1990-03-01
CA1308763C (en) 1992-10-13
EP0396210A2 (de) 1990-11-07
EP0260128A2 (de) 1988-03-16
KR950005123B1 (ko) 1995-05-18
US4828304A (en) 1989-05-09

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee