WO2017174385A1 - Dispositif de maniement - Google Patents

Dispositif de maniement Download PDF

Info

Publication number
WO2017174385A1
WO2017174385A1 PCT/EP2017/057182 EP2017057182W WO2017174385A1 WO 2017174385 A1 WO2017174385 A1 WO 2017174385A1 EP 2017057182 W EP2017057182 W EP 2017057182W WO 2017174385 A1 WO2017174385 A1 WO 2017174385A1
Authority
WO
WIPO (PCT)
Prior art keywords
linear drive
handling device
carriage
linear
drive
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.)
Ceased
Application number
PCT/EP2017/057182
Other languages
German (de)
English (en)
Inventor
Bernhard Doleschel
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.)
Festo SE and Co KG
Original Assignee
Festo SE and Co KG
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 Festo SE and Co KG filed Critical Festo SE and Co KG
Priority to CN201780026967.9A priority Critical patent/CN109070333B/zh
Priority to KR1020187032162A priority patent/KR102359960B1/ko
Publication of WO2017174385A1 publication Critical patent/WO2017174385A1/fr
Anticipated expiration legal-status Critical
Ceased 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway

Definitions

  • the present invention relates to a handling device in automation technology.
  • the document DE 10 2005 019 606 AI relates to a
  • Portal axis with an elongated guide support, on which two parallel guide rails extending in the guide direction, are provided to a direction parallel to the rotation axis of rotation relative to each other rotated.
  • this object is achieved by a
  • Handling device solved, with a first linear drive with a first linearly movable carriage; and a second linear drive with a second linearly movable carriage mounted in parallel to the first linear drive is.
  • Handling device comprises the first linearly movable carriage a stop lever to take away the second
  • the technical advantage is achieved that the second carriage can be moved to save energy in a designated position.
  • Handling device forms one side of the L-shape a first mounting interface and another side of the L-shape forms a second mounting interface.
  • Handling means comprise the first and the second
  • Linear drive at least one passage opening for
  • the linear drives can be coupled fast together.
  • the first and the second comprise
  • Linear drive a plurality of through holes, which are arranged linearly in a direction of movement of the carriage.
  • linear drives of different lengths can be coupled.
  • Handling device is a distance between the
  • linear drive offset can be coupled with another linear drive and linear drives of different lengths can be coupled.
  • the handling device comprises a fastenable retaining element for fastening the
  • the target object is for example a wall or a robot arm.
  • the technical advantage is achieved, for example, that the handling device can be reliably attached.
  • the first linear drive has a shorter length than the second linear drive.
  • Handling device has the first and the second
  • Handling device can be realized.
  • the object is achieved by a
  • the object is achieved by
  • Steps of moving a first linearly displaceable carriage of a first linear drive; and moving a second linearly movable carriage of a second linear drive, which is mounted in parallel to the first linear drive are provided.
  • the first slide of the first linear drive and the second grip Carriage of the second linear drive an object.
  • the handling device can be used as a long-stroke gripper with the same grip lengths.
  • the first carriage of the first linear drive moves the second carriage into an intermediate position of the linear drive.
  • FIG. 1 shows several views of a handling device with two linear drives
  • Fig. 2 is a perspective view of
  • Fig. 3 is a view of a linear drive
  • Fig. 4 is a partial view of a linear drive with a
  • Fig. 6 is a further overview of drilling distances
  • Linear drives shows a view of the handling device on a robot
  • FIG. 8 is a block diagram of a method.
  • Fig. 1 shows several views of a handling device 100 with two flat linear actuators 101-1 and 101-2.
  • the handling device 100 is, for example, in the Au ⁇ tomatmaschinestechnik for moving objects and Beracel- term flow of material from or to a site of action.
  • Each linear drive 101-1 and 101-2 of the handling device 100 comprises a linearly movable carriage 103-1 and 103-2.
  • the two carriages 103-1 and 103-2 can each be moved independently of one another.
  • Carriage 103-1 and 103-2 have an L-shape, so that each carriage 103-1 and 103-2 two mounting interfaces erge ⁇ ben, which are arranged at an angle of 90 ° to each other.
  • the arrangement of the linear drives 101-1 and 101-2 takes place in a parallel manner.
  • the rear side of the linear drive 101-1 abuts against the rear side of the linear drive 101-2.
  • Linear drives 101-1 and 101-2 are mutually adjacent to each other
  • the linear drive 101 - 1 has a shorter length than the linear drive 101 - 2.
  • the carriage 103-1 comprises an abutment lever 105.
  • the abutment lever 105 is in touching contact with the other carriage 103-2, so that by the movement of the one
  • Movement direction can be taken. First, both carriages 103-1 and 103-2 are in their initial position (1 - left). Then the first
  • the second carriage 103-2 can be moved directly. A previous return is not required.
  • the second carriage 103-2 is in this case driven such that it is independent of the first carriage 103-1 in
  • Slide 103-1 and 103-2 always be driven in the end positions of the linear drives 101-1 and 101-2.
  • the handling device 100 may be a simple
  • Design principle can be realized and, for example, a simple pneumatic control of the linear actuators 101-1 and 101-2 are used. There is little wear as there are no moving levers or spring mechanisms.
  • Fig. 2 shows a perspective view of
  • the linear drives 101-1 and 101-2 comprise a number of through-holes 109, which belong to the
  • the through holes 109 are arranged transversely to the direction of movement of the carriages 103-1 and 103-2 in the linear drives 101-1 and 101-2.
  • Through openings 109 are passed therethrough. Through the passage openings 109 are integrated
  • the handling device 100 shown can, for example, with a gripping function for equipping a board 113th
  • Fig. 3 shows a view of a single linear actuator 101 for the construction of the handling device 100.
  • Linear drive 101 is, for example, a flat, pneumatic rodless drive that can be designed with and without recirculating ball bearing.
  • the height of the linear drive 101 is at least that
  • the carriage 103 has an L-shape with two
  • Mounting interfaces 107-1 and 107-2 each include a number of mounting holes 125 for mounting
  • the mounting interface 107-2 used.
  • the mounting interface 107-2 is designed for example for pneumatic compact cylinder and is used for mounting gripping jaws.
  • the mounting interface 107-1 forms a standard interface.
  • the mounting interface 107-1 is
  • Carriage 109 and the through-holes 109 integrated in the profile of the linear drive 101 can have two
  • the holding elements 111 in the T-shape serve, for example, for fastening the linear drives 101-1 and 101-2 to a wall.
  • FIG. 4 shows a partial view of the linear drive 101 with a holding element 111.
  • the holding element 111 is formed for example by a T-profile.
  • the coupled linear drives 101-1 and 101-2 can be mounted and mounted versatile.
  • Through opening 109 has a profile for lowering a fastening screw, so that it does not come from the
  • Rail 121 of the linear drive 101 protrudes laterally.
  • specific retaining elements 111 allow attachment of the handling device 100 to different target objects, such as plants, machines or robots.
  • the holding element 111 can be formed by an angle piece with a T-profile, a double-T-profile or an L-profile.
  • the holding member 111 may additionally with the
  • the attachment to the target object can also be done by means of screws.
  • the attachment to the target object can also be done by means of screws.
  • Holding elements 111 may also be formed by other devices which are suitable for fastening the handling device 100 to a target object.
  • Fig. 5 shows an overview of drilling distances of
  • Through holes 109 in a row have each other over the length of the linear drives away on the same distances, such as 15 cm.
  • the linear drives 101 include further passage openings 123 for mutual attachment. The staggered
  • Through holes 109 allow direct screwing both linear drives 101-1 and 101-2. Due to the equidistant distances, a screw connection of linear drives 101 of different lengths or an offset screw connection of the linear drives is made possible.
  • FIG. 6 shows a further overview of drilling distances of the linear drives 101.
  • the total length of the linear drives 101-1 and 101-2 is plotted along the abscissa.
  • the stroke of the carriages 103-1 and 103-2 is along the ordinate
  • FIG. 7 shows a view of the handling device 100 on a robot 200.
  • the robot arm 201 can handle the
  • Handling device 100 two linear drives 101-1 and 101-2 with the same stroke lengths, which are connected to each other at the bottom.
  • Each carriage 103-1 and 103-2 comprises an attached jaw 119.
  • Handling device 100 can grab the objects 115 and store it on a frame 117.
  • Fig. 8 shows a block diagram of a method.
  • the method is for handling an object 115 and comprises the step S101 of moving the first linearly displaceable carriage 103-1 of the first linear drive 101-1; and the step S101 of moving the second linearly movable carriage 103-2 of the second linear drive 101-2 arranged in parallel to the first linear drive 101-1.
  • the handling device 100 which comprises the two coupled linear drives 101-1 and 101-2, and the corresponding method, new fields of application can be developed.
  • the handling device 100 may, for example, perform a function as a long-stroke gripper when the carriage 103-1 of the first linear drive 101-1 is operated in the opposite direction as the carriage 103-2 of the second drive 101-2.
  • the handling device 100 can also be used as a transfer system with two separately and independently movable carriages 103-1 and 103-2.
  • the handling device 100 can be more energy efficient
  • pneumatic drive can be used in which by a coupling of the carriage 103-1 and 103-2 for a power stroke, the driving force of both linear drives 101-1 and 101-2 and used in a return stroke, the force of a single linear drive 101-1 or 101-2 can be.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de maniement (100), comprenant un premier entraînement linéaire (101-1) muni d'un premier chariot à déplacement linéaire (103-1) ; et un second entraînement linéaire (101-2) muni d'un second chariot à déplacement linéaire (103-2), fixé parallèlement au premier entraînement linéaire (101-1).
PCT/EP2017/057182 2016-04-07 2017-03-27 Dispositif de maniement Ceased WO2017174385A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201780026967.9A CN109070333B (zh) 2016-04-07 2017-03-27 操纵装置
KR1020187032162A KR102359960B1 (ko) 2016-04-07 2017-03-27 핸들링 디바이스

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016106344.4A DE102016106344B4 (de) 2016-04-07 2016-04-07 Handhabungseinrichtung
DE102016106344.4 2016-04-07

Publications (1)

Publication Number Publication Date
WO2017174385A1 true WO2017174385A1 (fr) 2017-10-12

Family

ID=58428272

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/057182 Ceased WO2017174385A1 (fr) 2016-04-07 2017-03-27 Dispositif de maniement

Country Status (4)

Country Link
KR (1) KR102359960B1 (fr)
CN (1) CN109070333B (fr)
DE (1) DE102016106344B4 (fr)
WO (1) WO2017174385A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111462607A (zh) * 2020-04-14 2020-07-28 杭州仪迈科技有限公司 一种机械传动训练系统及组合方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4680523A (en) * 1986-03-13 1987-07-14 Lord Corporation Apparatus and method for handling articles in automated assembly processes
DE4211835A1 (de) * 1991-04-09 1992-10-15 Toyota Motor Co Ltd Roboter mit einer vielzahl von manipulatoren
AT410292B (de) * 1999-01-25 2003-03-25 Ernst Krause & Co Werkzeugmaschine mit stabkinematischer positionierung von werkzeugen und bzw. oder werkstücken
DE102005019606A1 (de) 2004-05-28 2006-01-12 Rexroth Star Gmbh Linearführungseinheit, insbesondere Portalachse
EP2090446A1 (fr) * 2008-02-13 2009-08-19 Butler Engineering & Marketing S.p.A. Appareil de briseur de talons

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4707013A (en) 1986-05-30 1987-11-17 The United States Of America As Represented By The Secretary Of Commerce Split rail parallel gripper
US5163729A (en) 1991-08-22 1992-11-17 Nicky Borcea Parallel gripper assembly
DE19958834C2 (de) 1999-11-29 2002-10-10 Demag Cranes & Components Gmbh Vorrichtung zum Greifen von Lasten, die insbesondere mittels eines Manipulators von oben oder seitlich zu greifen sind
KR20080018166A (ko) * 2005-05-16 2008-02-27 스타라그헥케르트 아게 개별적인 캐리지 상에 2개의 클램프 지점을 포함하는 기계가공 공구
DE202011106204U1 (de) 2011-09-30 2011-11-15 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Handhabungsmodul, insbesondere Greif-, Linear- oder Drehmodul und zugehörige Handhabungvorrichtung
CN102909668B (zh) * 2012-10-16 2015-02-25 华侨大学 偶件对称度零误差定位装置
CN205025957U (zh) * 2015-10-15 2016-02-10 江西瑞普德测量设备有限公司 一种光杆传动机构
CN105415439B (zh) * 2015-12-25 2017-08-25 建新赵氏集团有限公司 一种汽车密封条自动冲切装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4680523A (en) * 1986-03-13 1987-07-14 Lord Corporation Apparatus and method for handling articles in automated assembly processes
DE4211835A1 (de) * 1991-04-09 1992-10-15 Toyota Motor Co Ltd Roboter mit einer vielzahl von manipulatoren
AT410292B (de) * 1999-01-25 2003-03-25 Ernst Krause & Co Werkzeugmaschine mit stabkinematischer positionierung von werkzeugen und bzw. oder werkstücken
DE102005019606A1 (de) 2004-05-28 2006-01-12 Rexroth Star Gmbh Linearführungseinheit, insbesondere Portalachse
EP2090446A1 (fr) * 2008-02-13 2009-08-19 Butler Engineering & Marketing S.p.A. Appareil de briseur de talons

Also Published As

Publication number Publication date
DE102016106344B4 (de) 2018-12-20
KR102359960B1 (ko) 2022-02-09
CN109070333B (zh) 2022-03-11
CN109070333A (zh) 2018-12-21
DE102016106344A1 (de) 2017-10-12
KR20180136471A (ko) 2018-12-24

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