• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a device (1) and a method for handling articles such as packaging, retail goods or other similar products. The device (1) comprises an upper suspension (3) to which are attached at least three operating arms (5) which can be rotated, which at least three operating arms (5) each consist of at least two arm sections (7, 9) which are pivotable relative to one another and can be operated independently of one another. In addition, the device (1) comprises a manipulator (10) which comprises one or more means for grasping the articles and which is mechanically coupled to the at least three operating arms (5) so that a position of the manipulator (10) ) can be reached by a movement of one or more of the at least three operating arms (5). It also comprises a linear guide element (16) which is connected to the manipulator (10) and to the upper suspension (3) each time by means of a gimbal-shaped transmission joint, and at least one actuating device. (12) by means of which the means or means for temporarily gripping or releasing the articles are ordered. The at least one actuating device (12) is designed as a shaft (14) and passes through the linear guide element (16). In addition, the at least one shaft-shaped actuator (12) can be rotated relative to the linear guide member (16).
    公开号:FR3028441A1
    申请号:FR1560957
    申请日:2015-11-16
    公开日:2016-05-20
    发明作者:Michael Hartl；Peter Zeiner；Manuel Kollmuss；Christian Westermeier；Josef Unterseher；Marco Ehberger
    申请人:Krones AG；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a device as well as a method for handling articles such as packaging, retail goods or like products. Known packaging and palletizing facilities for stacking and palletizing objects such as packages or packages containing a plurality of articles such as beverage containers, usually have horizontal conveyers with conveyor belts on which the retail goods or packages are transported continuously or irregularly to a handling device. Here, certain retail goods or packages are pushed, oriented and / or rotated to bring them into an appropriate spatial arrangement that provides a basis for pushing retail goods or packages together to form stackable layers of food. retail or packaging goods at downstream consolidation stations. On the present bottling and packaging lines, various methods are used to rotate packages which may have, for example, suitable movable stops or two strips having different speeds. Known handling devices may also be provided with grippers which may be, for example, suspended from a gantry system and pushed into a defined area of motion, rotated and, in addition, displaced in the vertical direction, in order to lift certain retail goods or certain packaging for the purpose of turning and / or pushing them. The grippers can also be arranged, for example, on multiaxis robot arms placed on the side of the horizontal routing devices. In such handling of retail goods or packages, these, with a view to moving and / or aligning them, are grasped, lifted and brought into a desired position or orientation within the package. a group. To do this, the state of the art already offers many gripping devices such as, for example, that described in document EP 2 388 216 A1. This known gripping device has two gripping arms located at a horizontal distance from one another and placed on a support interposed between them by means of mechanical links. The gripper arms can be moved toward each other to grab objects. In addition, the gripper arms can be detached from the support when a defined force is exerted in the vertical direction and against the support. On the free end, the two gripper arms have clamping jaws which, when grasping objects, remain in surface contact with these objects. Document DE 102 04 513 A1 for example shows another gripping device. In this document, several opposing gripper arms are guided in a central part. A gripper arm can be moved relative to another gripper arm by means of an operating member so that the two gripper arms can be closed. On the sides directed towards each other of the lower ends of the gripping arms there are provided gripping sections for gripping packages of building materials.
    [0002] Furthermore, there are other handling devices for gripping, pushing, turning and / or moving articles or packaging that are based on so-called Delta robots or parallel robots also called tripods when they have three arms. Each of the arms of such a tripod or delta robot consists of an upper arm pivotally mounted on the base being driven around a pivot axis secured to the frame, and a lower arm connected in an articulated manner to the upper arm and at the platform. The lower arm is here passive, without driving to rotate it relative to the upper arm or the platform. One or more of the lower arms may be connected to their respective upper arms and to the platform by means of, for example, spherical joints. Such a single lower arm can rotate freely and has no stability. All the upper arms of a delta robot are articulated so as to be pivotable about pivot axes preferably located within a common plane. Three lower arms connected to the platform and their respective upper arms form, in each position, a triangle of force which can be moved only if the three upper arms synchronously execute their pivot axes integral with the chassis. pivoting movements calculated for them. At least one of the lower arms may be two linkage members forming a parallelogram device, also known as the ulna and radius, for guiding the platform in at least one predefined orientation relative to the base. The platform serves here as a work platform also known in practice as Tool-3028441 3 Center-Point (TCP). A manipulator may be disposed on this TCP, for example in the form of gripper arms that can be moved closer together or similar handling device, so that similar articles, packages or similar goods can be seized and turned, moved or lifted from a bearing surface. The manipulator, located on the work platform or on the TCP, can be rotatably positioned so as to orient the manipulator or to make a desired rotation of articles or goods at the retail level. Instead of accommodating the manipulator on the coupling element so that it can be rotated, it is conceivable, in general, to house the manipulator on the coupling element so that it can not rotate and turn the entire coupling element relative to the base with a corresponding compensation movement of the arms by means of the telescopic shaft. However, this is accompanied by a disadvantage, namely a limited rotation angle of the coupling element. This limitation is due to the fact that the articulated connections of the upper arms and / or the coupling element with the lower arms come to end stops and / or the fact that neighboring lower arms come into contact.
    [0003] US 2010186534 A1, EP 2 799 190 A2 and US 8 210 068 B1 disclose such handling devices with tripods. The known "tripodes" are very precise and, moreover, can be moved quickly to handle the articles concerned. In order to be able to grasp the items in question and release them after handling and / or after positioning, known tripods have movable manipulators. Thus the manipulators can be controlled for example pneumatically, hydraulically or electrically so that pipe connections are coupled to the corresponding manipulator. From the point of view of freedom of movement of the tripod, these pipe connections can be an obstacle. In addition, the pipe connections must be securely laid in such a way as to exclude their deterioration during operation of the tripod. This is also the reason why the tripods of the state of the art have a complex architecture and a freedom of movement partly limited because of the complexity of the coupling between a manipulator and an actuator associated with it.
    [0004] The object of the invention is, therefore, to provide an appropriate device for handling articles which is characterized by a simple architecture and a great freedom of movement. Another objective is to provide a method for handling articles with great freedom of movement. In addition, the process must be simple to implement. The above objectives are achieved by a device and a method according to the invention.
    [0005] The device according to the invention is designed for handling articles such as packaging, retail goods or other similar products. In particular, the articles may be formed by containers for drinks and / or several containers for drinks grouped in packages.
    [0006] In addition, the device comprises an upper suspension to which are fixed at least three operating arms that can be rotated. Each of these at least three operating arms is provided, for its drive, with an actuator and / or a drive which are preferably designed in the form of an electric motor and cause a rotational movement of the operating arms . The operating arms 20 may be fixed by flanges directly to the actuator assigned to them. The actuators can be supported by the upper suspension. In particular, it is possible that the actuators are suspended from the upper suspension. The actuators of the at least three actuating arms can be connected to a control unit which predefines a movement of one or more of the at least three actuating arms for the determined positioning of the manipulator described in more detail below. The at least three operating arms each consist of at least two arm sections pivotable relative to each other, which arms can be actuated independently of one another. In particularly preferred embodiments, each lower arm section is formed by at least two parallel rods mechanically connected to the manipulator. The manipulator can thus be moved through the three operating arms.
    [0007] The manipulator of the intentional device, already mentioned above, has one or more means for grasping the articles and is mechanically coupled to the at least three operating arms. It may be advisable to insert at least one articulation between the at least three operating arms and the manipulator. Thus, thanks to a movement of one or more of the at least three operating arms, it is possible to reach a position of the manipulator. In particularly preferred embodiments, the at least three operating arms are articulated on a carrier ring which passes around the linear guide member and a drive device designed as a shaft, which ring is mechanically coupled to the manipulator. The mechanical coupling between the carrier ring and the manipulator may allow relative rotation of the manipulator relative to the carrier ring.
    [0008] The device according to the invention also comprises a linear guide element connected to the manipulator and to the suspension each time by means of a cardan-effect transmission joint. In preferred embodiments, the position of the linear guide member may be selected such that the linear guide member is between the set of at least three maneuvering arms or all three or more operating arm are arranged around the linear guide element. In a simple embodiment, each cardan joint can be designed as a universal joint. This term must however be understood in the broad sense, so that for example the spherical joints and / or other gimbal joints 20 may be provided in the context of possible embodiments of the device according to the invention. In addition, at least one actuating device is provided as an element of the device according to the invention by means of which at least one actuating device 25 it is possible to control the means for temporarily gripping or releasing the articles. For this purpose, the means for grasping the articles may be engaged with the at least one actuating device. According to the invention, the at least one actuating device can be designed as a shaft which passes through the linear guide member and which can be rotated to control the means or means for grasping the articles in relation to the to the linear guide element. In the preferred embodiments, the at least one shaft-shaped actuator can pass completely through the linear guide member. To ensure the rotational movement of the at least one actuating device 35 in the form of a shaft, it can have its own actuator, which can be connected, if necessary, to the control unit already mentioned above.
    [0009] Thanks to the shaft-shaped actuating device according to the invention and the control of the one or more means for grasping the articles by means of a rotational movement of the shaft relative to the element. In the case of linear guiding, it is possible to omit at the level of the manipulator complicated pipe connections. In addition, it is possible to arrange the linear guide member and the shaft-shaped actuator concentrically with respect to each other. The concentric arrangement of the at least one shaft-shaped actuating device and the linear guide element can be maintained without interruption even when positioning the manipulator or when moving the at least three operating arms. In addition, the linear guide element may comprise at least two telescopic housing parts or telescopically interconnected, which at least two telescopically connected housing parts are traversed by the at least one housing device. shaft-shaped actuation. For those skilled in the art, it is clear that in other conceivable embodiments the linear guide member may also consist of three, four or more telescopic housing parts or interconnected with each other. telescopic way. In particular, the at least two telescopic housing parts may each have, at least in some places, the shape of a hollow cylinder. As already mentioned above, it is possible to assign to the shaft-shaped actuator an actuator of its own and by means of which the shaft is driven or rotated. In this case, it is conceivable that this own actuator is positioned on and / or at the level of the upper suspension. For example, an axis of rotation of the shaft may pass through its own actuator and / or through a center of the actuator. The actuator can thus be clamped, if necessary, on the at least one shaft-shaped actuating device by means of a cardan-effect seal interposed between them. In particular, the actuator can be connected to the upper suspension being locked in rotation relative thereto.
    [0010] In preferred embodiments, the linear guide member may be designed as an additional shaft which is connected to the manipulator by being locked in rotation relative thereto, so that by a movement of rotation of the additional shaft it is possible to turn the manipulator. In particular, the at least one shaft-shaped actuator and the linear guide element designed as an additional shaft can then be rotated independently of one another. In addition, the at least one shaft-shaped actuator and the linear guide element designed as an additional shaft may have an identical axis of rotation.
    [0011] In addition, the one or more means for grasping the articles may comprise at least two opposing clamping jaws whose relative distance for grasping or loosening articles can be adjusted by means of the at least one shaft-shaped actuating device. . For example, it is possible that only one of the opposing clamping jaws 15 is actively moved through the at least one shaft-shaped actuator, while the at least one actuating device causes no active movement of the respective opposing clamping jaw. In other conceivable embodiments, the device may have one or more transmission elements that transform a rotational movement of the at least one shaft-shaped actuator into an active movement of all of the at least two jaws. opposing clamping forces. The different items can be grasped by means of the jaws and then moved by a movement of the manipulator. It is conceivable that the articles are transported on a horizontal conveying device, grasped by the device or the manipulator and moved on the horizontal conveying device. For example, the articles can be slowed or accelerated with respect to a transport speed of the horizontal conveying device and, if necessary, rotated and / or moved obliquely with respect to a conveying direction of the horizontal conveying device.
    [0012] In addition, it is possible to interpose a gear at at least one transmission ratio between the at least one shaft-shaped actuator and the one or more means for gripping the articles. This makes it possible to control the means or means for gripping articles with a high degree of precision, the torque to be applied for the gripping of articles via the shaft to be kept at a low level.
    [0013] The invention further relates to a method of handling articles such as packaging, retail goods or like products. Here, characteristics described above for various embodiments of the device according to the invention can be provided in possible embodiments of the method 5 according to the invention. It is also possible to provide characteristics, described below for various embodiments of the method according to the invention, in conceivable embodiments of the device according to the invention. The method according to the invention is implemented with a device comprising an upper suspension to which at least three operating arms which can be rotated are fixed. The at least three operating arms each consist of at least two sections that can pivot relative to each other and they can be actuated or moved independently of each other. The displacement of each can be predefined by a control unit.
    [0014] In addition, the device with which the method according to the invention is implemented has a manipulator which comprises one or more means for gripping articles and which is mechanically coupled to the at least three operating arms, so that it is possible by a movement of one or more of the at least three operating arms 20 to reach a position of the manipulator. The device with which the method according to the invention is implemented also comprises a linear guide element connected to the manipulator and to the suspension each time via a cardan-effect transmission joint, as well as at least one 25 actuating device in the form of a shaft. The at least one shaft-shaped actuator passes through the linear guide member. Thus, the shaft-shaped actuator is housed, at least in part, in the linear guide member. In addition, the at least one shaft-shaped actuator controls the means or means for temporarily grasping and releasing articles, the shaft-shaped actuator being rotated relative to the element. linear guide means for controlling the one or more means for gripping articles. In particularly preferred embodiments, the linear guide member may be designed as an additional shaft connected to the manipulator so as to be locked in rotation relative thereto. The manipulator can be rotated by a rotational movement of the additional shaft at the same time as this. Thus, during a rotational movement of the additional shaft, the manipulator can be rotated with the shaft of the same angle of rotation. In addition, it is possible to rotate the manipulator 360 ° and / or more than 360 ° 5 by a rotational movement of the additional shaft. Since articles must be rotated by means of the manipulator approximately more than 180 °, it may be advisable, after loosening the articles, to continue rotating the manipulator in the same direction of rotation up to 360 ° in total and thus to bring it back to the initial angular position. In embodiments where it is possible to rotate the manipulator through 360 °, the method can be performed with a higher material handling rate. It can be provided for this purpose that, in the context of the method, the manipulator is rotated only in a direction of rotation and that there is never any rotation in the opposite direction of rotation.
    [0015] In particular, the shaft-shaped actuator may have a concentric orientation with respect to the linear guide member and maintain it continuously during positioning of the manipulator through one or more of the at least three maneuvering arms. Since the linear guide member is designed as an additional shaft, this additional shaft and the at least one shaft-shaped actuator may have an identical axis of rotation. In addition, it may be provided that the shaft-shaped actuator is connected with the one or more means for grasping the articles by means of a gear with at least one transmission ratio, the gear transforming a torque rotation of the shaft-shaped actuator 25 in a maneuvering movement of the one or more means for grasping the articles. In particularly preferred embodiments, the one or more means for grasping the articles may comprise at least two opposing clamping jaws 30 moved or moved relative to each other during relative rotational movement between the shaft. and the linear guide element. Each of the clamping jaws can have flexible flexural contact elements brought into abutment against the articles in question under the effect of a force during the gripping of these articles.
    [0016] It is possible to control the at least one shaft-shaped actuator by means of an actuator placed on the upper suspension so as to be locked in rotation relative thereto.
    [0017] In preferred embodiments, the articles may be transported on a horizontal conveying device during handling thereof and, for this purpose, grasped by the manipulator. After the seizure, the manipulator may cause rotation and / or lateral offset obliquely with respect to the conveying direction of the horizontal conveying device and / or slowing down and / or accelerating the seized articles with respect to the transport speed. of the horizontal conveying device. The invention and its advantages are explained below in more detail using exemplary embodiments and the figures attached in the appendix. The proportions between the different elements in the figures do not always correspond to the actual proportions, since some shapes have been simplified and others enlarged with respect to other elements for better visibility. The figures show: FIG. 1 is a diagrammatic perspective view of an embodiment of a device according to the invention; Figure 2 is a schematic detailed view of a lower part of the device of Figure 1; FIG. 3 is a diagrammatic cross-sectional view of the device of the embodiment of FIGS. 1 and 2.
    [0018] Identical references are used for the same elements of the invention or elements having the same function. In addition, for the sake of simplicity, only the references necessary for the description of a figure are indicated in the figure in question. The embodiments shown are only examples of the configuration of the invention, they do not constitute a definitive limitation. Figure 1 shows a schematic perspective view of an embodiment of a device (1) according to the invention. The device (1) is designed to grip, rotate and move beverage containers grouped in packages, which are not shown in FIG.
    [0019] As can be seen in FIG. 1, the device (1) has an upper suspension (3). Three operating arms (5) are fixed to the upper suspension (3) so that each can be rotated by means of a drive (8).
    [0020] In addition, the three operating arms (5) consist of at least two arm sections (7, 9) pivotable relative to each other, the lower sections (7) being formed of two connecting rods oriented parallel to each other. Each upper section (9) is connected to the drive (8) which is assigned to it or is fixed thereto (8) by means of flanges.
    [0021] In addition, the three operating arms (5) can move independently of one another. To do this, all the drives (8) are connected to a control unit which predefines the movement of the operating arms (5) and controls the drives (8).
    [0022] A manipulator (10) is connected to the lower end of the three operating arms (5) so that it can be moved by movement of the three operating arms (5) to manipulate items. The control unit, which is not shown in FIG. 1, therefore defines the movement of the maneuvering arms (5) according to a position provided for the manipulator (10) to grip and manipulate items. All three operating arms (5) are mechanically coupled to a base (20) of the manipulator (10) by means of a carrier ring (17). The coupling or mechanical connection between the carrier ring (17) and the base (20) of the manipulator (10) is such that it allows relative rotation of the manipulator (10) relative to the carrier ring (17).
    [0023] The manipulator (10) is fixed, approximately at its center, on a linear guide member (16) by means of flanges so as to be locked in rotation relative thereto, the linear guide member (16) being designed as an additional shaft (18) and the manipulator (10) can thus be rotated by means of this additional shaft (18). In addition, there is disclosed a shaft-shaped actuator (12) by which clamping jaws (22, 24) can be controlled in closing and opening. The axes of rotation of the additional shaft (18) and the shaft-shaped actuator (12) are identical. The additional shaft (18) and the shaft (14) of the actuating device are concentric with each other. Since the manipulator (10) or the opposing clamping jaws (22, 24) of the manipulator (10) can be controlled by means of the shaft-shaped actuator (12), it is It is not necessary to provide pneumatic, hydraulic or electrical line connections connected to the manipulator (10) for controlling the latter or the jaws (22, 24). Advantageously, it is possible to turn the manipulator (10) with its jaws (22, 24) over more than 360 ° by means of the additional shaft (18), since no pipe prevents complete rotation. This makes it possible to improve the handling speed considerably with respect to the devices of the state of the art, since the manipulator (10) does not have to be turned in the opposite direction to bring it back to its starting orientation. As has just been mentioned, it is possible, in the embodiment of FIG. 1, to move the two clamping jaws (22, 24) relative to each other, to bring them closer together. to one another or to move away from each other through a rotation of the shaft-shaped actuator (12). The movement of each of the clamping jaws (22, 24) when controlled by means of the shaft-shaped actuator (12) is indicated, in the present case, by arrows. The two clamping jaws (22, 24) are suspended and linearly movable on the base (20) of the manipulator (10). The control of the clamping jaws (22, 24) is effected by means of gear transmission ratios connected to the shaft (14), which are not visible in FIG. 1 and convert a rotational torque of the shaft (14) in one actuating movement of the clamping jaws (22, 24). The linear guide element (16), or the additional shaft (18), comprises two housing parts (4, 6) which are telescopically connected to one another and which each form a hollow space for receiving the shaft-shaped actuator (12). The shaft-shaped actuator (12) is coupled to the manipulator (10) and an actuator (30) by means of a cardan-effect transmission joint. The actuator (30) is placed on the upper suspension (3), locked in rotation with respect thereto. The shaft-shaped actuator (12) can be rotated by means of the actuator (30) causing the manipulator jaws (22, 24) to move ( 10) to enter or release items. FIG. 2 shows a schematic detailed view of a lower part of the device (1) of FIG. 1 and shows in particular, in more detail, an embodiment of a manipulator (10) as can be provided. for the device according to the invention or for the method according to the invention. The clamping jaws (22, 24) have, on their side facing the opposing clamping jaw (22, 24), a plurality of flexible flexural contact members (19) for gripping articles. During an approaching movement of the clamping jaws (22, 24), the flexible bending contact elements (19) are brought into abutment against the articles in question under the effect of a force and immobilize, for essential, the articles in question about the manipulator (10).
    [0024] FIG. 2 also shows in more detail the lower sections (7) of the operating arms (5) (see FIG. 1), which are designed as a rod structure and which are articulated, by their lower ends, on the carrier ring (17). As previously mentioned, the manipulator (10) can be rotated relative to the carrier ring (17) by means of the additional or outer shaft (18). FIG. 3 shows a schematic cross-sectional view of the device (1) of the embodiment of FIGS. 1 and 2. FIG. 3 shows again the actuating member (12) in the form of FIG. shaft (14) as well as the linear guide element (16) designed as an additional shaft (18). The shaft (14) of the actuating member and the additional shaft (18) of the linear guide member are concentrically oriented and have an identical axis of rotation. Rotation of the manipulator (10) can be effected by means of the linear guide element (16) designed as an additional shaft (18), the axis of rotation in FIG. 3 being oriented vertically, that is to say in direction of the plane of the image. The invention has been described with reference to a preferred embodiment. However, it is conceivable for a person skilled in the art that arrangements or modifications of the invention may be made without departing from the scope of the claims protection.
    [0025] 3028441 14 List of part numbers: 1 Device 3 Suspension, upper suspension 5 4 First housing part 5 Operating arm 6 Second housing part 7 Lower section of arm 8 Drive 10 9 Upper section of arm 10 Manipulator 12 Operating element, device actuator 14 Shaft 16 Linear guide element 15 17 Support ring 18 Supplementary shaft 19 Contact element 20 Base 22 Clamping jaw 20 24 Clamping jaw 30 Actuator
    权利要求:
    Claims (15)
    [0001]
    REVENDICATIONS1. Device (1) for handling articles such as packaging, retail goods or the like, comprising - an upper suspension (3) to which at least three actuating arms (5) which can be rotatably driven, which at least three actuating arms each consist of at least two arm sections (7, 9) pivotable relative to one another and can be actuated independently of one another; manipulator (10) having one or more gripping means and being mechanically coupled to the at least three operating arms (5) so that a position of the manipulator (10) can be reached by a movement of the one or more of the at least three operating arms (5), and comprising - a linear guide element (16) which is connected to the manipulator (10) and to the suspension (3) each time by means of a joint cardan transmission, and - at least one actuating device (12) by means of which it is possible to control the means or means for temporarily grasping or releasing the articles, characterized in that - the at least one actuating device (12) is designed in the form of a shaft (14) passing through the linear guide member (16) and rotatable relative to the linear guide member (16) for controlling the one or more means for grasping the articles.
    [0002]
    Device according to claim 1, wherein the linear guide element (16) and the shaft-shaped actuating device (12) are arranged concentrically with respect to one another. .
    [0003]
    3. Device according to claim 1 or claim 2, wherein the at least three actuating arms (5) are arranged around the linear guide element (16) and the actuating device (12) in the form of a tree (14).
    [0004]
    Device according to one or more of claims 1 to 3, wherein the linear guide element (16) is designed as an additional shaft (18) which is connected to the manipulator (10) by being blocked. in rotation with respect to the latter, so that the manipulator (10) can be rotated by a rotational movement of the additional shaft (18). 3028441 16
    [0005]
    Device according to one or more of claims 1 to 4, in which the linear guide element (16) comprises at least two housing parts (4,
    [0006]
    6) interconnected telescopically, which at least two telescopically interconnected housing parts (4, 6) are traversed by the at least one shaft-shaped actuating device (12) (14). . Apparatus according to one or more of claims 1 to 5, wherein an actuator (30) is assigned to the shaft-shaped actuator (12) by means of which the actuator ( 12) in the form of a shaft (14) can be controlled, the actuator (30) being connected to the upper suspension being locked in rotation relative thereto.
    [0007]
    Apparatus according to one or more of claims 1 to 6, wherein the or the means for grasping the articles comprises at least two clamping jaws (22, 24) whose relative distance for gripping and releasing articles can be adjusted through the at least one shaft-shaped actuator (12).
    [0008]
    Apparatus according to one or more of claims 1 to 7, wherein a gear with at least one transmission ratio is interposed between the at least one shaft-shaped actuator (12) and the means (s) to enter the articles.
    [0009]
    9. A method for handling articles such as packages, retail goods or the like with a device according to one of the preceding claims, wherein the actuating device (12) the shape of a shaft (14) is rotated relative to the linear guide member (16) to control the one or more means for grasping the articles.
    [0010]
    A method according to claim 9 applied to a device in which the linear guide member (16) is designed as an additional shaft (18) connected to the manipulator (10) being locked in rotation relative thereto. last, wherein the manipulator (10) is rotated together with the additional shaft (18) by a rotational movement of said additional shaft (18). 3028441 17
    [0011]
    11. The method of claim 9 or 10, wherein the manipulator (10) is rotated by a rotational movement of the additional shaft (18) of 360 ° and / or more than 360 °. 5
    [0012]
    Method according to one of Claims 9 to 11, in which the shaft-shaped actuating device (12) is oriented concentrically with respect to the linear guide element (16) and this orientation is maintained without interruption when positioning the manipulator (10) through one or more of the at least three operating arms (5). 10
    [0013]
    Method according to one or more of claims 9 to 12 applied to a device in which the shaft-shaped actuating device (12) is connected to one or more means for gripping articles by the intermediate gear of at least one transmission ratio, wherein the gear transforms a rotational torque of the shaft-shaped actuator (12) into a maneuvering motion of the one or more means to grab the articles.
    [0014]
    A method according to one or more of claims 9 to 13 applied to a device in which the one or more gripping means comprises at least two opposing clamping jaws (22, 24), wherein said clamping jaws are displaced relative to each other by a relative rotational movement of the shaft-shaped actuator (12) relative to the linear guide member (16). 25
    [0015]
    The method according to one or more of claims 9 to 14 applied to a device in which there is provided an actuator (30) connected to the upper suspension (3) being locked in rotation with respect thereto, wherein the at least one shaft-shaped actuator (12) is controlled by the actuator (30).
    类似技术:
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    同族专利:
    公开号 | 公开日
    CN105600424A|2016-05-25|
    ITUB20155622A1|2017-05-16|
    DE102014223389A1|2016-05-19|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE10204513A1|2002-02-05|2003-08-21|Probst Gmbh|Gripper device for gripping especially packs of building materials has first arm connected to vehicle and second arm guided on centre piece and movable relative to each other to open and close gripping device|
    CN100348379C|2005-10-28|2007-11-14|天津大学|Space tritranslation parallel connection mechanism containing steel wire parallelogram fork chain structure|
    JP4598864B2|2009-01-29|2010-12-15|ファナック株式会社|Parallel robot|
    JP4659098B2|2009-02-13|2011-03-30|ファナック株式会社|Parallel link robot with posture change mechanism with 3 degrees of freedom|
    JP4653848B1|2009-10-26|2011-03-16|ファナック株式会社|Parallel link robot|
    CN102049786A|2009-11-05|2011-05-11|鸿富锦精密工业（深圳）有限公司|Rotating mechanism and robot with same|
    DE102010020847A1|2010-05-18|2011-11-24|Krones Ag|gripping device|
    EP2903789B1|2012-10-02|2016-12-07|Majatronic GmbH|Industrial robot|
    DE102013208082A1|2013-05-02|2014-11-06|Krones Aktiengesellschaft|Device for handling articles|DE102016211187A1|2016-06-22|2017-12-28|Krones Ag|Gripping device for detecting several piece goods, system for handling several piece goods and method for manipulating several piece goods|
    DE102016214736A1|2016-08-09|2018-02-15|Krones Aktiengesellschaft|Tool head, gripping and / or manipulation device with such a tool head and method for handling piece goods or containers|
    DE102016115602A1|2016-08-23|2018-03-01|Krones Ag|Delta robot with two rotary shafts|
    US10220408B2|2016-09-12|2019-03-05|The Boeing Company|Variable radius print head end effector|
    CN106737593B|2016-12-31|2019-06-04|中国工程物理研究院激光聚变研究中心|The Three Degree Of Freedom device of the even single branch driving of the adjustable solution of dynamic characteristic|
    DE102017120367A1|2017-09-05|2019-03-07|Krones Aktiengesellschaft|Parallel kinematic robot and method for its operation|
    CN110422533A|2019-08-21|2019-11-08|派罗机器人科技有限公司|Sorting equipment and sorting device|
    US20210331310A1|2020-04-28|2021-10-28|Ubtech Robotics Corp Ltd|Neck mechanism for robot|
    法律状态:
    2016-10-14| PLFP| Fee payment|Year of fee payment: 2 |
    2017-10-12| PLFP| Fee payment|Year of fee payment: 3 |
    2018-10-11| PLFP| Fee payment|Year of fee payment: 4 |
    2019-10-14| PLFP| Fee payment|Year of fee payment: 5 |
    2019-11-22| PLSC| Search report ready|Effective date: 20191122 |
    2021-03-26| RX| Complete rejection|Effective date: 20210215 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102014223389.5A|DE102014223389A1|2014-11-17|2014-11-17|Device and method for handling articles such as containers, piece goods or the like|
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