• 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 for the automatic individual or group removal of objects from a container. The aim of the invention is to improve the performance by providing the removal of objects from the tank with internal selection
    公开号:SU1440337A3
    申请号:SU3791601
    申请日:1984-09-06
    公开日:1988-11-23
    发明作者:Шпихер Херманн
    申请人:Херманн Шпихер (DE)；
    IPC主号:
    专利说明:

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    fine. The device consists of a frame; lever 2 for the notch, as well as from the frame 1 in the lower part of the frame under the lever 2 for the notch of the receiving section 3 intended for the container 4, Frame 1 consists of stable carriers 5. Inside the frame 1 or side there is a catching container 6 for separately removable from the tank of 4 objects, using the lift 7, the objects are fed to the outlet section 8. The lever 2 is suspended on the main horizontal axis 9 which is located at the top of the frame 1. In the middle of the main horizontal axis 9 there is a short additional perpendicular to it Horizontal axis with holder 11
    one
    The invention relates to the field of unloading containers, namely, devices for automatic individual or group removal of objects from containers, and can be used as part of various automatic lines.
    The purpose of the invention is to improve the operational characteristics by providing for the removal of objects from the tank with internal flanging.
    FIG. 1 shows a device for individual or group automatic excavation of objects from containers, a general view; in fig. 2 is a view A of FIG. one.
    The device consists of a frame 1 suspended in a gimbal manner to the frame of a lever 2 with a gripping device for a notch, and also from the frame 1 located in the lower part of the frame under the lever 2 with a gripping receiving section 3 for a container 4 to empty 4. The frame 1 consists of stable steel carriers 5, the outside is surrounded by a protective sheathing, which can be opened to the side or above / to place the container 4.
    Inside the frame 1 or in a row, a receiving 6 can be provided for removing 4 items from the container separately. Using the inclined lift 7, the objects are fed to
    To install the lever 2 with a catch. 28. On the frame on both sides of the holder are fixed levers for mounting the actuators 16 and 19 of the lever deflection and the drive 24 for lifting and lowering the hook. In addition, the device has horizontally located spindle screws 14, 17, 23, each of which is associated with a corresponding drive of lever deflection by means of nuts 20, 25 fixed from turning. The hook lever is mounted for movement along the holder by means of a leash 26 and be made in the form of an electromagnet mounted on a gimbal suspension. 5 hp f-ly, 2 ill.
    outlet section 8. Other conveyor and sorting devices may also be used.
    For the gimbal suspension of the lever 2 with the grip serves the main horizontal axis 9, which is located at the top of the frame 1. Approximately in the middle, the main horizontal axis 9 is perpendicular to it, forming a gimbal with it, an additional horizontal axis 10, on which the holder 11 is rigidly fixed lever 2 with grip. The centerline of axis 10 runs exactly perpendicular to the centerline of axis 9.
    On opposite sides of the middle line of the additional horizontal axis 10 at some distance from it on the main horizontal axis 9, a cantilever lever 12 is fixed to set the actuators of the deflection of the lever 2. In the initial position the cantilever levers 12 and 13, as well as the gripping lever 2, hang perpendicular.
    Between the cantilever levers 12 and 13, the lead screw 14 is located in a horizontal plane, which is driven downward by a lower gear 15 by means of an electric motor 16 for actuating a lever deflection relative to an additional horizontal axis 10. Herewith a transmission.
    31440337
    and the engine is fixed on the console arm 12. On the driving screw 14 on
    There is a nut fixed from turning relative to the holder 11 and connected to the holder through a support rod having joints in the form of hinges, so that when the holder 11 is touched, the difference in height between the points of action on the holder 11 and the nut
    To deflect the holder 11 from the main horizontal axis 9 there is a horizontal spindle screw 17, which is stationary relative to the frame 1 and can be driven through a reduction gear 18 by means of the drive motor 19 for the lever deflection from the main horizontal axis. On the drive screw 17, there is a nut 20, which protrudes below from under the casing so that only its lower region is visible. A nut 20 fixed from turning through an articulated lever 21 is connected to a drive axle 22, which is located on the side of the cantilever arm 13 turned to the running screw 17. The lever deflection drive relative to the main horizontal axis 9 can be positioned between one of the vertical posts and one of the cantilever arms and a lever deflection drive around an additional horizontal axis 10 is mounted between the cantilever levers 12 and 13.
    On the holder 11 there is a lead screw 23, which is driven by an electric motor 24 for a pick-up drive. On the lead screw 23, there is a nut 25 on which a lead 26 interacting with the lever-2 is located. This provides the possibility of moving, i.e., raising and lowering, the lever 2 along the holder. Lever 2 is freely suspended on a leash by means of a support plate 27, which is adjacent to the leash 26. When the leash is lowered 26, it seizes the lever 2. If the gripper 28 hits an object to be dredged, then the lever 2 stops, while the leash 26 can still pass further some distance. The effect of the freewheel contributes to the fact that the lever 2 with its own weight can interact with the intended
    five
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    for seizure subject. Due to this, very careful handling of the objects to be taken is ensured.
    If magnetizable objects are to be removed from the container 4, the gripper 28 is made
    in the form of an electromagnet mounted on a gimbal. It is suspended cardanally at the lower end of the lever 2 so that, at any position of the lever 2, it can act vertically on the object to be dredged.
    The device is controlled by a programmable control device. At the same time, the lever 2 moves in such a way that it reads the capacity cross-section of the vessel line by line, and in each row a certain number of positions. The downward movement of the lever 2 ends immediately after the gripper 28 is touched. The deepest position before contact with the bottom when the container is emptied is programmed for all available immersion depths. With each move, it can be monitored whether objects are captured or not. If the display is incorrect, the lever 2 enters the next programmed position. Positions that are detected as empty at a very large immersion depth are no longer processed,
    The control is carried out by actuating three electric motors 16, 19 and 24, the turn-on and turn-off times of which are determined by the cams on the spindle screws. It is preferable to use alternating-current brake motors as electric motors.
    Thanks to the gimbal suspension lever 2, it can move to any position. Since the lever 2 is suspended above the opening of the container, it can be steered obliquely into the inner edge zones and angles of the container so that it is quite comfortable, the upper edge of the container with internal flanging, can grip in all areas of the container. If the lever 2 has captured the object, then it can (figure 1) roll aside to the left and put the object in the receiving tank 6.
    According to the presented example of the design of the cardan suspension of the lever 2, it does not lie directly above the center of the container 4, but is shifted somewhat towards the receiving container 6 so that the lateral swing angle on both sides is fully used and the small maximum swing angle can be maintained. The swing angle for reaching the receiving container is herewith exactly the same size as the swing angle relative to the approach to the opposite edge of the tank 4.
    权利要求:
    Claims (6)
    [1]
    1. Device for individual or group automatic excavation of objects, containing a container for objects, a frame mounted above it, a lever mounted on the frame with a gripper mounted on the main horizontal axis and having a lever deflection drive around the main horizontal axis for excavating objects from different parts of the container and a lifting-lowering drive for gripping, characterized in that, in order to improve the performance characteristics by providing for the removal of objects from the inner flared container, It is equipped with an additional horizontal axis located perpendicular to the main horizontal axis and forming a gimbal with it, and a holder rigidly mounted on an additional horizontal axis, while the lever with the gripper is mounted on the holder with the possibility of longitudinal movement relative to it by means of an actuator
    lifting and lowering the grip and is equipped with a lever deflection drive around an additional horizontal axis, and cantilever levers are mounted on the main horizontal axis on both sides of the holder for mounting the deflector drive lever.
    [2]
    2. The device according to claim 1, which is based on the fact that it has
    horizontally located spindle screws, each of which is associated with a corresponding lever deflection drive by
    fixed by turning the nut, wherein the nut of one of the spindle screws is connected to the holder via a support rod having joints in the form of hinges, and the nut
    another spindle through an articulated arm connected to one of the console arms.
    [3]
    3. Device under item 1, characterized in that: that the drive
    the deflection of the lever around the main horizontal axis is located between one of the vertical uprights of the frame and one of the cantilever levers, and the drive for deflecting the lever around an additional horizontal axis is mounted between the cantilever levers.
    [4]
    4. The device according to claim 1, characterized in that the drive for raising-lowering the gripper is connected with its lever by means of a leash and a lead screw connected to it.
    [5]
    5. The device according to claim 4, characterized in that the lever with
    the grip is freely suspended on a leash by means of a support plate.
    [6]
    6. The device according to paragraphs. 4 and 5, characterized in that the grip is made in the form of an electromagnet mounted on a 1 gimbal.
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    类似技术:
    公开号 | 公开日 | 专利标题
    SU1440337A3|1988-11-23|Apparatus for separate or group automatic removal of objects
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    US5343442A|1994-08-30|Process and device for catching fish
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    EP0668224B1|1998-09-16|Apparatus for stacking and unstacking rectangular articles such as for instance griddles, proofing pans, crates, baking pans and the like
    JPS58162440A|1983-09-27|Work storage device
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    SU1477244A3|1989-04-30|Apparatus for automatic discrete removal of articles from receptacle
    GB2033865A|1980-05-29|Rotary conveyor for the treatment of goods in baths
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    RU1785988C|1993-01-07|Automatic grip for reinforced concrete items
    SU1572933A1|1990-06-23|Arrangement for tilting articles
    CN209769964U|2019-12-13|Tray loading device
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    CN110422397B|2020-12-01|Automatic cap taking device for wine box
    US3670900A|1972-06-20|Low-deck truck for carrying an article to be treated
    CN208790688U|2019-04-26|A kind of machinery head assembly
    RU2058259C1|1996-04-20|Device for gripping, lifting, turning over and transportation of articles
    SU1705227A1|1992-01-15|Gripping device for a group of containers
    EP0339756A2|1989-11-02|Packaging machine
    同族专利:
    公开号 | 公开日
    DE3332196C2|1985-08-01|
    EP0143897B1|1987-04-01|
    DE3462871D1|1987-05-07|
    US4787807A|1988-11-29|
    EP0143897A1|1985-06-12|
    ES8505614A1|1985-06-01|
    ES535710A0|1985-06-01|
    AT26246T|1987-04-15|
    DE3332196A1|1985-03-28|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US2344108A|1939-08-17|1944-03-14|Vilbiss Co|Means for moving spray guns or other devices through predetermined paths|
    US2566616A|1950-01-26|1951-09-04|Reuben G Larson|Logging apparatus|
    US2849139A|1955-06-10|1958-08-26|Joy Mfg Co|Mine shaft mucking machine|
    DE2232048A1|1972-06-30|1974-01-10|Gerhard Schallehn|VACUUM ROCKING LEVER LOADING MACHINE|
    US3884368A|1973-04-23|1975-05-20|Robert L Ballard|Panel destacker|
    US3884363A|1973-09-13|1975-05-20|Bendix Corp|Programmable universal transfer device|
    US4262795A|1978-06-02|1981-04-21|Industrial Automation Corp.|Gripper apparatus and method of gripping containers|
    US4226567A|1978-06-09|1980-10-07|D. W. Zimmerman Mfg., Inc.|Apparatus for handling bobbins|
    FR2435417B1|1978-06-27|1981-10-16|Gilardoni Freres Tuileries|
    SE443531B|1978-11-27|1986-03-03|Asea Ab|INDUSTRIAL ROBOT EQUIPMENT|
    US4367998A|1979-09-13|1983-01-11|United Kingdom Atomic Energy Authority|Manipulators|
    US4412293A|1981-03-30|1983-10-25|Kelley Robert B|Robot system which acquires cylindrical workpieces from bins|
    US4407625A|1981-05-15|1983-10-04|Westinghouse Electric Corp.|Multi-arm robot|
    US4435116A|1982-05-27|1984-03-06|Deberg Walter H|Robotic manipulator|DE3507815A1|1985-03-06|1986-09-11|Hermann Spicher GmbH, 5000 Köln|DEVICE FOR AUTOMATICALLY TAKING ITEMS FROM CONTAINERS|
    JP3064348B2|1990-08-02|2000-07-12|豊田工機株式会社|Robot controller|
    DE10026098B4|2000-05-26|2004-03-11|Hermann Spicher Gmbh|Device for the automatic removal of objects from containers|
    DE10355876A1|2003-11-25|2005-07-28|Hauni Maschinenbau Ag|Arrangement for filling and / or emptying of containers filled with articles and / or to be filled and handling device for transporting the containers|
    DE102008029451B4|2007-06-21|2013-01-24|Gerhard Sandt|Device for the automatic removal of objects from containers|
    TW201250014A|2011-06-15|2012-12-16|Hon Hai Prec Ind Co Ltd|Coating umbrella stand|
    CN104973375A|2015-06-25|2015-10-14|张家港市华源染织有限公司|Cloth extraction goods shelf|
    CN105383945B|2015-12-17|2018-07-13|合肥奥博特自动化设备有限公司|A kind of claw hook type handgrip|
    DE102015016813A1|2015-12-23|2017-06-29|Bernhard Stock|Storage and retrieval unit for a storage rack|
    法律状态:
    2005-05-10| REG| Reference to a code of a succession state|Ref country code: RU Ref legal event code: MM4A Effective date: 20030907 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE3332196A|DE3332196C2|1983-09-07|1983-09-07|Device for the automatic removal of objects from containers|
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