The invention relates particularly to a vacuum lifting device comprising a sensor system for the direct or indirect determination or estimation of the type and/or weight of goods gripped or to be gripped by a suction means of the vacuum lifting device.
B66C 1/02 - Load-engaging elements or devices attached to lifting, lowering, or hauling gear of cranes, or adapted for connection therewith for transmitting forces to articles or groups of articles by suction means
2.
DEVICE FOR CONTROLLING THE FUNCTION OF A VACUUM LIFTING DEVICE, AND VACUUM LIFTING DEVICE HAVING SUCH A CONTROL DEVICE
The invention relates to a device (1) for controlling the function of a vacuum lifting device, the device (1) having an in particular neck-shaped distributor block (2) with a first port (3) and a second port (4), a first flow duct (6) being formed in the distributor block (2) via which duct the first port (3) can be fluidically-connected to the second port (4) as required with the aid of a first valve means (12), a second flow duct (7) being formed in the distributor block (2) via which duct the first port (3) can be fluidically-connected to the external atmosphere (50) as required with the aid of a second valve means (13), and a third flow duct (8) being formed in the
B66C 1/02 - Load-engaging elements or devices attached to lifting, lowering, or hauling gear of cranes, or adapted for connection therewith for transmitting forces to articles or groups of articles by suction means
3.
Mechanical actuator system and EOAT device having such an actuator system
Disclosed is a mechanical actuator system for generating a force needed for actuating an actuating member of an EOAT device as required. The actuator system has at least one functional unit which is designed to change the dimension of the functional unit reversibly in a preferred direction (R) of the functional unit when energy is supplied. The invention further relates to an EOAT device, in particular in the form of a gripper or of a cutting tool, having at least one actuating member and an actuator system associated with the at least one actuating member.
F03G 7/06 - Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying, or the like
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
The invention relates to a gripper, in particular a pneumatically actuable gripper, for handling objects. The gripper has a flexible gripping member (1) having an elastomer body, wherein the elastomer body is configured such that it elastically deforms at least regionally upon actuation of the gripper. According to the invention, provision is made for the elastomer body to be formed at least regionally from an electrically conductive material (20), the specific electrical resistance of which varies under tensile, compressive and/or torsional load. Also according to the invention, provision is made in particular for the gripper to be assigned a resistance sensor device for sensing an electrical conductivity or an electrical resistance of the electrically conductive material (20).
The invention relates to a suction gripper arrangement (100) for handling objects, wherein the suction gripper arrangement (100) has a first suction gripper (14a) with a flexible suction cup (1a), at least one second suction gripper (14b, 14c) with a flexible suction cup (1b, 1c) and a suction gripper carrier (20) that is common to the first and the at least one second suction gripper (14a, 14b, 14c). The first suction gripper (14a) has a suitably assigned first suction cup holder (2a) via which the suction cup (1a) of the first suction gripper (14a) is connected to the suction gripper carrier (20), and the at least one second suction gripper (14b, 14c) has a suitably assigned second suction cup holder (2b, 2c) via which the suction cup (1b, 1c) of the at least one second suction gripper (14b, 14c) is connected to the suction gripper carrier (20). The suction gripper carrier (20) is embodied in a flexible manner such that the first suction cup holder (2a) with the suction cup (1a) of the first suction gripper (14a) is movable in at least one direction relative to the at least one second suction cup holder (2b, 2c) with the suction cup (1b, 1c) of the at least one second suction gripper (14b, 14c).
The invention relates to a holder (1) for an actuator, wherein the holder (1) has an angle compensation element (2). The angle compensation element (2) has a guide ball (4) received at least regionally in a housing (3) of the holder (1), said guide ball (4) being mounted in the housing (3) so as to be rotatable relative to the housing (3), wherein an in particular rectilinear channel (5) extends through the guide ball (4). The angle compensation element (2) also has a cylindrical connection element (6) which is received at least regionally in the channel (5) extending through the guide ball (4), wherein the cylindrical connection element (6) is movable relative to the guide ball (4) in the longitudinal direction of the connection element (6). Furthermore, the angle compensation element (2) has a restoring element (7) which is configured to exert a restoring force on the connection element (6) when the connection element (6) is moved relative to the guide ball (4) from a basic position of the connection element (6) in the longitudinal direction of the connection element (6).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
G21F 7/06 - Structural combination with remotely-controlled apparatus, e.g. with manipulators
F16J 15/50 - Sealings between relatively-movable members, by means of a sealing without relatively-moving surfaces, e.g. fluid-tight sealings for transmitting motion through a wall
B25J 15/06 - Gripping heads with vacuum or magnetic holding means
The invention relates particularly to a vacuum lifting device comprising a sensor system for the direct or indirect determination or estimation of the type and/or weight of goods gripped or to be gripped by a suction means of the vacuum lifting device.
B66C 1/02 - Load-engaging elements or devices attached to lifting, lowering, or hauling gear of cranes, or adapted for connection therewith for transmitting forces to articles or groups of articles by suction means
8.
DEVICE FOR CONTROLLING THE FUNCTION OF A VACUUM LIFTING DEVICE, AND VACUUM LIFTING DEVICE HAVING SUCH A CONTROL DEVICE
The invention relates to a device (1) for controlling the function of a vacuum lifting device, the device (1) having an in particular neck-shaped distributor block (2) with a first port (3) and a second port (4), a first flow duct (6) being formed in the distributor block (2) via which duct the first port (3) can be fluidically-connected to the second port (4) as required with the aid of a first valve means (12), a second flow duct (7) being formed in the distributor block (2) via which duct the first port (3) can be fluidically-connected to the external atmosphere (50) as required with the aid of a second valve means (13), and a third flow duct (8) being formed in the distributor block (2) via which duct the second port (4) can be fluidically-connected to the external atmosphere (50) as required with the aid of a third valve means (14).
B66C 1/02 - Load-engaging elements or devices attached to lifting, lowering, or hauling gear of cranes, or adapted for connection therewith for transmitting forces to articles or groups of articles by suction means
9.
MECHANICAL ACTUATOR SYSTEM AND EOAT DEVICE HAVING SUCH AN ACTUATOR SYSTEM
The invention relates to a mechanical actuator system (10) for generating a force needed for actuating an actuating member (21, 22, 23) of an EOAT device (20) as required. The actuator system (10) has at least one functional unit (1) which is designed to change the dimension of the functional unit reversibly in a preferred direction (R) of the functional unit (1) when energy is supplied. The invention further relates to an EOAT device (20), in particular in the form of a gripper or of a cutting tool, having at least one actuating member (21, 22, 23) and an actuator system (10) associated with the at least one actuating member (21, 22, 23).
F03G 7/06 - Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying, or the like
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
The invention relates to a method for monitoring the operation of a gripper (1), in particular of a pneumatically operated gripper (1), wherein a vibration spectrum of the gripper (1) is recorded in the form of an acceleration time signal by way of at least one vibration measurement over a previously defined or definable time period, and the recorded vibration spectrum is analysed. The invention furthermore relates to a gripper (1) having a monitoring system based on this method.
The present invention relates to a gripper (100) and in particular a pneumatically operated gripper (100) in the form of a vacuum gripper or gripping tongs. The gripper (100) comprises a gripper holder (3.1, 3.2) via which the gripper (100) is preferably detachably connectable to a manipulator, robotic arm or the like. The gripper (100) further comprises at least one gripping member (2.1, 2.2) connected to the gripper holder (3.1, 3.2) and realized such that an object to be gripped or workpiece can be gripped by manipulating the at least one gripping member (2.1, 2.2). In order to achieve the gripper (100) being able to gently grip an object to be gripped, whereby both the object to be gripped as well as the at least one gripping member of the gripper are effectively protected against damage while the object to be gripped is being manipulated, the invention provides for the at least one gripping member (2.1, 2.2) to have a flocking (5) at least in the area which comes into contact with the object to be gripped/workpiece during the manipulating of the at least one gripping member (2.1, 2.2).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
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