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    • 2. 发明授权
    • Gripper system for stacked unit loads
    • 用于堆叠单元负载的夹具系统
    • US08162362B2
    • 2012-04-24
    • US12300176
    • 2007-03-16
    • Nils BraunschweigerEckhard WellbrockHermann FranckWolfgang EchelmeyerKolja Schmidt
    • Nils BraunschweigerEckhard WellbrockHermann FranckWolfgang EchelmeyerKolja Schmidt
    • B66C1/02
    • B65G61/00B65G2201/025B65G2203/042
    • There is provided a gripper system for stacked packaged goods. An exemplary gripper system comprises a first gripper unit for gripping a package by a front surface of the package. The exemplary gripper system further comprises a second gripper unit for gripping the package by a second surface that is at a right angle to the front surface, the second gripper unit having a drive device associated therewith, the second gripper unit being adapted to be moved out of a starting position in which the second gripper unit and the drive device as seen from the gripping side of the first gripper unit, are arranged behind the first gripper unit, into a gripping position in which the first gripper unit is positioned for gripping the package by its front surface and the second gripper unit is positioned for gripping the package by its second surface. In a gripper system according to an exemplary embodiment of the present invention, outer dimensions of the gripper system, as seen from the gripping side of the first gripper unit, do not exceed dimensions of a front surface of a smallest package to be gripped.
    • 提供了用于堆叠包装货物的夹具系统。 示例性的夹持器系统包括用于通过包装的前表面夹持包装的第一夹持器单元。 示例性夹持器系统还包括第二夹持器单元,用于通过与前表面成直角的第二表面夹紧包装,第二夹持器单元具有与之相关联的驱动装置,第二夹持器单元适于移出 其中第二夹持单元和驱动装置从第一夹持单元的夹持侧观察的起始位置布置在第一夹持单元的后面,到达夹持位置,在该夹持位置中第一夹持单元被定位用于夹持包装 通过其前表面和第二夹持器单元被定位成通过其第二表面夹紧包装。 在根据本发明的示例性实施例的夹持器系统中,从第一夹持器单元的夹持侧看,夹持器系统的外部尺寸不超过待夹紧的最小包装的前表面的尺寸。
    • 5. 发明申请
    • SENSOR SYSTEM FOR DETECTING THE SURFACE STRUCTURES OF SEVERAL PACKAGED ARTICLES
    • 用于检测几个包装物品的表面结构的传感器系统
    • US20110153082A1
    • 2011-06-23
    • US12973102
    • 2010-12-20
    • Hermann FranckWolfgang EchelmeyerRalf BeesnerEckhard Wellbrock
    • Hermann FranckWolfgang EchelmeyerRalf BeesnerEckhard Wellbrock
    • B25J13/08G01C3/00G01B11/24G01B11/14
    • G01B11/026G01B11/24
    • An exemplary embodiment of the invention relates to a sensor system for detecting the surface structures of several packaged articles. An exemplary system comprises at least one laser distance detector that functions according to a triangulation principle and that determines the distance between the laser distance detector and a surface structure of a packaged article. The laser distance detector has at least one analog output via which a distance-proportional analog signal can be emitted. The analog output of at least one laser distance detector is in communication with an evaluation unit via an amplifier circuit. The amplifier circuit encompasses at least one operational amplifier that has two inputs, and the analog signal of the laser distance detector is present at a first input of the at least one operational amplifier. A variable reference voltage is present at the other input of the at least one operational amplifier. The reference voltage may be obtained from the analog signal of the analog output, and this analog signal may be present at the other input of the operational amplifier via a low-pass filter. The output of the at least one operational amplifier may be connected to the evaluation unit, as a result of which the amplifier circuit is configured in such a way that abrupt changes in the analog signal bring about a change in the output signal of the at least one operational amplifier. More gradual changes in the analog signal do not bring about a substantial change in the output signal of the at least one operational amplifier. The evaluation unit may evaluate the output signal of the at least one operational amplifier.
    • 本发明的示例性实施例涉及用于检测多个包装物品的表面结构的传感器系统。 示例性系统包括至少一个激光距离检测器,其根据三角测量原理起作用,并且确定激光距离检测器与包装物品的表面结构之间的距离。 激光距离检测器具有至少一个模拟输出,经由该模拟输出可以发射距离比例的模拟信号。 至少一个激光距离检测器的模拟输出通过放大器电路与评估单元通信。 放大器电路包括至少一个具有两个输入的运算放大器,激光距离检测器的模拟信号存在于至少一个运算放大器的第一输入端。 可变参考电压存在于至少一个运算放大器的另一输入端。 参考电压可以从模拟输出的模拟信号获得,并且该模拟信号可以经由低通滤波器存在于运算放大器的另一个输入端。 至少一个运算放大器的输出可以连接到评估单元,结果,放大器电路被配置成使得模拟信号的突然变化引起至少该输出信号的变化 一个运算放大器。 模拟信号的逐渐变化不会导致至少一个运算放大器的输出信号的实质变化。 评估单元可评估至少一个运算放大器的输出信号。
    • 7. 发明申请
    • VACUUM GRIPPER FOR PICKING UP AND SETTING DOWN UNIT LOADS
    • 真空牵引器,用于拾取和设置下降单元负载
    • US20120181804A1
    • 2012-07-19
    • US13498805
    • 2010-09-22
    • Kolja SchmidtWolfgang EchelmeyrHermann Franck
    • Kolja SchmidtWolfgang EchelmeyrHermann Franck
    • B25J15/06
    • B65G47/917
    • A vacuum gripper is provided for picking up and setting down unit loads by layer, comprising a surface having suction openings, connected to a vacuum supply, and device for temporarily connecting the suction openings. The vacuum gripper comprises at least two air channels, connecting suction openings. Each air channel is connected by a valve to a central, linear vacuum supply channel connected to the vacuum supply. The valve comprises at least one tappet, whose movement makes possible controlling opening and closing the valve. The tappets are arranged in a straight row, and are automatically moved in a position where the valve is closed. The tappets are functionally connected to a mechanical actuating device, extending along the row, comprising mechanically movable control elements for sequential actuation. The control elements automatically restore the tappets to a position where the valve is closed, making possible closing the related valves sequentially.
    • 提供真空夹具,用于拾取和逐层降低单位载荷,包括连接到真空源的具有抽吸口的表面和用于临时连接抽吸孔的装置。 真空夹具包括至少两个空气通道,连接抽吸口。 每个空气通道都通过阀连接到连接到真空源的中心线性真空供应通道。 该阀包括至少一个挺杆,其运动可以控制阀的打开和关闭。 挺杆布置成直列,并且在阀被关闭的位置自动移动。 挺杆在功能上连接到沿着行延伸的机械致动装置,其包括用于顺序致动的机械可移动的控制元件。 控制元件自动将挺杆恢复到阀关闭的位置,使得可以顺序关闭相关阀。
    • 8. 发明申请
    • APPARATUS AND METHOD FOR TRANSFERRING PART LOADS
    • 用于传送部分负载的装置和方法
    • US20100092272A1
    • 2010-04-15
    • US12520953
    • 2007-12-28
    • Wolfgang EchelmeyerHermann Franck
    • Wolfgang EchelmeyerHermann Franck
    • B65G61/00B25J9/00B65G47/90B25J15/00B25J15/06
    • B65G47/907B65G11/023B65G61/00B65G2201/025
    • There is provided an apparatus for transferring packaged goods from a first position X to a second position Y. An exemplary apparatus comprises at least one gripping device comprising several gripping elements of which at least two can be actuated separately from each other. The exemplary apparatus further comprises a drive that is adapted to move the at least one gripping device in a vertical direction and in at least one horizontal direction. The exemplary apparatus also comprises a controller that is configured according to a fixed scheme, the controller being adapted to sequentially cancel a gripping effect of the gripping elements. The exemplary apparatus additionally comprises a guide element adapted to steer the packaged goods to the second position Y, the guide element comprising a baffle plate placed in a slanted position and having a bottom plate and two side walls that run towards each other in the form of a funnel.
    • 提供了一种用于将包装的商品从第一位置X传送到第二位置Y的装置。示例性装置包括至少一个夹持装置,其包括多个夹紧元件,其中至少两个可以彼此分离地致动。 示例性装置还包括适于在垂直方向和至少一个水平方向上移动至少一个夹持装置的驱动器。 示例性装置还包括根据固定方案配置的控制器,所述控制器适于顺序地取消夹持元件的夹持效果。 示例性装置还包括适于将包装物转向第二位置Y的引导元件,引导元件包括设置在倾斜位置的挡板,并具有底板和两个侧壁,该侧壁以 一个漏斗