公开(公告)号：US20100014955A1

公开(公告)日：2010-01-21

申请号：US12522729

申请日：2007-11-16

申请人： Matti Lammi ,  Jouko Helminen ,  Jarmo Pohjolainen

发明人： Matti Lammi ,  Jouko Helminen ,  Jarmo Pohjolainen

IPC分类号： B66C1/44 ,  B66F19/00 ,  B66C25/00

CPC分类号： B66C1/445

摘要： A gripper for gripping vertical material web rolls (1), such as paper and paperboard rolls, for lifting them in a scissor grip. The gripper is provided with contact members arranged to be positioned against the sides of a roll to be lifted. A gripping force is provided on the contact members (4) at substantially gripping height against the roll to be lifted by tensioning a binder (18) connecting the contact members. The gripper enables transporting a plurality of rolls at the same time.

摘要翻译： 用于夹紧垂直材料卷筒纸（1）的夹具，例如纸和纸板辊，用于将其以剪刀握把提升。 夹具设置有接触构件，其被布置成抵靠待提升的辊的侧面定位。 通过张紧连接接触构件的粘合剂（18），在接触构件（4）上以基本上抓握的高度抵靠待提升的辊提供夹持力。 夹具能够同时运送多个辊。

公开(公告)号：US20060104788A1

公开(公告)日：2006-05-18

申请号：US11111722

申请日：2005-04-22

申请人： Kazunori Ban ,  Ichiro Kanno

发明人： Kazunori Ban ,  Ichiro Kanno

IPC分类号： B66C25/00

CPC分类号： G06T1/0014 ,  B25J9/1697 ,  G05B2219/40014 ,  G05B2219/40053 ,  G06T7/75 ,  G06T2207/30164

摘要： An object picking system for picking up, one by one, a plurality of objects. The system includes a detecting section detecting, as an image, an object to be picked, among a plurality of objects placed in a manner as to be at least partially superimposed on each other; a storage section storing appearance information of a predetermined portion of a reference object having an outward appearance identical to an outward appearance of the object to be picked; a determining section determining, in the image of the object to be picked detected by the detecting section, whether an inspected portion of the object to be picked, corresponding to the predetermined portion of the reference object, is concealed by another object, based on the appearance information of the reference object stored in the storage section; a control section deciding a picking motion for the object to be picked and outputting a control signal of the picking motion, based on a determination result of the determining section; and a picking mechanism performing the picking motion on the object to be picked in accordance with the control signal output from the control section.

摘要翻译： 一种用于拾取多个物体的物体拾取系统。 该系统包括检测部分，其以至少部分地彼此重叠的方式在被放置的多个物体中检测作为图像的要被拾取的物体; 存储部，其存储具有与所述被拾取对象的外观相同的外观的参照物的规定部的外观信息; 确定部分，在由所述检测部检测到的要被拾取的对象的图像中确定与所述参考对象的所述预定部分相对应的要被拾取的对象的被检查部分是否被另一个对象隐藏，基于 存储在存储部中的参考对象的外观信息; 控制部，根据上述判定部的判定结果，判定上述被拾取物的拾取动作，并输出上述拾取动作的控制信号; 以及拾取机构，根据从控制部输出的控制信号，对被拾取物进行拾取动作。