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1.发明申请Gripping and transport clamp mounted at the end of a robotic arm and method for operating the same 有权夹持和运输夹具安装在机械手臂的末端和操作它的方法公开(公告)号：US20020154986A1
公开(公告)日：2002-10-24
申请号：US09953495
申请日：2001-09-14
IPC分类号： B65H029/00 , B65G057/30 , B65H003/00 , B65G059/00
CPC分类号： B65H3/325 , B65G59/005 , B65G61/00 , B65H2301/42242 , B65H2515/30 , B65H2555/31 , Y10S294/907 , Y10S414/108 , Y10S414/12 , B65H2220/03
摘要： The present invention relates to a gripping and transport clamp mounted at an end of a robotic arm. The clamp has a support member mounted at the end of the robotic arm and two lower pressing plates and one upper pressing plate mounted on the support member. A sensor is used to detect a reaction force being exerted on the first pressing plate upon displacement thereof. An actuator inserts the first lower pressing plate under the object to be gripped in response to a detection of the reaction force by the sensor. The second lower pressing plate under the first pressing plate moves between a retracted position and an extended position by means of an actuator mounted between the second lower pressing plate and the support member. It is also inserted under the object to be gripped. An actuator moves the upper pressing plate towards the object for gripping it between the plates. A controller receives detection signals from the sensor and operates the actuators.
摘要翻译： 本发明涉及一种安装在机器人手臂末端的夹持和运输夹具。 夹具具有安装在机器臂的端部的支撑构件和安装在支撑构件上的两个下压板和一个上压板。 传感器用于检测在其移动时施加在第一按压板上的反作用力。 致动器响应于传感器的反作用力的检测，将第一下压板插入被夹持物体的下方。 第一按压板下方的第二下压板通过安装在第二下压板和支撑构件之间的致动器在缩回位置和延伸位置之间移动。 它也被插入被夹持的物体下面。 执行器将上压板朝向物体移动以将其夹在板之间。 控制器从传感器接收检测信号并操作致动器。
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公开(公告)号：US1013344A
公开(公告)日：1912-01-02
申请号：US1910563183
申请日：1910-05-24
申请人： SANITARY CAN COMPANY
发明人： WEGNER FRED , PETERS JOHN
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公开(公告)号：US5425457A
公开(公告)日：1995-06-20
申请号：US958228
申请日：1992-10-08
申请人： Scott V. Williams
发明人： Scott V. Williams
CPC分类号： B65H3/325 , B65H3/26 , B65H33/00 , G06K17/00 , B65H2511/20 , G06K2017/0045 , G06K2017/0048 , Y10S209/90 , Y10S209/909
摘要： The present invention relates to a document storage device which allows for temporary and secure storage of a number of documents upon their exit from a document processor. The device (10) is comprised of a document stack system (12), a retrieval system (14), and a control unit (16) for tracking the position of each document in the stack. As documents are deposited into the document stack, an identifier is attached to each document's position in the memory of the control unit (16). After deposit of a first document, a first pair of separator sheets (6a, 6b) are deposited above the document. A second document can then be deposited above the first pair of separator sheets. Thereafter, a second pair of separator sheets are deposited above the second document. One sheet from each pair acts as the top or bottom cover for the document (5) against which it is in contact. This deposit process can be continue for additional documents. When a target document is to be retrieved, its identifier is entered into the control unit (16) by the document' s intended recipient. The retrieval system (14) is positioned adjacent to the target document in the stack. Grippers (40, 42) extend into the stack above and below the separator sheets on either side of the document and grasp the separator sheets and the document therebetween. The retrieval subsystem (14) then places the document into an output bin (4).
摘要翻译： 本发明涉及一种文档存储装置，其允许在文档处理器退出时临时和安全地存储多个文档。 设备（10）包括文件堆栈系统（12），检索系统（14）和用于跟踪堆叠中的每个文档的位置的控制单元（16）。 当文档被存入文档堆栈中时，标识符被附加到控制单元（16）的存储器中的每个文档的位置。 在存放第一文件之后，在文件上方放置第一对分离片（6a，6b）。 然后可以将第二文件放置在第一对隔板上方。 此后，在第二文件上方沉积第二对隔板。 来自每一对的一张纸作为与其接触的文件（5）的顶盖或底盖。 这种存款过程可以继续用于其他文件。 当要检索目标文件时，其标识符由文档的预期收件人输入到控制单元（16）。 检索系统（14）位于堆叠中与目标文档相邻的位置。 夹爪（40,42）延伸到文件两侧的分离片上方和下方的堆叠中，并抓住隔板及其间的文件。 检索子系统（14）然后将文件放入输出仓（4）中。
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公开(公告)号：US4907942A
公开(公告)日：1990-03-13
申请号：US86571
申请日：1987-08-17
申请人： Dieter Pfeil
发明人： Dieter Pfeil
CPC分类号： B65H3/325 , B65H2301/422 , B65H2301/42322 , B65H2301/4233
摘要： A method and an arrangement of the present invention are intended for individualizing non-glued paper pads having cardboard backs from a stack which includes a plurality of cut paper layers and intermediate cardboard sheet layers. One end of the stack which is covered by a respective cardboard end sheet is positioned against a support in such a manner that a part of the stack projects freely beyond an edge of the support. A bending force which is directed at an inclination with respect to the stack end and has a component that points toward the edge of the support is applied against an engagement location disposed at a cut surface of the projecting part of the stack to bend the portion of the stack that is situated between the engagement location and the end sheet with attendant formation of a wedge-shaped gap between this portion and the remainder of the stack. A number of the bent-away paper layers and intermediate cardboard layers if flipped under the influence of their elastic restoration forces back to the remainder of the stack by moving the engagement location to which the bending force is applied in the direction of the one end of the stack to such an extent that ultimately the penulitimate one of the paper layers and the last one of the intermediate cardboard sheets is flipped back and only the last one of the paper layers and the cardboard end sheet associated therewith are still bent away.
摘要翻译： 本发明的方法和装置旨在个体化具有纸板背面的非胶合纸垫，该纸垫包括多个切割纸层和中间纸板层。 由相应的纸板端板覆盖的堆叠的一端以这样的方式抵靠支撑件定位，使得堆叠的一部分自由地突出超出支撑件的边缘。 相对于堆叠端部倾斜并且具有指向支撑件的边缘的部件的弯曲力施加在布置在堆叠的突出部分的切割表面处的接合位置，以弯曲部分 位于接合位置和端板之间的堆叠件，在该部分和堆叠的其余部分之间伴随形成楔形间隙。 如果在它们的弹性恢复力的影响下翻转的多个弯曲的纸层和中间的纸板层通过移动施加弯曲力的接合位置而移动到堆叠的其余部分， 堆叠到最终使纸层的最后一个和中间纸板的最后一个被翻转的程度，并且只有最后一个纸层和与其相关联的纸板端板仍然弯曲。
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公开(公告)号：US4623292A
公开(公告)日：1986-11-18
申请号：US683688
申请日：1984-12-19
申请人： Kozo Suzuki , Takateru Sakaguchi , Osamu Tomita , Yoshiaki Tanaka
发明人： Kozo Suzuki , Takateru Sakaguchi , Osamu Tomita , Yoshiaki Tanaka
CPC分类号： B65H3/325 , B65H3/48 , B65H33/04 , B65H2301/422
摘要： Sheet stacks bordered by sheet markers are sequentially fed from a pile of aligned and stacked sheets containing sheet markers inserted into these sheets through end wall at specific intervals with bare portion left outside, using a sheet stack delivery apparatus including at least lifter means that mounts sheet stacks to allow the uppermost sheet stack to be sequentially transferred to a pre-determined level; a wedge-type head for separating sheet stacks comprising its tip part facing the end wall of the sheet pile at a position close to the sheet marker bordering the uppermost and the second sheet stacks and also the upper tilt surface and the bottom surface ending at the tip part; and means for transferring the uppermost sheet stack by holding and pushing forward an end wall of the uppermost sheet stack split by the wedge head.
摘要翻译： 通过片材标记边界的片材堆叠从一堆对齐且堆叠的片材顺序地馈送，该堆叠的片材标记通过端壁以特定的间隔以裸露的部分留在外部，使用片材堆叠传送装置至少包括提升装置， 堆叠以允许最上面的纸张堆栈被顺序地转移到预定的水平; 用于分离纸张堆叠的楔形头部，其包括其末端部分面对片材桩的端壁，位于接近最上面的片材标记的位置处，并且第二纸张堆叠以及上倾斜表面和底表面终止于 尖端部分 以及用于通过保持并向前推动由楔形头分开的最上面的纸叠的端壁来传送最上面的纸叠的装置。
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公开(公告)号：US5709524A
公开(公告)日：1998-01-20
申请号：US662189
申请日：1996-06-12
申请人： Alver Tacchi , Antonio Gamberini
发明人： Alver Tacchi , Antonio Gamberini
CPC分类号： B65H3/325 , B65H2301/422
摘要： A device for picking up stacks of products from a support, wherein a head for picking up a stack of products from a flat support is provided with presser elements adapted to act on the stack and with a flexible lamina adapted to enter between the stack and the flat support; the pick-up head supports presser cylinders to act on the flat support, and the lower end of the presser cylinders has feet that are movable between an inactive position and a position for insertion between the stack and the flat support to raise the stack at least at the region for the insertion of the lamina between the stack of products and the flat support.
摘要翻译： 一种用于从支撑件拾取堆叠的产品的装置，其中用于从平坦支撑件拾取产品堆叠的头部设置有适于作用在所述堆叠上的压紧元件，并且具有适于进入所述堆叠和所述堆叠之间的柔性层板 平坦的支持; 拾取头支撑压力缸以作用于平坦支撑件，并且压脚缸的下端具有可在非活动位置和用于插入堆叠和平坦支撑件之间的位置之间移动的脚，以将堆叠至少升高 在用于在叠层产品和平坦支撑件之间插入薄片的区域。
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公开(公告)号：US5642980A
公开(公告)日：1997-07-01
申请号：US627536
申请日：1996-04-04
申请人： Alver Tacchi , Antonio Gamberini
发明人： Alver Tacchi , Antonio Gamberini
CPC分类号： B65H3/325 , B65H2301/422
摘要： The device for picking up stacks of products from a support has a head for picking up a stack of products from a supporting platform, and is provided with presser elements for pressing on the stack. The presser elements act in an upward region of the stack and with a flexible lamina that is adapted to fit between the stack and the supporting platform. Additional presser elements are supported by the pick-up head to act on the stack, whereby to take the weight of the stack off the supporting platform and facilitate the insertion of the lamina between the platform and the stack of products.
摘要翻译： 用于从支撑件拾取堆叠产品的装置具有用于从支撑平台拾取一堆产品的头部，并且设置有用于压在堆叠上的压脚元件。 压紧元件作用在堆叠的向上的区域中，并具有适于装配在堆叠和支撑平台之间的柔性层。 附加的压紧元件由拾取头支撑以作用在堆叠上，从而将堆叠的重量从支撑平台上取下来，并且便于在平台和产品堆之间插入薄片。
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公开(公告)号：US4193726A
公开(公告)日：1980-03-18
申请号：US911337
申请日：1978-06-01
申请人： Ernst Spengler
发明人： Ernst Spengler
CPC分类号： B65H3/325 , B65H2301/422
摘要： Flat goods such as sheets of cardboard are destacked or removed from a stack for the purpose of further processing, especially in stamping, cutting, or break-out devices. A carrier is introduced into the stack. The carrier has a surface which remains stationary relative to that portion of the stack which is being removed when the carrier is withdrawn from the stack. For this purpose the carrier which is supported in a frame, is provided with a surface which is movable relative to the carrier. The movable surface is guided at least around the leading edge of the carrier.
摘要翻译： 诸如纸板之类的扁平物品为了进一步加工，特别是在冲压，切割或脱开装置中而从堆叠中脱去或脱离。 载体被引入到堆叠中。 载体具有相对于堆叠的部分保持静止的表面，当载体从堆叠中取出时，其被移除。 为此，支撑在框架中的托架设置有可相对于托架移动的表面。 可移动表面至少围绕载体的前缘引导。
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9.发明授权Gripping and transport clamp mounted at the end of a robotic arm and method for operating the same 有权夹持和运输夹具安装在机械手臂的末端和操作它的方法公开(公告)号：US06746203B2
公开(公告)日：2004-06-08
申请号：US09953495
申请日：2001-09-14
IPC分类号： B65G5902
CPC分类号： B65H3/325 , B65G59/005 , B65G61/00 , B65H2301/42242 , B65H2515/30 , B65H2555/31 , Y10S294/907 , Y10S414/108 , Y10S414/12 , B65H2220/03
摘要： The present invention relates to a gripping and transport clamp mounted at an end of a robotic arm. The clamp has a support member mounted at the end of the robotic arm and two lower pressing plates and one upper pressing plate mounted on the support member. A sensor is used to detect a reaction force being exerted on the first pressing plate upon displacement thereof. An actuator inserts the first lower pressing plate under the object to be gripped in response to a detection of the reaction force by the sensor. The second lower pressing plate under the first pressing plate moves between a retracted position and an extended position by means of an actuator mounted between the second lower pressing plate and the support member. It is also inserted under the object to be gripped. An actuator moves the upper pressing plate towards the object for gripping it between the plates. A controller receives detection signals from the sensor and operates the actuators.
摘要翻译： 本发明涉及一种安装在机器人手臂末端的夹持和运输夹具。 夹具具有安装在机器臂的端部的支撑构件和安装在支撑构件上的两个下压板和一个上压板。 传感器用于检测在其移动时施加在第一按压板上的反作用力。 致动器响应于传感器的反作用力的检测，将第一下压板插入被夹持物体的下方。 第一按压板下方的第二下压板通过安装在第二下压板和支撑构件之间的致动器在缩回位置和延伸位置之间移动。 它也被插入被夹持的物体下面。 执行器将上压板朝向物体移动以将其夹在板之间。 控制器从传感器接收检测信号并操作致动器。
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10.发明授权
公开(公告)号：US5738486A
公开(公告)日：1998-04-14
申请号：US650141
申请日：1996-05-17
申请人： Arno Schroeder
发明人： Arno Schroeder
CPC分类号： B65H3/325 , B65G59/023 , B65H2301/422 , B65H2511/514 , B65H2511/52 , B65H2553/41 , Y10S294/907
摘要： An apparatus for unloading blocks that are stacked on pallets and have flat separators interposed between the blocks is provided. The apparatus has a three-dimensionally controlled and movable pick-up head on which is disposed an approximately horizontally oriented insertion tool that terminates in a pointed insertion tip. The insertion tool is adapted by means of a horizontal movement to extend below a respectively to be removed block of blanks. In order to recognize an improperly taken up block of blanks prior to further processing thereof, a sensor unit is provided that cooperates with a reflective element that is disposed on the underside of the insertion tool. This makes it possible to inspect if a portion of the bottom blank is disposed below the insertion tool. A block of blanks that has been recognized as improper is initially separated out.
摘要翻译： 提供一种用于卸载堆放在托盘上并具有插入块之间的平坦分隔件的块的装置。 该装置具有三维控制和可移动的拾取头，其上设置有大致水平定向的插入工具，该插入工具终止于尖锐的插入尖端。 插入工具通过水平移动来适应以分别延伸到要移除的块的块之下。 为了在进一步处理之前识别出不正确占据的坯料块，提供了与设置在插入工具的下侧上的反射元件配合的传感器单元。 这使得可以检查底部坯料的一部分是否设置在插入工具下方。 已被认定为不正当的空白块最初被分离出来。
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