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WO2017157481A1 - Dispositif pour saisir, maintenir et/ou positionner des pièces planes, notamment des plaques de verre - Google Patents

Dispositif pour saisir, maintenir et/ou positionner des pièces planes, notamment des plaques de verre Download PDF

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Publication number
WO2017157481A1
WO2017157481A1 PCT/EP2016/068408 EP2016068408W WO2017157481A1 WO 2017157481 A1 WO2017157481 A1 WO 2017157481A1 EP 2016068408 W EP2016068408 W EP 2016068408W WO 2017157481 A1 WO2017157481 A1 WO 2017157481A1
Authority
WO
WIPO (PCT)
Prior art keywords
holding
vacuum
unit
holding arrangement
suction gripper
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2016/068408
Other languages
German (de)
English (en)
Inventor
Martin RUHLAND
Tobias Hofmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ks Control GmbH
Original Assignee
Ks Control GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ks Control GmbH filed Critical Ks Control GmbH
Publication of WO2017157481A1 publication Critical patent/WO2017157481A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/002—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying glass plates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B66F9/181—Load gripping or retaining means by suction means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
    • B65G2249/04—Arrangements of vacuum systems or suction cups

Definitions

  • the invention relates to a device for receiving, holding and / or positioning of flat workpieces, in particular glass plates according to the preamble of claim 1.
  • Plate-shaped workpieces such as glass plates, steel plates, plastic plates or similar plate-shaped workpieces
  • These serve to receive plate-shaped workpieces, for stably holding the recorded plate-shaped workpieces in an individually adjustable mounting position, in particular in a vertical position or inclined relative to the vertical position.
  • the plate-shaped workpieces for stably holding the recorded plate-shaped workpieces in an individually adjustable mounting position, in particular in a vertical position or inclined relative to the vertical position.
  • a handling device for glass plates in which a coupled with a hand pump vacuum cleaner is disposed at the end of a frame-like boom, the gripping and picking up a horizontally lying on the floor or a base glass plate and its tilting in vertical direction allowed.
  • EP 2 871 111 A2 for example, a holding, fixing and / or handling device for plate-shaped workpieces such as glass plates is known, in which the plate-shaped workpiece to be handled by at least one of a frame portion of a mobile support and / or
  • Support frame assembly are held with a support portion connected fixing means in a vertical or slightly inclined to a vertical position, wherein the fixing means is formed by at least one vacuum acted upon suction pads, which is coupled to a controllable vacuum source, the part of the device and / or mounted on this is.
  • the vacuum source is formed by a compressor unit for generating a negative pressure, which in turn is arranged on the movable support and / or support frame assembly.
  • Compressor unit generated negative pressure by means of suction lines to the suction pads fed, wherein the compressor unit is arranged in the region of the mobile support and / or support frame assembly and is connected via the suction directly to the suction pads.
  • This disadvantageous negative pressure unit requires a noticeable lead time until the vacuum required for receiving and holding the plate-shaped workpiece is made available to the suction gripper, as a result of which
  • the invention is therefore based on the object, a device for holding and / or positioning of flat
  • Claim 1 solved.
  • the essential aspect of the device according to the invention is to be seen in that the at least one controllable vacuum unit is arranged in the immediate vicinity of the suction gripper elements in the region of the holding arrangement. Particularly advantageous is the immediate spatial arrangement in the vicinity of the
  • Suction gripper elements in or on the holding arrangement achieved in comparison to the prior art significantly shortened supply path for the generated negative pressure, so that the time required for receiving and holding vacuum or vacuum can be built much faster. This results in a significantly reduced processing time for the individual plate-shaped workpieces, in particular glass plates.
  • the vacuum unit or vacuum generating unit is thus in
  • the radial distance between the vacuum unit and the respective Sauggreiferelement represents the shortest connection, and along the holding plane.
  • the vacuum unit for example, by at least one
  • Vacuum pump or compressor unit is preferably received in the center of the holding arrangement, preferably integrated therein.
  • the holding arrangement has at least two, each at least one Sauggreiferelement receiving retaining arms, wherein the at least one controllable negative pressure unit is arranged in the connecting region of the support arms.
  • the holding arrangement is advantageously arranged rotatable about an axis of rotation and / or pivot axis at the free end of the cantilever arm and the at least one controllable vacuum unit in the region of the rotary and / or pivot axis in or on the holding arrangement.
  • the holding arrangement is in shape a star-shaped turnstile is formed with at least three retaining arms which rotatable about a rotational and / or pivot axis at the free end of the
  • the holding arrangement has a central receiving space arranged in the region of the rotational and / or pivoting axis, in that the at least one controllable negative pressure source is accommodated.
  • the controllable vacuum source can still at least one or more
  • Switching valve units are accommodated in the central receiving space. Also, at least one vacuum accumulator unit is arranged in or on the holding arrangement.
  • Vacuum storage unit is received in a holding arm or integrated therein.
  • a vacuum accumulator unit which is assigned to the suction gripper element held by the respective holding arm, can be accommodated in each holding arm.
  • the required negative pressure is provided in the immediate vicinity of the suction gripper or vacuum gripper, whereby a significantly reduced intake time of the suction gripper elements is realized.
  • the processing capacity can be significantly increased.
  • the controllable vacuum unit, at least one or more switching valve units and at least one vacuum storage unit form a vacuum circuit, wherein a plurality of negative pressure circuits can be provided, which are operated redundantly from each other.
  • a plurality of drive units are provided for the controlled operation of the holding arrangement and the vacuum unit is formed by a vacuum pump or a compressor unit.
  • the retaining arms are formed by profile elements made of metal.
  • the device can also have a plurality of measuring sensors, in particular inclination sensors for detecting the actual position of the holding arrangement and of the plate-shaped workpiece received thereon.
  • FIG. 1 is a schematic side view of a device according to the invention
  • Fig. 2 is a schematic view of the front side of the invention
  • Fig. 3 is a schematic of a control unit for controlling the
  • Fig. 4 is a schematic side view of the invention formed
  • Fig. 5 is a schematic front view of the invention formed
  • Glass lifter or “glass worker” for glass panes and windows for picking up, holding and / or positioning heavy glass plates or windows
  • Vacuum unit 7 are subjected to negative pressure.
  • the vacuum unit 7 is designed, for example, as a vacuum pump unit or compressor unit, by means of which a negative pressure or vacuum can be generated in a controlled manner.
  • Vacuum unit 7 in the sense according to the invention thus means all devices and devices which are suitable for the controlled generation of a negative pressure or vacuum.
  • the vacuum unit 7 is connected, for example, to a control unit 8, which i.a. for controlling the vacuum unit 7 and / or possibly existing
  • Switching valve units and / or vacuum storage units is set up.
  • control unit 8 is also set up to control the drive systems 9, 10, 12 and 13 provided for the controlled method of the holding arrangement 5.
  • suction gripper elements 6 For supplying the negative pressure or vacuum generated by the vacuum unit 7 to the respective suction gripper elements 6, for example, several suction or
  • suction gripper elements 6 can have either the same or a different diameter, depending on the respective holding task.
  • Suction gripper element 6.1 and a second suction gripper element 6.2 are arranged on the holding arrangement 5, preferably displaceably along the holding plane E, specifically for example on a first holding arm 5.1 and a second holding arm 5.2.
  • more than two suction gripper elements 6 are provided, namely first through fourth or
  • suction gripper elements 6.1 to 6.6 which may have different or identical suction surfaces.
  • the Sauggreiferieri 6.1 to 6.6 are often referred to as vacuum vacuums, vacuum suction or vacuum suction. Their basic operation is well known.
  • two suction gripper elements 6.1 to 6.6 are preferably arranged in each case opposite each other, in relation to the center, in particular the center of rotation of the holding arrangement 5.
  • the movable support platform 2 has u.
  • the rear wheels 2.12 is designed steerable by means of a along the longitudinal axis LA of the device 1 rearwardly projecting link device 2.2, namely about a perpendicular to the longitudinal axis LA extending steering axis.
  • the movable support platform 2 for example, a central
  • Receiving space which preferably extends between the front wheels 2.11 and the rear wheels 2.12, in that in addition to the control unit 8, the drive units provided for driving the front and / or rear wheels 2.11, for example in the form of electric motor units and an associated power supply unit, for example in the form of a battery or battery unit are included (not shown in the figures).
  • the link device 2.2 has, for example, those for controlling the drive units 9, 10, 12 and 13 and / or the vacuum unit 7 and / or possibly existing
  • Switching valve units 15 and / or vacuum storage units 16 of the device 1 required controls. There is a wired or wireless connection between the controls and the control unit 8 through which the
  • Control commands are transferable.
  • a trained as a mobile remote control unit can be provided, which not only control commands are generated, but also the currently available
  • plate-shaped workpiece in particular a glass plate or a
  • Window element is displayed to the operator of the device 1 by means of a display unit.
  • the at least one support column 3 is preferably arranged rigidly with its lower free end 3 "on the movable support platform 2, specifically on the upper side of the undercarriage 2.1, the upper free end 3" of the support column 3 being the further free end 4 opposite the holding arrangement 5 "of the extension arm 4
  • the boom 4 is held with its other free end 4 "pivotally about a first pivot axis SA1 at the upper free end 3" of the support column 3.
  • a first pivot axis SA1 at the upper free end 3 of the support column 3.
  • Pivoting position is a first drive unit 9 is provided, which is preferably controlled via the control unit 8.
  • the first drive unit 9 is realized, for example, in the form of a hydraulic cylinder unit or lifting cylinder unit, which is controlled on or extendable, whereby a controlled pivoting of the boom 4 is effected about the first pivot axis SA1.
  • the cantilever arm 4 is for example designed in several parts and adjustable in terms of its longitudinal extent, ie the length of the cantilever arm 4 is controlled via the control unit 8 preferably also adjustable.
  • the cantilever arm 4 is formed, for example, telescopically, via a second drive unit 10, an extension and retraction of the cantilever arm 4 is effected along its longitudinal axis.
  • the second drive unit 10 is again preferably at least one
  • Hydraulic cylinder unit formed, which is controllable via the control unit 8.
  • the holding arrangement 5 is provided, for example pivotably about a second pivot axis SA2 and / or rotatable about a rotation axis DA running perpendicular to the holding plane E.
  • connection unit 11 For realizing the pivoting and / or rotating function, between the free end 4 1 of the extension arm 4 and the actual holding arrangement 5 for receiving the Sauggreiferelement 6, 6.1, 6.2 a connection unit 11 may be provided, for example, includes a fork-like or U-shaped pivot member 11.1, at the free ends of a holding frame member 11.2 is held, in whose holding space enclosed by the holding frame element 11.2, the rotatable mounting of the holding arrangement 5 takes place about the axis of rotation DA, for example by means of corresponding bearing units
  • the fork-like or U-shaped pivoting element 11.1 is pivotally connected to the extension arm 4 and pivotable about the second pivot axis SA2 is via a third drive unit 12 controlled swivel.
  • the third drive unit 12 is again preferably at least one
  • Hydraulic cylinder unit formed which is controllable via the control unit 8.
  • the holding frame element 11.2 likewise has a fourth drive unit 13, by means of which a rotation about the axis of rotation DA of the holding arrangement 5 can be controlled by the control unit 8.
  • the fourth drive unit 13 can be realized for example as a hydraulic rotary cylinder unit, which in turn can be controlled via the control unit 8.
  • the at least one controllable vacuum unit 7 is now arranged in the immediate vicinity of the suction gripper elements 6, 6.1 to 6.6 in the region of the holding arrangement 5, preferably in the region of the center or center of rotation of the holding arrangement 5.
  • the holding assembly 5 for example, six Sauggreifer elements 6.1 to 6.6, which are slidably supported along the holding plane E to the support assembly 5.
  • the holding arrangement 5 at least two, in the present embodiment, six each at least one Sauggreiferelement 6.1 to 6.6 receiving retaining arms 5.1 to 5.6, wherein the at least one controllable Vacuum unit 7 in the connection region of the respective support arms 5.1 to 5.6 or in the region of the axis of rotation DA and / or the second pivot axis SA2 in or on the support assembly 5 is arranged.
  • the holding arrangement 5 in the form of a star-shaped turnstile with at least three, in the present
  • Embodiments four or six holding arms 5.1 to 5.6 formed, which extend radially from the axis of rotation DA outward along or parallel to the holding plane E. This results in the star-shaped structure of the holding arrangement. 5
  • FIGS. 2 and 4 to 6 each show a variant embodiment with six retaining arms 5.1 to 5.6, wherein 5.1 to 5.6 are respectively attached to one of the six retaining arms
  • Suction gripper element 6.1 to 6.6 is held.
  • Suction gripper elements 6.1 to 6.6 to the center of rotation of the turnstile is preferably adjustable individually, so that the arrangement of Sauggreiferetti 6.1 to 6.6 on the six holding arms 5.1 to 5.6 to the format of the respective male and to be held plate-shaped workpiece, in particular a glass plate or a
  • FIG. 7 shows a variant embodiment with four retaining arms 5.1 to 5.4 and four suction gripper elements 6.1 to 6.4 received thereon, wherein two of each
  • Suction gripper elements 6.1 to 6.4 have approximately the same suction surface.
  • the holding arrangement 5 in the region of the center of rotation or the axis of rotation DA on a central receiving space 14 by the at least one controllable vacuum unit 7 is received.
  • the preferably open to the front receiving space 14 is closed, for example, with a cover member then forms a closed receiving space 14 for receiving at least the controllable negative pressure unit 7.
  • Figure 5 shows a front view of an opened receiving space 14, i. with removed cover element.
  • Vacuum unit 7 generated negative pressure to the suction pads 6.1 to 6.6 is controllable. At least one controllable vacuum unit 7, several
  • Vacuum storage unit 16 form a vacuum circuit or a negative pressure system, which or the provision of the required negative pressure to the guaranteed different suction pads 6.1 to 6.6.
  • the vacuum system with its components is provided in or on the holding arrangement 5 and thus immediately adjacent to the suction gripper elements 6.1 to 6.6.
  • Vacuum storage unit 16 may be arranged, via which a rapid loading of the suction pads 6.1 to 6.6 with the vacuum or vacuum stored therein is possible. This is by means of the vacuum unit 7, for example, a vacuum pump or a compressor unit in the vacuum or
  • Vacuum storage unit 16 generates.
  • one or more vacuum or vacuum storage unit 16 are integrated in the holding arrangement 5, specifically in the holding arms 5.1 to 5.6, which are in operative connection with the controllable vacuum unit 7 or at least one switching valve unit 15 connected thereto.
  • each holding arm 5.1 to 5.6 of the holding assembly 5 at least one vacuum or
  • Integrated vacuum accumulator unit 16 which is connectable via at least one switching valve unit 15 each having a suction gripper element 6.1 to 6.6 arranged on the associated holding arm 5.1 to 5.6.
  • each suction gripper element 6.1 to 6.6 has at least one vacuum or vacuum storage unit 16 assigned to it individually, which is accommodated in the respective holding arms 5.1 to 5.6.
  • the holding arms 5.1 to 5.6 can be formed, for example, by profile elements which are rectangular or square in cross-section and are preferably made of metal and enclose a cavity. The enclosed by the circumferential profile wall cavity is sealed by appropriate partition walls and thereby advantageously an airtight sealable cavity to form a
  • At least one switchable valve unit 17 can be provided for supplying and / or removing the negative pressure or vacuum generated in the chamber interior.
  • Valve unit 187 then form the vacuum or vacuum storage unit 16.
  • the structure described is exemplified.
  • At least two redundant vacuum circuits or vacuum systems can be provided in the device 1 according to the invention, ie the device 1 has a redundant design of the vacuum or vacuum generation in the region of the holding arrangement 5, so that in the case of a failure of a vacuum circuit of the other negative pressure circuit still provides sufficient vacuum or vacuum, so that the plate-shaped workpiece continues to be held by the still charged with vacuum or vacuum suction pads 6.1 to 6.6 and thus effectively loosening the plate-shaped workpiece from the holding assembly 5 is avoided.
  • adjacent holding arms 5.1 to 5.6 may be associated with different vacuum circuits, namely the three holding arms a first vacuum circuit and the three further holding arms a second vacuum circuit.
  • the vacuum or vacuum storage units 16 are preferably used as temporary storage and are supported by the vacuum unit 7 as required.
  • first to fourth drive units 9, 10, 12 and 13 may be equipped with one or more measuring systems Sl to Sn, in particular displacement and / or angle measuring systems, which detect the respective current rotational and / or pivotal position in the form of individual measured values and transmitted to the control unit 8.
  • one or more measuring systems Sl to Sn in particular displacement and / or angle measuring systems, which detect the respective current rotational and / or pivotal position in the form of individual measured values and transmitted to the control unit 8.
  • a control and evaluation routine SAR is performed, via which the current holding position of the held on the holding assembly 5 plate-shaped workpiece is detected as the actual position Pist and depending on an individually predetermined by the operator target position Psoll, which preferably in the memory unit 8.2 the control unit 8 is deposited, the first to fourth drive units according to automated means of the control and
  • Evaluation routine SAR be operated controlled, and that until such time as reaching the target position Psoll of the control unit 8 is indicated by the measuring systems Sl to Sn.
  • the first drive unit 9 which is formed for example by a lifting cylinder, have a pressure monitoring system, with which the force acting on the first drive unit 9 pressure, in particular cylinder pressure is detected at a loading of the device 1 with a heavy plate-shaped workpiece and in the control unit 8 executed control and evaluation routine SAR is displayed.
  • a pressure monitoring system with which the force acting on the first drive unit 9 pressure, in particular cylinder pressure is detected at a loading of the device 1 with a heavy plate-shaped workpiece and in the control unit 8 executed control and evaluation routine SAR is displayed.
  • control unit 8 and the control and evaluation routine SAR executed therein can be realized for example by means of a programmable logic controller. It is understood that a variety of implementations of the control or
  • Control unit 8 of the device 1 may find application, without thereby departing from the inventive concept.
  • control and evaluation routine SAR a special
  • Mounting angle or bracket of the glass plate are given, which are held by the automated control of the corresponding hydraulic cylinder units during the assembly process or during transport of the glass plate to the mounting position.
  • the device 1 can still be folded out, for example, in a controlled manner
  • the movable support platform 2 may comprise a plurality of integrated inclination sensors N1, N2, which preferably detect the inclination of the support platform 2 and thus of the entire device 1 along the longitudinal axis LA and along a transverse axis QA extending perpendicularly thereto in the horizontal direction.
  • the deviations from the horizontal position detected by the inclination sensors N1, N2 are detected and evaluated by the control and evaluation routine SAR, in such a way that the target position Psoll to be approached is corrected by the respectively determined tilting position.
  • Planned position Psoll a highly accurate mounting of the glass plates or window elements in the associated building openings possible, in particular an insertion into the building opening in a predetermined tilting position and then to

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif pour saisir, maintenir et/ou positionner des pièces planes, notamment des plaques de verre, comprenant une plate-forme de support (2) de préférence mobile dotée d'au moins une colonne de support (3) et d'une flèche (4), de préférence mobile, articulée au niveau de celle-ci, un dispositif de maintien (5) qui comprend au moins deux éléments de préhension par aspiration (6, 6.1 à 6.6) disposés dans un plan de maintien (E), étant articulé au niveau de l'extrémité libre (41) de la flèche, opposée à la colonne de support (3), les éléments de préhension par aspiration (6, 6.1 à 6.6) pouvant subir l'action d'une dépression sous la commande d'au moins une unité de dépression (7) commandable. L'au moins une unité de dépression (7) commandable se trouve à proximité directe des éléments de préhension par aspiration (6, 6.1 à 6.6) dans la zone du dispositif de maintien (5).
PCT/EP2016/068408 2016-03-16 2016-08-02 Dispositif pour saisir, maintenir et/ou positionner des pièces planes, notamment des plaques de verre Ceased WO2017157481A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202016101453.0U DE202016101453U1 (de) 2016-03-16 2016-03-16 Vorrichtung zum Aufnehmen, Halten- und/oder Positionieren von flächigen Werkstücken, insbesondere Glasplatten
DE202016101453.0 2016-03-16

Publications (1)

Publication Number Publication Date
WO2017157481A1 true WO2017157481A1 (fr) 2017-09-21

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PCT/EP2016/068408 Ceased WO2017157481A1 (fr) 2016-03-16 2016-08-02 Dispositif pour saisir, maintenir et/ou positionner des pièces planes, notamment des plaques de verre

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DE (1) DE202016101453U1 (fr)
WO (1) WO2017157481A1 (fr)

Cited By (2)

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WO2020086077A1 (fr) * 2018-10-23 2020-04-30 Independent Rough Terrain Center Llc Véhicule de manutention de conteneur à unité de levage articulable
CN112623758A (zh) * 2020-12-08 2021-04-09 广东技术师范大学 便于玻璃搬运用机器人

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WO2020088726A1 (fr) * 2018-10-30 2020-05-07 Blue Ocean Robotics Aps Appareil et procédé de montage de panneaux
CN111589739B (zh) * 2020-05-22 2022-04-22 苏州天准科技股份有限公司 下料设备及纳米晶材料检测系统
CN112174054A (zh) * 2020-09-20 2021-01-05 隋心怡 一种建筑外玻璃幕墙拼接装置
DE102022102694A1 (de) 2022-02-04 2023-08-10 Syntegon Technology Gmbh Handhabungsvorrichtung zu einer Handhabung von Produkten und Verfahren zu einer Handhabung von Produkten mittels einer Handhabungsvorrichtung

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2360504A (en) 2000-02-18 2001-09-26 Douglas Hart Manually operated suction lifting tool
WO2005096743A2 (fr) * 2004-03-30 2005-10-20 Jlg Industries, Inc. Dispositif de fixation pour manipulateur de materiaux telescopique a cinq degres de liberte, destine a la manipulation d'une charge
DE102009008203B3 (de) * 2009-02-04 2010-04-08 J. Schmalz Gmbh Ventil für ein Vakuum-Hebegerät
WO2011048441A1 (fr) * 2009-10-21 2011-04-28 Hh Intellitech Aps Tête de réglage pour un dispositif de levage
FR2973360A1 (fr) * 2011-04-04 2012-10-05 Mobilev Grue pour la pose d'une vitre
EP2871111A2 (fr) 2013-11-07 2015-05-13 Uplifter GmbH & Co.KG Dispositif de retenue, de fixation et/ou de manutention pour pièces à usiner planes comme plaques de verre

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2360504A (en) 2000-02-18 2001-09-26 Douglas Hart Manually operated suction lifting tool
WO2005096743A2 (fr) * 2004-03-30 2005-10-20 Jlg Industries, Inc. Dispositif de fixation pour manipulateur de materiaux telescopique a cinq degres de liberte, destine a la manipulation d'une charge
DE102009008203B3 (de) * 2009-02-04 2010-04-08 J. Schmalz Gmbh Ventil für ein Vakuum-Hebegerät
WO2011048441A1 (fr) * 2009-10-21 2011-04-28 Hh Intellitech Aps Tête de réglage pour un dispositif de levage
FR2973360A1 (fr) * 2011-04-04 2012-10-05 Mobilev Grue pour la pose d'une vitre
EP2871111A2 (fr) 2013-11-07 2015-05-13 Uplifter GmbH & Co.KG Dispositif de retenue, de fixation et/ou de manutention pour pièces à usiner planes comme plaques de verre

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020086077A1 (fr) * 2018-10-23 2020-04-30 Independent Rough Terrain Center Llc Véhicule de manutention de conteneur à unité de levage articulable
US12151917B2 (en) 2018-10-23 2024-11-26 Independent Rough Terrain Center Llc Container handling vehicle having an articulable lifting unit
CN112623758A (zh) * 2020-12-08 2021-04-09 广东技术师范大学 便于玻璃搬运用机器人

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