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WO2017157482A1 - 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
WO2017157482A1
WO2017157482A1 PCT/EP2016/068412 EP2016068412W WO2017157482A1 WO 2017157482 A1 WO2017157482 A1 WO 2017157482A1 EP 2016068412 W EP2016068412 W EP 2016068412W WO 2017157482 A1 WO2017157482 A1 WO 2017157482A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
vacuum
holding
controllable
holding arrangement
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/EP2016/068412
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 WO2017157482A1 publication Critical patent/WO2017157482A1/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
    • 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
    • B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
    • 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
  • Devices for receiving, holding and / or positioning flat, preferably plate-shaped workpieces such as glass plates, steel plates,
  • Plastic plates or similar plate-shaped workpieces are well known from the prior art. These serve to accommodate plate-shaped
  • the plate-shaped workpieces in particular glass plates are held on at least two mounted on a holding assembly suction pads or vacuum gripper on a cantilever arm of the device. These are sucked in and thus held by the vacuum or vacuum applied by the suction grippers or vacuum grippers on the plate-shaped workpiece.
  • 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.
  • a holding, fixing and / or handling device for plate-shaped workpieces such as glass plates 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 holding means connected to a support portion are held in vertical or slightly inclined to a vertical position, wherein the fixing means is formed by at least one vacuum acted upon suction pad, which is coupled to a controllable vacuum source which is part of the device and / or mounted on this.
  • 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.
  • the negative pressure generated by the compressor unit is by means of
  • the described handling device does not allow starting and holding a predetermined mounting position.
  • the object of the invention is therefore to provide a device for holding and / or positioning flat workpieces, in particular glass plates, which enables a reliable and rapid starting and holding of a predetermined assembly position. The object is achieved by a device according to claim 1.
  • the essential aspect of the device according to the invention is to be seen in that for the controlled rotation of the holding arrangement about an axis of rotation and / or for the controlled pivoting of the holding arrangement about a pivot axis a plurality of controllable
  • Drive units are provided, wherein at least one of the drive units is associated with at least one measuring sensor, and that a connected to the at least one measuring sensor and the controllable drive units control unit is provided, wherein the control unit is arranged to execute a control and evaluation routine, by means of which from the at least one measurement sensor provided measurement data is a control of the controllable drive units.
  • the holding arrangement according to the invention is rotatable and / or pivotable about, for example, hydraulic cylinder units, according to the invention the hydraulic cylinder units
  • Measuring sensors in particular Wegmesssensoren or angle measuring sensors are assigned, via which a path specification and / or path correction or an angle specification and / or an angle correction can be made.
  • a special holding angle of the holding arrangement can thereby be predetermined, which is automatically approached and held by the control unit. As a result, a particularly reliable and fast holding a predetermined mounting position is possible.
  • At least one inclination sensor is accommodated in the support platform, via which the inclination of the support platform relative to the horizontal position in the form of inclination data can be detected.
  • control and evaluation routine for controlling the controllable drive units is formed, depending on the provided measurement data of the at least one measuring sensor associated with the controllable drive units and on the inclination data provided by the inclination sensor associated with at least one support platform.
  • the support column can be assigned at least one first drive unit, preferably a lifting cylinder unit or a hydraulic cylinder unit, by means of which the support column can be controlled to pivot about a first pivot axis.
  • the first drive unit is associated with a pressure monitoring system, which is set up to detect the pressure acting on the first drive unit, in particular cylinder pressure during a loading of the device with a heavy plate-shaped workpiece.
  • control and evaluation routine an evaluation of the pressure provided by the pressure monitoring system and an alarming of the user is established when a predetermined reference pressure is exceeded. This ensures that the lifting of too heavy workpieces, which could endanger the user, is effectively avoided,
  • the at least one controllable vacuum unit is arranged in the immediate spatial proximity to the suction gripper elements in the region of the holding arrangement. Due to the immediate spatial arrangement in the vicinity of the suction gripper elements, specifically in or on the holding arrangement, it is particularly advantageous that it is significantly shortened in comparison with the prior art
  • Vacuum generating unit is thus provided in the center of the holding arrangement, so that it is surrounded by the Sauggreiferettin.
  • the radial distance between the vacuum unit and the respective Sauggreiferelement represents the shortest connection, and along the holding plane.
  • 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 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 holding arrangement in the form of a star-shaped turnstile is formed with at least three retaining arms, which is arranged rotatably about a rotational and / or pivot axis at the free end of the cantilever arm.
  • 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.
  • Vacuum source can still at least one or more switching valve units are accommodated in the central receiving space. Also, at least one
  • Vacuum storage 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. As a result, the processing capacity can be significantly increased.
  • 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.
  • the retaining arms are formed by profile elements made of metal.
  • the expressions “approximately”, “substantially” or “approximately” in the context of the invention mean deviations from the respective exact value by +/- 10%, preferably by +/- 5% and / or deviations in the form of changes insignificant for the function ,
  • 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 inventive
  • Fig. 4 is a schematic side view of the invention formed
  • Fig. 5 is a schematic front view of the invention formed
  • FIG. 1 shows, by way of example, a schematic side view of a device 1 according to the invention for receiving, holding and / or positioning flat workpieces, in particular glass plates.
  • This preferably forms a so-called “glass lifter” or “glassworker” for glass panes and windows adapted for receiving, holding and / or positioning heavy glass plates or window elements.
  • Glasworker is a fast and very precise positioning and then simplified mounting the glass plates or window elements in a predetermined mounting position, in particular a window openings in a building reliably and with reduced personnel costs possible.
  • the device 1 shown in the figures comprises a movable support platform 2 with at least one support column 3 and a hinged thereto, preferably movable boom 4, on whose support column 3 opposite free end 4 1 a holding arrangement 5 according to the invention is arranged, the at least two, preferably more has two arranged in a holding plane E Sauggreiferimplantation 6, wherein the suction pads 6 are acted upon by at least one controllable vacuum unit 7 with negative pressure.
  • the vacuum unit 7 is for example as
  • Vacuum pump unit or compressor unit formed by means of a negative pressure or vacuum is generated controlled.
  • 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 is set up, inter alia, for controlling the vacuum unit 7 and / or any switching valve units and / or vacuum storage units that are present.
  • the control unit 8 is also for controlling the controlled method for 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 are connected.
  • the suction gripper elements 6 can have either the same or a different diameter, depending on the respective holding task.
  • a first 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, for example on a first holding arm 5.1 and a second holding arm 5.2.
  • FIGS. 2, 4, 5, 6 and 7, more than two are used
  • Suction gripper elements 6 are provided, namely first to fourth or sixth
  • 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.a. a chassis 2.1 with front wheels 2.11 and preferably steerable rear wheels 2.12, wherein in the illustrated
  • 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 by the drive unit for driving the front and / or rear wheels 2.11 provided in addition to the control unit 8, for example in the form of
  • Electric motor units and an associated power supply unit for example in Form of a battery or battery unit are included (not 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. Between the controls and the control unit 8 is a wired or wireless connection through which the control commands are transferable.
  • a control unit designed as a mobile remote control can also be provided, via which not only
  • Control commands can be generated, but also the current present stop position Pist of held on the suction pads 6.1 to 6.6 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
  • the cantilever arm 4 is held with its further free end 4 "pivotally about a first pivot axis SA1 at the upper free end 3" of the support column 3.
  • a first Drive unit 9 is provided, which is preferably controllable via 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 can be moved in or out, whereby a controlled pivoting of the extension arm 4 about the first pivot axis SA1 is effected ,
  • the cantilever arm 4 is for example designed in several parts and adjustable in terms of its longitudinal extension, i. the length of the boom 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 assembly 5 is provided, for example, pivotable about a second pivot axis SA2 and / or rotatable about a perpendicular to the holding plane E axis of rotation DA Realization of the pivoting and / or rotating function can between the free end 4 1 of the extension arm 4 and the actual holding assembly 5 for receiving the
  • Suction gripper element 6, 6.1, 6.2, a connection unit 11 may be provided, the
  • a fork-like or U-shaped pivot member 11.1 comprises, at the free ends of a holding frame member 11.2 is held, in which by the
  • Holding arrangement 5 takes place about the axis of rotation DA, for example by means of corresponding storage units.
  • the fork-like or U-shaped pivoting element 11.1 is in this case pivotally connected about the second pivot axis SA2 with the boom arm 4 and is controlled by a third drive unit 12 pivoted.
  • the third drive unit 12 pivoted.
  • Drive unit 12 is again preferably by at least one
  • 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 may, for example, as a hydraulic
  • Rotary cylinder unit be realized, which in turn can be controlled via the control unit 8.
  • the at least one controllable vacuum unit 7 is now in
  • the holding assembly 5 for example, six Sauggreifer elements 6.1 to 6.6 , which are slidably supported along the holding plane E on the holding device 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
  • 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.
  • the radial distance of the suction pad elements 6.1 to 6.6 to the center of rotation of the turnstile is preferably adjustable individually, so that the arrangement of the suction pads 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 window element is adaptable.
  • 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.
  • 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.
  • 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
  • Switching valve units 15 and optionally at least one vacuum or vacuum storage unit 16 form a vacuum circuit or a vacuum system, which or which ensures the provision of the required negative pressure to the different suction pad elements 6.1 to 6.6.
  • the vacuum system with his
  • 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 integrated with the controllable vacuum unit 7 or at least one connected thereto Switching valve unit 15 are in operative connection.
  • the at least one switching valve unit 15 with a respective am
  • 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 retaining arms 5.1 to 5.6 can be formed for this purpose, for example, by rectangular in cross-section or square profile elements, which are preferably made of metal and a cavity
  • 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.
  • the accumulator chamber together with the switchable valve unit 187 then form the vacuum or
  • Vacuum storage unit 16 off.
  • Figure 5 the structure described is exemplified.
  • At least two redundant vacuum circuits or vacuum systems may be provided in the device 1 according to the invention, i. the device 1 has a redundant embodiment of the vacuum or vacuum generation in the area of
  • Holding arrangement 5 so that in the event of failure of a vacuum circuit of the other vacuum 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 Sauggreifer institute 6.1 to 6.6 and thus effectively Loosening of the plate-shaped workpiece is avoided by the holding assembly 5.
  • 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.
  • Vacuum storage units 16 are preferably used as temporary storage and are supported by the vacuum unit 7 if necessary.
  • the 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 sensor, which detect the respective current rotational and / or pivotal position in the form of individual measured values and transmitted to the control unit 8.
  • Processor unit 8.1 of the control unit 8 is a control and evaluation routine SAR executed, via which the current holding position of the held on the holding assembly 5 plate-shaped workpiece is detected as the actual position Pist by evaluating the sensor measurement data and depending on an individually by the user vorgebaren target position Psoll, which is preferably stored in the memory unit 8.2 of the control unit 8, the first until fourth drive units are controlled in accordance with automated actuated by means of the control and evaluation routine SAR, and indeed until, by the
  • the control unit 8 Measuring systems Sl to Sn to reach the target position Psoll the control unit 8 is displayed. Also, the first drive unit 9, which is formed for example by a lifting cylinder, have a pressure monitoring system, with which on the first
  • 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 goes without saying that a very wide variety of realizations of the control or control unit 8 of the device 1 can be used without thereby leaving the inventive concept.
  • control and evaluation routine SAR a special mounting angle or mounting bracket of the glass plate can be specified, which is automated
  • Control of the corresponding hydraulic cylinder units during assembly process or during transport of the glass plate are held 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 Nl, N2, which preferably detect the inclination of the support platform 2 and thus of the entire apparatus 1 along the longitudinal axis LA and along a transverse axis QA extending perpendicularly thereto in the horizontal direction.
  • the inclination data detected by the inclination sensors N1, N2 indicate deviations from the horizontal position, which are detected and evaluated by the control and evaluation routine SAR, such that the target position Psoll to be approached is corrected by the respectively determined tilting position.
  • the tilt sensors Nl, N2 are connected to the control unit 8.

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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)
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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. Pour permettre la rotation commandée du dispositif de maintien (5) autour d'un axe de rotation (DA) et/ou pour permettre le pivotement commandé du dispositif de maintien (5) autour d'un axe de pivotement (SA), plusieurs unités d'entraînement (9, 10, 12, 13) commandables sont prévues, au moins un capteur de mesure (S1 à Sn) étant associé à au moins l'une des unités d'entraînement (9, 10, 12, 13) commandables. Le dispositif comprend également une unité de commande (8) reliée à l'au moins un capteur de mesure (S1 à Sn) et aux unités d'entraînement (9, 10, 11, 12) commandables, l'unité de commande (8) étant conçue pour exécuter une routine de commande et d'évaluation (SAR) au moyen de laquelle une commande des unités d'entraînement (9, 10, 11, 12) commandables est exécutée en fonction des données de mesure fournies par l'au moins un capteur de mesure (S1 à Sn).
PCT/EP2016/068412 2016-03-16 2016-08-02 Dispositif pour saisir, maintenir et/ou positionner des pièces planes, notamment des plaques de verre Ceased WO2017157482A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202016101454.9U DE202016101454U1 (de) 2016-03-16 2016-03-16 Vorrichtung zum Aufnehmen, Halten- und/oder Positionieren von flächigen Werkstücken, insbesondere Glasplatten
DE202016101454.9 2016-03-16

Publications (1)

Publication Number Publication Date
WO2017157482A1 true WO2017157482A1 (fr) 2017-09-21

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Application Number Title Priority Date Filing Date
PCT/EP2016/068412 Ceased WO2017157482A1 (fr) 2016-03-16 2016-08-02 Dispositif pour saisir, maintenir et/ou positionner des pièces planes, notamment des plaques de verre

Country Status (2)

Country Link
DE (1) DE202016101454U1 (fr)
WO (1) WO2017157482A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107253189A (zh) * 2017-07-25 2017-10-17 芜湖超源力工业设计有限公司 一种具有吸盘式抓手的搬运机器人
CN107985164A (zh) * 2017-12-10 2018-05-04 上海御渡半导体科技有限公司 一种电路板专用智能小车的使用方法
CN108890668A (zh) * 2018-06-13 2018-11-27 天津大学 一种可伸缩和旋转的末端执行器
WO2019136505A1 (fr) * 2018-01-09 2019-07-18 Palfinger Ag Dispositif de levage
US10625429B2 (en) 2018-05-04 2020-04-21 J. Schmalz Gmbh Vacuum handling apparatus
CN112141709A (zh) * 2020-10-15 2020-12-29 澳斯卡科技服务(江苏)有限公司 一种真空负压式瓷砖搬运装置
US12448256B2 (en) 2022-05-13 2025-10-21 Palfinger Ag Method for moving a lifting device

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CN107253189A (zh) * 2017-07-25 2017-10-17 芜湖超源力工业设计有限公司 一种具有吸盘式抓手的搬运机器人
CN107985164A (zh) * 2017-12-10 2018-05-04 上海御渡半导体科技有限公司 一种电路板专用智能小车的使用方法
WO2019136505A1 (fr) * 2018-01-09 2019-07-18 Palfinger Ag Dispositif de levage
RU2737758C1 (ru) * 2018-01-09 2020-12-02 Палфингер Аг Подъемное устройство
AU2019207511B2 (en) * 2018-01-09 2022-04-07 Palfinger Ag Lifting device
US10625429B2 (en) 2018-05-04 2020-04-21 J. Schmalz Gmbh Vacuum handling apparatus
CN108890668A (zh) * 2018-06-13 2018-11-27 天津大学 一种可伸缩和旋转的末端执行器
CN112141709A (zh) * 2020-10-15 2020-12-29 澳斯卡科技服务(江苏)有限公司 一种真空负压式瓷砖搬运装置
US12448256B2 (en) 2022-05-13 2025-10-21 Palfinger Ag Method for moving a lifting device

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