EP0076135A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Apparatus for taking out articles
Assignee: Hitachi Ltd
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Filing: 1982-09-27
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Granted: —
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Expires: 2002-09-27
Abstract
Abstract An article taking out apparatus for taking out articles in a one-by-one from a group of articles left irregularly. The apparatus comprises a gripper having a plurality of gripper fingers which are pivotally secured to a gripper body at their one ends and carries respective contact sensors at their free ends. The gripper is carried by a transporting section which is adapted to move the gripper horizontally and vertically. A sensing section is adapted to receive the signals from the contact sensors. A drive control section is adapted to control the driving of the gripper and the transporting section. The gripper and the transporting section are driven in accordance with the signals from the contact sensors to search out the surfaces of an article to be gripped and to grip the article at the searched surfaces.
Inventors
- 👤 Tomoaki Sakata
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-27 07:26
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/02; B25J9/04; B25J9/046; B25J13/00; B25J13/08; B25J13/081; B25J13/082; B25J15/00; B25J15/08; B25J15/10; B25J15/103
Claims Analysis
Total Claims: 8
Claim 1
Independent Claim
151 words
An article taking out apparatus comprising: a gripping section having a plurality of gripper fingers each being provided at its free end with a detecting means for detecting contact with an article and carried at the other end thereof on said gripping section, said fingers adapted to grip said article; a transporting section carrying said gripping section and transporting the same horizontal and vertically; a sensing secton receiving signals from said detecting means; a drive control section for controlling the operation of said gripping section and said transporting section in accordance with said signals; and respective driving means for driving said gripping section and said transporting section in accordance with command signals from said drive control section; wherein the surfaces of said article which can be gripped are searched out from the signals from said detecting means and then said gripping section is driven to grip said article at said surfaces.
Claim 2
Dependent Claim
151 words
An article taking out apparatus comprising: a gripping section having a plurality of gripper fingers each being provided at its free end with a detecting means for detecting contact with an article and carried at the other end thereof on said gripping section, said fingers adapted to grip said article; a transporting section carrying said gripping section and transporting the same horizontal and vertically; a sensing secton receiving signals from said detecting means; a drive control section for controlling the operation of said gripping section and said transporting section in accordance with said signals; and respective driving means for driving said gripping section and said transporting section in accordance with command signals from said drive control section; wherein the surfaces of said article which can be gripped are searched out from the signals from said detecting means and then said gripping section is driven to grip said article at said surfaces.
Claim 3
Dependent Claim
64 words
An apparatus according to claim 1, wherein said detecting means on each gripper fingers includes an actuating member slidably carried on the free end of said gripper finger, a coiled spring biasing said actuating member in a predetermined direction, and a microswitch having a tongue contacting with the end of said actuating member and detecting the contact between said article and said actuating member.
Claim 4
Dependent Claim
138 words
An apparatus according to claim 1, wherein each of said gripper fingers includes a first finger section one end of which is pivotally carried on said gripping section and to the other end of which a first pulley is attached, a second finger section carrying at its one end a second pulley attached thereto and pivotally carried by the other end of said first finger section, a third finger section carrying at its one end a third pulley attached thereto and pivotally carried by the other end of said second finger section, a wire rope through which said second pulley is drivingly connected to a pulley of a driving source, and a wire rope through which said first pulley is drivingly connected to said third pulley, said third finger section is always held at a constant angle. i
Claim 5
Dependent Claim
18 words
An apparatus according to claim 3, wherien said third finger section is always held in the vertical direction.
Claim 6
Dependent Claim
172 words
An article taking out apparatus comprising: a gripping section having a plurality of gripper fingers each being provided at its free end with a detecting means for detecting contact with an article and carried at the other end thereof on said gripping section, said fingers adapted to grip said article, said gripping section further provided with an additional sensor on the bottom surface of said gripping section and for detecting contact with said article; a transporting section carrying said gripping section and transporting the same horizontally and vertically; a sensing section receiving signals from said detecting means; a drive control section for controlling the operation of said gripping section and said transporting section in accordance with said signals; and respective driving means for driving said gripping section and said transporting section in accordance with command signals from said drive control section; wherein the position of said article which can be gripped are searched out from the signals from said detecting means and then said gripping section is driven to grip said article.
Claim 7
Dependent Claim
172 words
An article taking out apparatus comprising: a gripping section having a plurality of gripper fingers each being provided at its free end with a detecting means for detecting contact with an article and carried at the other end thereof on said gripping section, said fingers adapted to grip said article, said gripping section further provided with an additional sensor on the bottom surface of said gripping section and for detecting contact with said article; a transporting section carrying said gripping section and transporting the same horizontally and vertically; a sensing section receiving signals from said detecting means; a drive control section for controlling the operation of said gripping section and said transporting section in accordance with said signals; and respective driving means for driving said gripping section and said transporting section in accordance with command signals from said drive control section; wherein the position of said article which can be gripped are searched out from the signals from said detecting means and then said gripping section is driven to grip said article.
Claim 8
Dependent Claim
64 words
An apparatus according to claim 5, wherein said detecting means on each gripper fingers includes an actuating member slidably carried on the free end of said gripper finger, a coiled spring biasing said sensor dog in a predetermined direction, and a microswitch having a tongue contacting with the end of said actuating member and detecting the contact between said article and said actuating member.
References Cited (Backward Citations)
No citation records indexed.
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