CN213731843U - Driving system for loading gripper - Google Patents

Abstract

The utility model relates to a drive system for loading tongs, drive system includes drive wheel, drive unit, actuator element, connects on the drive wheel to be equipped with the drive coupling; the driving unit is provided with a first output shaft and a second output shaft, and the first output shaft is connected with the driving coupler; the actuator positions the drive unit between a first position of the first output shaft and the drive coupling and a second position of the second output shaft; the actuator element is connected to the first output shaft, the actuator element being rotated in a first direction when the drive unit is disposed in the first position, wherein the drive wheel and the drive unit enable the actuation element to be rotated in a second direction, the second direction being opposite to the first direction. Compared with the prior art, the utility model discloses well actuating system can reach a plurality of positions of manipulation instrument for easily twist in the limited place in space or loosen processing tool.

Description

Driving system for loading gripper

Technical Field

The utility model belongs to the technical field of whole car factory white automobile body welds dress production line and specifically relates to a actuating system for loading tongs is related to.

Background

In factory production, in particular in body-in-white welding lines with a certain level of automation, it is common to use robots to move the tooling (called grippers) to be used from one position to another (for example, robots to take a body piece from a parking station and then move it to a welding station for placing, etc.). The design of the gripper needs to be light and compact while meeting the stability, so that the problems of excessive occupied space of production line planning, cost increase and the like caused by the influence on the model selection size and the like of the robot are solved.

In the current welding production line of body-in-white, the gripper must control the work of clamping and releasing the relative workpiece by installing an integrated valve island with pneumatic valves, the weight of which is generally between 6kg and 15kg according to the action requirement of the gripper. When the gripper meets certain process requirements (factors such as large size of a workpiece, multiple gripping points and guarantee of size control after machining), even two or more valve islands need to be installed, and the weight of the installed valve islands far exceeds the weight of the workpiece.

Depending on the weight of the components to be treated and the number of clamping and/or gripping tools, a system integrated with clamping and/or gripping tools must be designed to withstand large treatment loads, and the driving forces required to drive such clamping and/or gripping tools are relatively high. Another problem faced by such drive systems is that the production system must be switched between different gripping and/or clamping tools or different positions of such tools for a particular gripping and/or clamping task, the heavier and/or more extensive the tool and its drive system, the more time it takes to switch, which results in an excessively long standby time in the production plant.

Thus, there remains a need for a device for handling light weight yet stable devices that can handle loads many times more than the weight of the device including the clamps and/or clamping tools. The device and its holding tool and/or holding tool should be very cost-effective and flexible to manufacture and, if necessary, should be adaptable in an inexpensive and inexpensive manner to changes in production conditions in a production plant.

SUMMERY OF THE UTILITY MODEL

It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art by providing a drive system for a load gripper which is not only light in weight but also compact, the drive system being able to be arranged at a central point, and the drive with the actuator element being able to advance to any discretely arranged position on the device. A device with such a drive system is very stable and suitable for carrying high loads, such loads being for example body parts of vehicles, in particular metal body parts of motor vehicles, metal body parts of trucks, metal body parts of rail vehicles, or parts with considerable loads.

The purpose of the utility model can be realized through the following technical scheme:

the utility model discloses in a drive system for load tongs, drive system includes drive wheel, drive unit, actuator element, wherein specifically:

the driving wheel is connected with a driving coupler and comprises external teeth and internal teeth;

the driving unit is provided with a first output shaft meshed with the internal teeth of the driving wheel, and the driving unit is also provided with a second output shaft meshed with the external teeth of the driving wheel;

the first output shaft is connected with the drive coupler;

the actuator positions the drive unit between a first position of the first output shaft and the drive coupling and a second position of the second output shaft;

the actuator element is connected to the first output shaft, the actuator element being rotated in a first direction when the drive unit is disposed in the first position, wherein the drive wheel and the drive unit enable the actuation element to be rotated in a second direction, the second direction being opposite to the first direction.

Further, at least two drive units are provided on the periphery of the drive wheel, such that each drive unit has a different cross section, the drive wheel being coupled with a drive coupling, wherein each drive unit has an actuator and an actuator element corresponding thereto.

Furthermore, the gripper is connected with a plurality of functional units, and when the gripper is in a working state, the functional units perform cooperative processing on parts of a product;

the gripper also has at least one mounting arm or support arm, the distal end of which is arranged with a mechanical gripper.

Further, the drive system further comprises a drive motor;

the driving wheel is provided with internal teeth or external teeth;

the drive motor is capable of rotating the actuating element in a first direction to thereby drive the drive wheel in the first direction, while the drive motor is capable of rotating the actuating element in a second direction to thereby effect driving of the drive wheel in a second direction opposite the first direction.

Further, the actuator element is a flexible shaft;

the drive system further comprises a gearbox comprising a worm and a worm gear;

the flexible shaft has one end rotatably coupled to the driving unit and the other end connected to the gear case.

Furthermore, the driving system further comprises a clamping arm and a supporting arm, and the gear box is arranged on the clamping arm and the supporting arm.

Further, the functional unit is a rotating device, and the gear box is arranged on the rotating device;

the rotating device enables the mounting arm and the supporting arm arranged on the claw to rotate.

Further, the function unit is a tilting device that tilts the mounting arm and the support arm provided on the claw.

Further, the grab is coated with a fiber reinforced plastic layer, a carbon fiber layer or a glass fiber layer.

Compared with the prior art, the utility model discloses following technical advantage has:

1. multiple positions of the manipulation tool can be achieved by the drive system, not just the two "open" or "closed" positions of the pneumatic clamping system. This allows easy threading and unthreading of the handling tool in places with limited space, as compared to pneumatic clamping systems, and threading or unthreading can also be achieved by rotating or tilting the handling tool, which can also be driven and controlled by a drive system.

2. The described configuration of the drive system makes it possible to transfer weight from the outside at the frame end of the manipulation tool, whose response inertia is lower than that of a manipulation tool whose weight offset is different from the middle of the system, to the center of the device.

3. The above drive system makes it possible to eliminate the angle and connecting plate required in the previous drive system, which requires less installation space and installation surface on the equipment to solve the task of handling the load. The drive system is easier and cheaper to manufacture than previous systems, is also very flexible and easily adaptable to various process operating requirements.

4. Another advantage of the above-described drive system is that the discrete speeds can be generated by means of a drive device, such as an electric motor or another electric motor. The drive device for the system can be arranged in particular in the region of the device provided for handling the load on the robot, the gripping tool and/or the gripping function unit of the system being openable and closable by rotation about the axis of rotation.

5. The above-described apparatus with the above-described drive system has a significantly reduced weight compared to the prior art compared to configurations with, for example, two or three or more mounting arms, which can be used, for example, for steering a body part of a vehicle, which is equally applicable to other configurations of the system.

Drawings

FIG. 1 is a schematic view of a production plant;

FIG. 2 shows the improved hand grip 10 with the drive system 30 in a perspective top view;

fig. 3 is a perspective view of the function unit 31;

fig. 4 is a perspective view showing a link boom having the function unit 31 of fig. 3;

fig. 5 is a perspective view showing a link boom having the function unit 31 of fig. 3, with the addition of an auxiliary arm 31;

fig. 6 is a perspective view of a gear mechanism for movement of the clamp arm of the functional unit 31 of fig. 3;

FIG. 7 is another simplified three-dimensional side view of the apparatus on which only a portion of the drive system of FIG. 2 is mounted;

FIG. 8 is a schematic diagram for explaining the functional principle of the drive system;

FIGS. 9 to 11 show cross-sectional views of different operating states of the drive system, respectively;

FIG. 12 shows a simplified bottom three-dimensional view of the apparatus with a multi-functional unit drive system 30;

fig. 13 to 16 respectively show perspective views of the rotating means of the drive system;

fig. 17 is a cross-sectional view of the rotating device of fig. 13-16;

FIG. 18 shows a perspective view of the tilting device of the drive system;

FIGS. 19 and 20 respectively show a three-dimensional partial view of the tilting device of FIG. 18;

FIG. 21 shows a drive system 30A that may be used in one of the hand grip 10 and the hand grip 100;

fig. 22 shows a drive system 30B that may be used in one of the hand grip 10 and the hand grip 100.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Examples

Fig. 1 shows an example of a production device 1 for producing or manufacturing a product 2 from a plurality of components. In fig. 1, the object 2 is, for example, a motor vehicle, and the production apparatus 1 is a production line of vehicles. The production facility 1 may be applied to any plant for producing other industrial products.

The production apparatus 1 in fig. 1 has a loading gripper 10. The load is for example a component of the product 2. The component part may be, in particular, a body part of an object 2, which is shown in fig. 1 as a motor vehicle. This component is to be understood as a jig which can be used in the manufacture of body-in-white.

As shown in fig. 1, the production plant 1 also has a moving device 20 on which the gripper 10 is arranged. The hand grip 10 is mounted to the moving means 20 to effect movement in space.

In the example of fig. 1, the mobile device 20 is shown as a robot. However, the mobile device 20 may be replaced with another device according to actual various production plants. For example, the moving device 20 may represent a planar rotation, a lifting device with telescoping arms, or other type of motion device.

Which in the present exemplary embodiment is designed as a clamping and/or gripping system for clamping and/or tensioning the workpiece 5. In the example of fig. 5, the load is a vehicle carrier.

In fig. 2, a gripper 10 is shown, which has two mounting arms 11 and 12, a support arm 13, a connection module 14 and positioning means 15 and 15A. Wherein the positioning pins of the positioning device 15 are used for positioning the workpiece 5. The positioning device 15A is then used to move the gripper 10 to a specific position in space (e.g., a working position of a relevant station on a production line) by the moving apparatus 2 in response to the relevant process operation requirement. The hand grip 10 is mounted on the moving means 20 by means of a mounting plate 16. For this purpose the hand grip 10 has for example any configurable and assemblable brackets such as the configurable and assemblable frame parts 111 and 121 and 122 described above with respect to the prior art where the indications on the mounting arms 11 and 12 and the connection module 14 are most clearly indicated. As shown in fig. 1, for the sake of clarity, only a part of the frame parts 111 and 121 and 122 of the frame is provided with reference numerals.

The frame parts 111 and 121 and 122 can be connected with plug-in devices which can be designed, for example, as tabs, snap hooks, solder bows or other shapes. Correspondingly, an open channel may be made in the other separate frame part in which the lugs, snap hooks and welding bow etc. engage.

The frame members 111-122-114 can be made of metal (especially aluminum, iron, etc.), plastic, wood, combinations of the above materials, or galvanized sheet metal. The material used must be such as to ensure the basic strength or stability required for the frame of the hand grip 10.

By covering the mounting arms 11 and 12 with a covering of fibre reinforced plastic for additional strength and rigidity required, the hand grip 10 is given sufficient stability and load bearing capacity for performing the relevant process operations on the workpiece 5.

The relevant process operations are understood in this description to mean gripping, suction, holding, moving and positioning at a certain position, such as for example a rotation, pushing, lifting, etc. movement, as well as carrying, supporting, etc.

In the grip 10 of fig. 1 and 2, the covering consists of a composite of, for example, carbon fibers and/or glass fibers and/or basalt fibers with a resin, i.e. a fiber-reinforced plastic. The overlying of the covering from the frame part 121 and 124 brings additional strength and the required rigidity to the frame. On the other hand, the application coating may consist of a continuous fiber-reinforced organic material, in particular an organic flake, which includes a thermoplastic. The continuous fiber reinforced organic material may be attached to the frame by heating above the melting temperature or glass transition temperature TG of the thermoplastic and then laminated to the frame. Another option is to spray on a fibrous composite material, which has the same properties as the fibrous material.

The drive system 30 is mounted on the hand grip 10 as a gripping and/or clamping system. In the example of fig. 2, the drive system 30 has functional units 31 and 32, a drive module 33, an actuator 34 with a supply cable 341, an actuator element 35, coupling modules 36 and 37. The drive means 38 and its shield 39. The functional units increase or decrease with the relevant process requirements, and in the illustration of the present invention, the functional units 31 and 32 are designed as clamping units.

For driving the functional unit 31, the drive device 38 has a drive motor, which is shown in more detail in fig. 5. The function unit 31 may be mechanically driven to be opened or closed by a driving motor, together with the driving module 33 and the actuator 34. On the other hand, the drive device 38 has a valve island therein, which can pneumatically drive the optionally available functional unit 32 to open or close. However, since the function unit 32 is heavier than the function unit 31, it is preferable to use at least one function unit 31 on the hand grip 10. Therefore, the functional unit 32 is not described in detail.

The actuator 34 may be a motor that supplies current using a power line as the supply cable 341. The actuating element 35 is a flexible shaft. Such a flexible shaft may be curved, but the ends of the shaft are not rotatable relative to each other.

The actuator 34 may be replaced with a hydraulic motor or a pneumatic motor. The actuator 34 may also be replaced by a pneumatic valve connected to the drive device 38, so that the original supply cable 341 is replaced correspondingly by a compressed air tube.

Each actuator element 35 connects one functional unit 31 to the drive module 33. Thus, one end of each actuator element 35 is connected to a coupling module 36, which is connected to one functional unit 31. In addition, each actuator element 35 is connected at its other end to the drive module 33 by a coupling module 37.

The function unit 31 has a clamp arm 311, a bracket arm 312, a shaft 313, a support block 315, and a mounting plate 316. The coupling module 36 connects the actuating element 35 to the shaft 313.

The clamping arm 311 can be controlled by the associated actuator 34 in fig. 2 to rotate the actuator element 35 about an axis 313, the direction of rotation being indicated by the rotational arrow in fig. 3. The shaft 313 rotates supported by the carrier 3121. And bracket arm 312 is fixedly mounted to carrier 3121 relative to clamp arm 311. The bracket arm 312 protrudes from the carrier 3121, so that the clamp arm 311 also protrudes from the carrier 3121, since the shaft 313 is also arranged in the carrier 3121. The clamp arm 311 and the bracket arm 312 are spaced apart so that the workpiece 5 can be grasped and/or held between the arms. Such clamping assemblies may be arranged in increasing numbers on the hand grip 10 according to process requirements.

Both the carrier 3121 and the mounting plate 316 are mounted on a support block 315. In the example of fig. 3, the support block 315 and the mounting plate 316 are designed to be integrated, thereby further integrating the carrier 3121, the support block 315 and the mounting plate 316.

Mounting holes 3151, 3152, 3161, and 3162 for mounting the function unit 31 to the grip 10 are formed in each of the supporting block 315 and the mounting plate 316. As shown in fig. 4 and 5, the function unit 31 may be mounted on the arm 12 of the hand grip 10 by a mounting plate 316. For this purpose, the hand grip 10 is fitted with corresponding mounting bolts which can be inserted into the hole locations 3161, 3162 in order to fix the functional unit 31 to the hand grip 10. In the example of fig. 5, an auxiliary arm 13 mounted to the bottom of the supporting block 315 is added to the hand grip 10.

Therefore, in the function unit 31, the clamp arm 311 is a movable tool arm, and the holder arm 312 is a fixed tool arm. The clamp arm 311 is opened or closed from the bracket arm 312 by the actuator 34 mediated by the actuator element 35 in fig. 2. The two arms 311 and 312 are opened to the maximum angle so that the function unit 31 releases the workpiece 5, and closed to the minimum angle so that the function unit 31 grips the workpiece 5. Fig. 3 to 5 show the closed position of the arms 311, 312 respectively.

Fig. 6 shows the mechanism of the movement of the functional unit 31 with respect to the gripping arm 311 in more detail. The function unit 31 has a gear box therein, which in the example of fig. 6 is designed with a worm 317 and worm wheel 318 combination. As shown in fig. 3, the clamp arm 311 is rotatable about the shaft 313 by a worm 317 and a worm wheel 318.

As shown in fig. 6, the coupling module 36 has at one end thereof a drive wheel 361 which can be rotated in a first direction or in an opposite second direction, for example forward or backward or right or left or right, or counterclockwise, by means of the actuating element 35. The drive wheel 361 may be manufactured as a gear to be particularly firmly coupled to the actuating element 35. If the actuator element is designed as a flexible shaft, one end of the flexible shaft is designed as a drive wheel 361. The end of the flexible shaft may instead be non-rotatably coupled to the drive wheel 361. The drive wheel 361 is mechanically coupled by teeth and/or friction to a coupling member 3171, which coupling member 3171 is arranged at one end of the worm 317.

The worm wheel 318 meshes with the worm 317. As the worm 317 rotates about its axis, the worm gear 318 rotates about the axis of the shaft 313. Since the worm wheel 318 is non-rotatably connected to the shaft 313 and the clamping arm 311, its movement moves the clamping arm 311 up and down according to the right or left rotation of the driving wheel 361.

Retainers 3172 and 3173 are disposed at both ends of the worm 317, and the rotation of the worm wheel 318 is restricted. This also limits the rotation of the shaft 313 between the supports 3172 and 3173. As shown in fig. 3, movement of the clamp arm 311 between the open and closed positions is possible. Any position on the worm 317 relative to the worm wheel 318 between the brackets 3172, 3173 is possible. Thereby, the clamp arm 311 can be smoothly moved between its open position and closed position. In addition, the clamp arm 311 can be smoothly moved between its closed position and its open position.

Instead of a gear set, the worm and worm wheel assemblies 317 and 318 can also be designed as a gear set, with a gear worm 317 as the first gear and a worm wheel 318 meshing therewith as the second gear. In this case, the cages 3172 and 3173 have to be redesigned from the first gear in order to form a self-locking gear similar to the worm gear of fig. 6. The carriers 3172, 3173 may alternatively or additionally be designed to form a gear rotation inhibition and thus a lateral fixation that limits the rotation of the gears from the side.

The worm and worm- gear assemblies 317 and 318 can also be designed as an alternative to a bevel gear. In the case of a bevel gear transmission, it is also possible to have anti-rotation means on both sides of the bevel gear part in order to form lateral fixing means which limit the rotation of one bevel gear from the side.

The coupling module 36 can be designed as an electric motor, which is connected to the drive 38 by means of a cable. The drive wheel 361 could alternatively be moved by a magnetic, pneumatic or hydraulic drive.

Fig. 7 shows in more detail the components of the drive module 33 with which the rotation of the drive wheel 361 and thus the opening or closing of the functional unit 31 is effected.

As shown in fig. 7, the drive module 33 has a drive wheel 331, which in the example of fig. 7 is designed as a gear wheel. Furthermore, the drive module 33 has a segmented disk 332, which is movably arranged on the drive module 33. The segmented disk 332 is rotatably disposed beside the drive wheel 331. Segmented disk 332 is rotatably disposed between segment boundaries 333. An actuator 34 may also be assigned to each segmented disk 332, as shown in FIG. 2. However, it is possible to assign only one segmented disk 332 to an actuator 34.

The drive wheel 331 and the segmented disk 332 are rotatably mounted about an axis 334 of the drive module 33. Drive wheel 331 is in particular rotatably connected to shaft 334. The shaft 334 may be driven by a drive motor 335 of the drive module 33 to rotate about its shaft axis. The drive motor 335 may be arranged in the drive device 38 of fig. 2.

Fig. 8 shows, in a highly simplified schematic representation, the principle by which the actuator 34 of the drive system 30 can effect the opening or closing of the above-described functional unit 31 by adjusting the drive unit 336. The corresponding parts of the system 9 are shown in fig. 9 to 11. Fig. 9 shows a position in which the actuator 34 has set the drive unit 336 in such a way that the actuation means 342 opens the functional unit 31, for example. Fig. 10 shows a neutral position, in which the actuator 34 has set the drive unit 336 with the adjusting device 342 such that no drive takes place to change the position of the functional unit 31. Thus, in the example, fig. 11 shows a position in which the actuator 34 has set the drive unit 336 with the actuating means 342 such that in the example the functional unit 31 is driven closed.

As indicated by the rotational arrows in fig. 8, the drive motor 335 of fig. 7 drives the drive wheel 331 to rotate about the axle 334 in the drive direction D1. As shown in more detail in fig. 8 to 11, the drive wheel 331 of fig. 8 has, for example, internal and external teeth as a drive coupling. At least one drive unit 336 is arranged on the gear wheel or drive wheel 331. In the specific example of fig. 8, three drive units 336 are arranged on the drive wheel 331. Each drive unit 336 has two output shaft units 337, 338, which in the example of fig. 8 to 11 have gears. In the example of fig. 8, in the drive unit 336 disposed at the upper left of fig. 8, the output shaft unit 337 is engaged with the drive wheel 331 so as to be coupled with the drive coupling of the drive wheel 331. In addition, in the drive unit 336 disposed at the lower left in fig. 8, the output shaft unit 338 is engaged with the drive wheel 331 so as to be coupled with the drive coupling of the drive wheel 331. In addition, in the drive unit 336 disposed on the right side of fig. 8, none of the output shaft units 337, 338 is engaged with the drive wheel 331, and thus is not coupled with the drive coupling of the drive wheel 331. However, this is only one of many possible options. For example, only the output shaft unit 337 may be engaged with the drive wheel 331 instead, or other options for engaging the gears 331, 337, 338.

As shown in fig. 9 to 11, each output shaft unit 337 has a shaft 3371 at the end of which shaft 3371 a gear is arranged in a rotationally fixed manner or has a gear tooth at its end. In addition, each output shaft unit 338 has a shaft 3381, at the end of which shaft 3381 a gear is arranged in a rotationally fixed manner, or at the end of which a tooth is provided. One end of each output shaft unit 337 is disposed in the driving wheel 331. One end of each output shaft unit 338 is arranged outside of the drive wheel 331 such that the ends of the output shaft unit 338, the drive wheel 331 and one end of the associated output shaft unit 337 are arranged in a line or plane.

The two output shaft units 337, 338 of the driving unit 336 are spaced apart from each other by a predetermined fixed distance. Here, the predetermined distance is selected such that one end of the output shaft unit 337 or one end of the output shaft unit 338 can be engaged with the driving wheel 331 designed as a gear. The output shaft unit 339 is disposed between the other ends of the output shaft units 337, 338 with one tooth end thereof being engaged with the teeth of the output shaft units 337, 338. The other end of the output shaft unit 339 is arranged in the coupling unit 37 and is provided for actuating the actuating element 35.

If the actuator element 35 is a flexible shaft, the output shaft unit 339 rotates the flexible shaft such that the drive wheel 361 of the link module of FIG. 6 rotates to open or close the functional unit 31 as previously described. The output shaft unit 339 may form one end of the actuator element 35 such that one end of the actuator element 35 is arranged between one end of the first output shaft unit and one end of the second output shaft unit. If the actuator element 35 has a cable to effect rotation of the drive wheel 361, the end of the cable in the coupling unit 37 may be wound around the output shaft unit 339 to tension or loosen the cable. Alternatively, instead of the actuating element 35, a coupling mechanism can be used which effects the described movement for opening or closing the functional unit 31 by means of a screw thread.

As shown in each of fig. 8 to 11, the actuator 34 has an adjustment device 342 for setting the drive unit 336 in a corresponding desired position. Depending on the position of the drive unit 336 on the drive wheel 331, the associated functional unit 31 can be switched on or off. The actuator 34 may be an electric motor, which may be supplied with electric energy via line 341 and may be controlled as required.

If the functional unit 31 is to be opened, the actuator 34 places the associated drive unit 336 in a position where the output shaft unit 337 engages the gear or drive wheel 331. Thus, the output shaft unit 338 is not engaged with the gear or the drive wheel 331. This is the drive unit 336 arranged on the upper left as shown in fig. 8, and as shown in fig. 9. In this position, the output shaft unit 337 rotates in the opposite direction to the drive wheel 331. As a result, the actuating element 35 is rotated by the output shaft unit 339 in a first direction, e.g., counterclockwise or to the left, and thus opens the movable arm 331 of the associated steering function unit 31.

On the other hand, if the function unit 31 is to be turned off, the actuator 34 sets the associated drive unit 336 in a position where the output shaft unit 338 engages with the gear or drive wheel 331. Thus, the output shaft unit 337 is not engaged with the gear or drive wheel 331. This is shown in fig. 8 as the drive unit 336 arranged in the lower left corner, and is shown in fig. 11. In this position, the output shaft unit 338 rotates in the opposite direction to the drive wheel 331. As a result, the actuation element 35 is rotated by the output shaft unit 339 in a second direction that is opposite the first direction, e.g., clockwise or rightward. As a result, the actuating element 35 rotates in a direction different from the situation of fig. 9 and thus closes the movable arm 311 of the associated steering function unit 31.

If the actuator 34 moves the drive unit 336 between the positions of fig. 9 and 11, neither of the output shaft units 36, 37 is engaged with the drive wheel 331. As a result, the drive unit 336 is in the neutral position. This is illustrated in fig. 8 for the drive unit 336 arranged on the right and in fig. 10.

If the arms 311, 312 of the functional unit 31 are not completely open or not completely closed, the actuator 34 and its actuating device 342 move the associated drive unit 336 back to the intermediate position according to fig. 10 whether open or completely closed before the arms 311, 312 of the functional unit 31 are completely closed.

Therefore, each actuator 34 moves the associated drive unit 336 according to the operation requirements in the production apparatus 1. All actuators 34 may operate independently of one another. As a result, each functional unit 31 can also be moved to a desired position independently of any other optionally available functional unit 31.

The above described assembly of the drive system 30 may be used on the hand grip 10 for processing the workpiece 5 at a desired position, for example around one or more boom units or functional units 31, 32 for handling (in particular hand grips) and/or gripping and/or clamping tools and/or booms. Supplementing its drive. For this purpose, the fiber-reinforced plastic of the device may be roughened and thus prepared for docking further gripping arms and/or gripping and/or clamping tools and/or their drive means. This also makes it easy to maintain the equipment. Fastening means (e.g. holes for screws etc., rivets etc.) may also be fixed on the bracket.

As an alternative to the example of fig. 7, the drive wheel 331 and the output shaft units 337, 338 form bevel gears. The drive wheel 331 and the output shaft units 337, 338 are thus designed as bevel gears. Here, as in the example of fig. 7, a form-fitting intervention can be implemented in particular.

According to another alternative, the drive wheel 331 and thus its drive coupling are designed as a chain, which moves around the shaft 334. As described above, the output shaft units 337, 338 are thus designed such that the drive shaft units 337, 338 can be driven when the output shaft units 337, 338 are engaged in the chain. Of course, instead of the drive wheel 331, the output shaft units 337, 338 may be chain-shaped so as to achieve engagement of the drive wheel 331 for said driving.

According to another alternative, the drive wheel 331 is designed as a friction wheel. The drive coupling of the drive wheel is thus at least one friction surface. The output shaft units 337, 338 are therefore also designed as friction wheels. As a result, the drive coupling is achieved by the frictional engagement, thereby achieving the driving of the output shaft units 337, 338.

According to a further alternative, the drive wheel 331 is constructed integrally with the shaft 334. This is particularly advantageous if the drive wheel 331 can or should have a smaller diameter. This may be the case, for example, if only one drive unit 336 or several drive units 336 are driven by the drive wheel 331.

According to a further alternative, a plurality of drive wheels 331 are arranged on the shaft 334. Here, the drive wheels 331 are arranged side by side in the axial direction of the shaft 334. It is also possible that at least two drive wheels 331 have different diameters.

Of course, any combination of the foregoing designs is possible.

As shown in fig. 12, the hand grip 100 having a plurality of function units 31. Each functional unit 31 has a rotation device 40 for rotating the associated functional unit 31 about its axis. The main body frame 101 is composed of a plurality of arms connected to a plurality of connectors. In fig. 12, not all connectors are provided with reference numerals for the sake of clarity.

In addition, the hand grip 100 has a mounting plate 16, and the drive system 30 may be mounted on the mounting plate 16, as shown in fig. 2 and 7 and described above.

Even though not shown in fig. 12, the rotating means 40 may be additionally provided on at least one of the connectors. In this way, the grip 100 is a space structure of arbitrary design, and the function units 31 can be not only rigidly arranged but also rotated relative to each other about different axes.

Fig. 13 to 17 show the structure of the rotating means 40 on the function unit 31 in more detail. As shown in fig. 13 to 17, the rotating device 40 has a mounting plate 41, a thrust washer 42 and an adhesive clip 43, an actuator element 45 and a coupling module 46. The adhesive clip 43 secures the thrust washer 42 of the rotary device 40. The actuator element 45 coupling module 46 has the same structure and function as the actuating element 35 and the coupling module 36 of the functional unit 31. The actuating element 45 can be connected to the drive module 33 in fig. 2 and 7 by means of a coupling module 37.

As shown in fig. 15 to 17, the rotating device 40 further has a dog clutch 44A, a bearing 44B, a worm 47, a worm wheel 48, and a shaft 49. The actuating element 45 is coupled here via a coupling module 46 to a worm 47, the worm 47 meshing with a gear 48. The worm 47 and the gear 48 form the rotating means 40. The worm gear 48 is connected in a rotationally fixed manner to a shaft 49. Thus, an actuator element 45 driven by the actuator 34 of the drive system 30 and driven by the worm 47 and the worm gear 48 may drive the shaft 49. The rotating means 40 rotates the arm or boom unit of the gripper 10 or the functional unit 31 on the mounting arm 11 in the direction specified by the system 30.

The worm 47 and the worm wheel 48 may alternatively be designed as a gear/gear combination or bevel gear, as previously described for the functional unit 31 with reference to fig. 6.

As shown in fig. 17, the mounting arm 11 may be reinforced with a portion 119, and the portion 119 of the plane may be arranged transverse to the frame members 111 and 112 and/or other individual frame members in the mounting arm 11.

Fig. 13 to 16 each show a perspective view of a rotation device of the drive system, which can be used to rotate a processing tool on a functional unit and/or another part of the functional unit.

Fig. 18 to 20 show a tilting means 50 which may be used in one of the hand grip 10 and the hand grip 100. Fig. 18 shows an external view of the tilting device 50 on the two mounting arms 12 and 13. The mounting arms 12 and 13 can be rotated via joints 125 and 135 and are thus rotatably connected about axis 59. Fig. 19 and 20 show different internal views of the tilting device 50.

The tilting device 50 has an actuator element 55 and a coupling module 56. The actuator element 55 and the coupling module 56 have the same structure and the same function as the actuator element 35 and the coupling module 36 of the functional unit 31. The actuator element 55 is connected to the drive module 33 by means of a coupling module 37. Are connectable as shown in fig. 2 and 7.

As shown in fig. 19 and 20, the actuating element 55 is coupled to a worm 57 of the tilting device 50 by means of a coupling module 56. The worm 57 has brackets 571 and 572 at both ends thereof, and the worm 57 is engaged with the worm wheel 58 on the engaging portion of the tilting device 50. The worm 57 and the worm wheel 58 form the tilting means 50. The worm gear 58 is rotatably connected to a shaft 59, which shaft 59 is arranged in a hole site 591 in the joint on the mounting arm 13. Thus, an actuator element 55 driven by the actuator 34 of the drive system 30 and driven by the worm 57 and worm gear 58 may drive the shaft 59. The knot-tilting device 50 tilts the mounting arms 12 and 13 of the gripper 10 in a given direction.

The worm 57 and worm wheel 58 may be replaced by a gear/gear combination or bevel gears as previously described for the functional unit 31 with reference to fig. 6.

The tilting means 50 can also be mounted, for example, between the functional unit 31 and the mounting arm 11. The functional unit 31 can thus be tilted with respect to the mounting arm 11 or the mounting arms 12 and 13.

According to another form, the tilting means 50 may be installed between the function unit 31 and the hand grip 10 and the mounting arm 11 or 12 of the hand grip 100 in addition to the rotation means 40. So that the function unit 31 can be optionally tilted and rotated with respect to the mounting arm 11 or 12. In order to move the functional unit 31 relative to the hand grip 10 and the hand grip 100, even if it is rotated and/or tilted, up to 6 degrees of freedom are available. Up to 6 degrees of freedom are also available for the functional unit 31 to move in space.

Fig. 18 is a perspective view of a tilting device of the drive system, which can be used to tilt a portion of the boom unit and/or the functional unit.

Fig. 21 shows a drive system 30A that may be used in one of the hand grip 10 and the hand grip 100. Only the differences from the previous exemplary embodiment are described below.

The drive system 30A has a drive wheel 331A with only one internal tooth, as shown in more detail in fig. 9 to 11, for example. Therefore, the drive wheel 331A has no external teeth. At least one drive unit 336A is arranged on the gear or drive wheel 331A. In the specific example of fig. 21, two drive units 336A are arranged on the drive wheel 331A. Each drive unit 336A has an output shaft unit 337.

In the example of fig. 21, in the drive unit 336A arranged at the upper left of fig. 21, the output shaft unit 337 is in particular engagingly coupled to the drive wheel 331A. In addition, in the drive unit 336A disposed at the lower left in fig. 21, the output shaft unit 337 is not coupled to the drive wheel 331A, particularly not engaged, but this is only one of many possible options. For example, all output shaft units 337 are coupled, in particular engaged, to the driving wheels 331A. Other options for engagement of gear 331A and output shaft unit 337 may also be used.

Thus, the actuator 34 can open and close the functional unit 31 together with the associated actuator element 35, as described above with reference to the preceding exemplary embodiment, the drive wheel 331A with the drive motor 335 or its shaft 334 is driven in the first drive direction D1 or in one direction by the second drive D2. More specifically, for example, the output shaft unit 337 of the drive unit 336A is placed in a position to engage with the drive wheel 331A, and the drive wheel 331A is driven in the first driving direction D1 by the drive motor 335 or the shaft 334 thereof, for example, the function unit 31 is opened. In contrast, in this example, if the output shaft unit 337 of the drive unit 336A is placed in a position to mesh with the drive wheel 331A, and the drive wheel 331A is driven by the drive motor 335 or its shaft 334 in the second drive direction D2, the function unit 31 will thus be driven off.

If at least one output shaft unit 336A is coupled, in particular meshed, with the driving wheel 336A, the direction of rotation D1, D2 of the driving wheel 331A can be changed. The drive unit 336A may also be placed in a second position in which the output shaft unit 336A of the drive unit is not coupled with the drive wheel 336A, in particular not with the drive wheel 336A, before changing the direction of rotation D1, D2 of the drive wheel 331A.

At least one of the actuators 34 drives either the actuator element 45 or the actuator element 55. The drive system 30A may therefore additionally or alternatively be used for at least one rotation device 40 and/or at least one tilting device 50.

As an alternative to the example in fig. 21, the drive wheel 331 and the output shafts 337, 338 are designed as a bevel gear.

Fig. 22 shows a drive system 30B that may be used in one of the hand grip 10 and the hand grip 100. Only the differences from the previous exemplary embodiment are described below.

The drive system 30B has a drive wheel 331B having only one external toothing, as shown in more detail in fig. 9 to 11, for example. Therefore, the driving wheel 331B has no internal teeth. At least one drive unit 336B is arranged on the gear or drive wheel 331B. In the specific example of fig. 22, two drive units 336B are arranged on the drive wheel 331B. Each drive unit 336B has an output shaft unit 338. The drive wheel 331 and the output shaft unit 337 may be configured as described with respect to the first exemplary embodiment.

In the example of fig. 22, in the drive unit 336B arranged at the upper left of fig. 22, the output shaft unit 338 is not coupled to the drive wheel 331B, particularly in engagement. In addition, in the drive unit 336B disposed at the lower left in fig. 22, the output shaft unit 338 is, in particular, engagedly coupled to the drive wheel 331B. However, this is only one of many possible options. For example, all output shaft units 338 are coupled, in particular engaged, to drive wheels 331B. Other options for engaging gear 331B and output shaft unit 338 are also possible.

Thus, the actuator 34 can open and close the functional unit 31 together with the associated actuator element 35, as described above with reference to the preceding exemplary embodiment, with the drive wheel 331B of the drive motor 335 or its shaft 334 in the first drive direction D1 or in the first drive direction D1. As described with reference to fig. 21, the second driving device D2 is driven. More specifically, for example, the output shaft unit 338 of the drive unit 336B is placed in a position to be engaged with the drive wheel 331B, and the drive wheel 331B is driven in the first driving direction D1 by the drive motor 335 or the shaft 334 thereof, for example, the function unit 31 is opened. Conversely, in this example, if the output shaft unit 338 of the drive unit 336B is placed in a position meshing with the drive wheel 331B, and the drive wheel 331B is driven by the drive motor 335 or its shaft 334 in the second drive direction D2, the function unit 31 will thus be driven off.

If at least one output shaft unit 336B is coupled, in particular meshed, with the driving wheel 336B, the direction of rotation D1, D2 of the driving wheel 331B can be changed. The drive unit 336B may also be initially set in a second position in which its output shaft unit 336B is coupled, in particular not engaged, to the drive wheel 336B before the direction of rotation D1, D2 of the drive wheel 331B is changed.

At least one of the actuators 34 drives either the actuator element 45 or the actuator element 55. Thus, the drive system 30B may additionally or alternatively be used for at least one rotation device 40 and/or at least one tilting device 50.

All of the previously described configurations of the hand grip 10 and hand grip 100, and drive systems 30, 30A and 30B may be used alone or in all possible combinations.

The embodiments described above are intended to facilitate the understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention according to the disclosure of the present invention.

Claims (9)

1. A drive system for a load gripper, the drive system comprising:

the driving wheel (331), connect and have the drive coupling on the driving wheel (331), the said driving wheel (331) includes external tooth and internal tooth;

the driving unit is provided with a first output shaft meshed with the inner teeth of the driving wheel (331), and meanwhile, the driving unit is also provided with a second output shaft meshed with the outer teeth of the driving wheel (331);

the first output shaft is connected with the drive coupler;

an actuator (34) that positions the drive unit between a first position of the first output shaft and the drive coupling and a second position of the second output shaft;

an actuator element connected to the first output shaft, the actuator element rotating in a first direction when the drive unit is disposed in a first position, wherein the drive wheel (331) and the drive unit enable the actuation element to rotate in a second direction, the second direction being opposite to the first direction.

2. A drive system for a load-carrying hand grip according to claim 1, wherein at least two drive units are provided on the periphery of the drive wheel (331) such that each drive unit has a different cross-section, the drive wheel (331) being coupled to a drive coupling, wherein each drive unit corresponds to an actuator (34) and an actuator element.

3. A drive system for a loading gripper according to claim 1, characterized in that a plurality of functional units (31) are associated with the gripper, the functional units (31) being adapted to cooperate with parts of the product (2) when the gripper is in the operating state;

the gripper is also provided with at least one mounting arm or supporting arm, and the tail end of the mounting arm or the supporting arm is provided with a mechanical clamping jaw.

4. A drive system for the loading gripper according to claim 1, wherein said drive system further comprises a drive motor (335);

the driving wheel is provided with internal teeth or external teeth;

the drive motor (335) is capable of rotating the actuating element in a first direction to thereby drive the drive wheel in the first direction, while the drive motor (335) is capable of rotating the actuating element in a second direction to thereby effect driving of the drive wheel in a second direction opposite the first direction.

5. A drive system for a load-carrying hand grip according to claim 3, wherein said actuator element is a flexible shaft;

the drive system further comprises a gearbox comprising a worm (317) and a worm gear (318);

the flexible shaft has one end rotatably coupled to the driving unit and the other end connected to the gear case.

6. The drive system for the load gripper of claim 5, wherein said drive system further comprises a clamp arm and a bracket arm, said gearbox being provided on said clamp arm and bracket arm.

7. A drive system for a load-carrying hand according to claim 5, wherein said functional unit (31) is a rotating means (40), said gearbox being provided on said rotating means (40);

the rotating device (40) rotates the mounting arm and the support arm provided on the claw.

8. A drive system for a load-carrying gripper according to claim 5, characterized in that said functional unit (31) is a tilting device (50), said tilting device (50) tilting the mounting and support arms provided on the gripper.

9. A drive system for a load-carrying hand grip according to claim 3, characterised in that said grip is coated with a layer of fibre-reinforced plastic, carbon fibre or glass fibre.

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