DD213876A1 - DEVICE FOR GRABING SENSITIVE HANDLING OBJECTS - Google Patents

Abstract

The invention relates to a device for gripping and handling of sensitive objects, for example pressed unfired grinding bodies by industrial robots on low-operating production equipment. The device, which is preferably pneumatically actuated, grips the object to be handled with a multiplicity of fingers which bear almost the entire circumference and apply a soft, adjustable pressing force. A button designed as a gripping finger checks the occupation of a processing station during gripping and sends a signal to the control system of the production line.

Description

ε) Title of the invention

Device for gripping sensitive handling objects

b) Field of application of the invention

The invention relates to a device for gripping and handling delicate objects, such as glass or Kersmikwerkstücke, especially pressed, 'unfired grinding wheels, which are very soft and sensitive to change in shape after the pressing process.

c) Characteristic of the known technical solutions

For gripping and handling of objects such as glass and ceramic workpieces, devices are already known, but because of the sensitivity of these objects, the high demands to be made on gripping devices, 'are not fully meet.

The majority of the known devices operate according to the principle of a pair of pliers, which grasps the handle to be gripped with two jaws. In this case, the required pressing force is punctiform transmitted through a maximum of 4 points of contact on the Eandhabungsgagenstand. Ss act relatively high pressure forces on the sensitive items, so that it often comes to deformation, damage or destruction.

An attempt can be made to provide the points of contact of these zipper-type devices with a rubber coating in order to soften the pressure elements, but this does not obviate the underlying deficiency of the forceps principle, in which a limited number, usually a maximum of 4, pressure points become effective eliminated.

Sine, acting on the forceps principle device is proposed in DT-OS 2916312 IPK B 25 J 15/00, in which the on the object to be gripped 'holding force is limited and regulated by hydraulic and electronic components. However, even in this device, the pressing forces act only on a few points of the handling object.

Thus, the delicate items can often be damaged or destroyed. In addition, the hydraulic and electronic control devices require a high installation and plant technical effort. Other known solution principles work with elastic gripping elements. Here, a plurality of inflatable rubber fingers or an inflatable Gummischiauch is arranged around the object to be gripped and handled. For safe handling but relatively high, not exactly adjustable pressure forces, which can lead to deformations in soft objects required. There are also other disadvantages:

Due to the inhomogeneity and the uneven elongation of the material rubber, these inflatable gripping elements have large deviations in the positioning accuracy.

Compliance with the required positioning accuracy of elastic gripping devices thus requires more expensive Ha3 ~ and control devices.

Particularly in the abrasive product manufacturing, where these casting materials are exposed to heat and come into contact with oil, a rapid wear occurs.

A common feature of the previously described plier-type and elastic gripper devices with inflatable rubber grippers is that they require a large space that is not present in the manufacture of abrasive articles to be removed from a press. For these reasons, the known devices for gripping and handling of sensitive objects, especially for pressed, unfired grinding wheels are not suitable. Therefore, these abrasives are currently handled manually.

d) Object of the invention

The aim of the invention is therefore to develop a device for gripping and handling of sensitive objects, which engages the objects exactly without deforming or damaging them and which can be used on automatic production lines with a high degree of reliability.

e) Presentation of the essence of the invention

The invention has for its object to develop a device for gripping and handling of sensitive objects that can grasp and handle the objects to be gripped with precisely metered pressing force and with high positioning accuracy and requires a small space.

According to the invention the object is achieved by providing a device for gripping sensitive handling _objects}, for example, of pressed, unfired abrasive bodies on automatic production lines proposed in their preferably tellerförmigem device support has a plurality of finger-shaped or segmantförmigen, the shape of the handling object is stored appropriately shaped gripping elements, whose, on the handling

object directed by a working cylinder, preferably a pneumatic cylinder, by a rocker arm or a bearing mounted in Yitersträger plate transmitted pressure forces when closing the gripping elements by a resilient, and when opening by a rigid, the piston movement opposing stop limited, and by flexible, resilient, on the gripping elements areally arranged supports are transferred to the handling item.

At least one of the gripping elements is designed as a button, which is not necessarily actuated by the pressing force and is given by a pulse generator a signal about the occupancy of the "device with a handling object.

With the help of the device according to the invention, it is possible to handle objects, especially sensitive objects such as glass and ceramic workpieces, for example, pressed unfired abrasive grit with precisely metered, low pressing force and handle. The erfinduigsgemäße device achieved in the operating state a good positioning accuracy. It needs a small tree and for these reasons is well suited for automatic production plants, especially for manipulators. Thus, it is possible to reduce the high costs for the production, installation and operation of the gripping devices, and to reduce the labor costs and the cost of additional material consumption when handling sensitive objects.

f.) Embodiments

The invention will be explained in more detail with reference to embodiments.

The accompanying drawing shows:

Figure 1: The principle of erfindungsgexaäßen device for gripping sensitive objects, such as pressed, unfired grinding wheels with finger-shaped gripping elements.

Figure 2: The principle of a device according to the invention for handling sensitive objects, with segment-shaped gripping elements.

The apparatus shown in FIG. 1 can be attached to the moving arm of a manipulator with a planch of the device carrier 1, and actuated via a control valve in the movement cycle of the manipulator. The rigidly connected to the device carrier 1 working cylinder 2, preferably a Eneumatikzylinder, first actuates the mounted in the device carrier 1 rocker arm 6, which moves with its one leg against the spring-adjustable stop 4 and thereby by his, located on the other leg Gleitsteinlager 13 the finger-shaped gripping elements 7 closes. These grip with their flexible, resilient pads 5 the handling item 12. The plurality of almost the entire circumference of the handling item 12 engaging gripping elements 7 make it possible to keep acting by the contact surfaces of the resilient pads 5 Andrückkräfte low. A button 10, which has substantially the shape of a finger-shaped gripping element and in contrast to the gripping elements 7 in Gleitsteinlager 13 is freely movable, via its pulse generator 11 is a signal to the controller of the manipulator whether the working position is occupied by a handling item 12 or Not. This allows the subsequent workflow to be controlled.

Another embodiment of the device according to the invention is shown in FIG. 2. In this case, a rotatable plate 8 is mounted inside an annular device carrier 1, which is actuated by the working cylinder 2 and thereby drives out a rotary movement with a relatively small angle of rotation.

File press the pins 14 mounted in the plate 8 against the tiltable mounted in the device carrier 1 segmentformigen gripping elements 9. These gripping elements 9 transmit the Andrüekkräfte on the leaf spring-shaped, covered with foam rubber pads 5 and thus on the handling item 12. The pads 5 can be clamped on one side Leaf springs 15 with acting against the pressing force! Spring force, or clamped on both sides, prestressed leaf springs 16 which are connected to the segmentformigen gripping elements 9, be formed. In this embodiment according to FIG. 2, the document display is effected by a button 10 held by two springs 17, 18, which substantially corresponds to the shape and arrangement of a segment-shaped gripping element 9. The button is printed during the rotational movement of the plate 8 by a pin • and a spring 17 attached thereto in the Eaum of handling object 12 to be gripped or limited in its movement by a handling object 12 »The assumed position of the button 10 is a pulse generator 11th a signal on the occupancy of the device with a handling object to the control device »

The grasped by a device according to the invention both embodiments 12, for example, a pressed, unfired abrasive body, can be handled by the manipulator after gripping, for example, transported to a subsequent processing position, lach process of transport, the working cylinder 2 is operated in the opposite direction, the griffin .elements 7 and 9 open and the handling item 12 is stored.

Claims (1)

Erfindungsanapruch Device for gripping and handling sensitive articles, for example pressed, unfired grinding wheels on automatic production lines, consisting essentially of a device carrier, a working cylinder, power transmission elements and gripping elements, characterized in that in a, preferably dishförmige.Vorrichtungsträger (1), a plurality of a working cylinder (2) with adjustable pressing force in its open position by a, on the solvency movement of the working cylinder (2) acting rigid stop (3), and in its closed position by a, acting on the piston movement adjustable stop (4) limited, with elastic, resilient material occupied supports (5), from one in the device carrier (1) mounted rocker arm (6) operated finger-shaped gripping elements (7) or more, from one, rotatably mounted in the device carrier plate (S), segment-shaped gripping elements ( 9) are arranged, and that a, also in the device carrier (1) mounted, substantially in the form of a respective gripping element having Direction button (10) which is not necessarily operated by the pressing force in contrast to the gripping elements, via a pulse generator (1i) a Signal about the occupancy of the working position of the production plant with a handling object (12). For this JLJSifen drawings