DD220799A1 - GRIPPING GRAN FOR ROTATION SYMMETRIC AND PRISMATIC PARTS - Google Patents

Abstract

The invention relates to a gripping member which, in cooperation with known drive systems and Greiforganfuehrungsmechanismen a gripping of rotationally symmetric, prismatic and gehaeusefoermigen parts on the one hand for the purpose of removal / storage of three-dimensional storage devices with the help of gripper jaws and a defined gripping of rotationally symmetric, prismatic and gehaeusefoermigen parts on the other Purpose of automated technological handling with the help of clamping elements and abutments made possible. The aim of the invention is to meet the requirements of advanced robotics with respect to the gripper technology and to contribute to the flexibility of the handling technique, the technological application range. By using the invention Umruestaufwand and Geraetetechnik is saved.

Description

Title of the invention. ¹ VV

Gripping member for rotationally symmetrical and prismatic parts Field of application of the invention. ^

The invention relates to a gripping member for rotationally symmetrical and prismatic parts, primarily for two-finger grippers, which, in cooperation with the industrial piper technology, makes it possible to handle both rotationally symmetrical, prismatic and housing-shaped parts and the processing of parts which are arranged three-dimensionally on workpiece storages.

The gripping member can be used in conjunction with known gripper display systems and a suitable parallel control mechanism for loading tasks and machining tasks of workpieces and for tool handling.

An application in the assembly technology and the operation of different types of tools can be realized due to the handling of different parts and types of tools by the gripping member. Furthermore, a supply and disposal of peripheral technology of parts provision (round-memory and portable, parts storage) with high packing density per GrundV surface feasible. The gripping device is suitable in connection with corresponding robot and gripper technology for the automation of production sections also in the small and medium series production at different, or changing '<

£ 5 part and / or tool type.

' ' .. '... . ' ... , , .-. :. '. '/; '..'. "*;; - 2 - /"} '; y ^ , characteristic of the known technical solutions

It is known that gripping members are used with specific gripper jaws or prisms adapted to the part type for two-finger grippers. Thus, according to WP "158 096, a gripper jaw is specifically designed for rotationally symmetrical parts and a gripping member for rotationally symmetrical conical parts is shown according to WP 150 716. These gripping members allow only gripping of parts with geometrically similar rotationally symmetrical shape with variable diameter.

Other types of parts (prismatic, gehäusefö'rmig) are limited or intangible, as well as z. In DE 3123 897 A 1. A gripping member designed especially for gripping tool shanks is shown in WP 149 632. This gripping member has the advantage that it is only for handling with very specific ones for a type of The known solutions of the machine tool industry to work with rigid gripping members have the disadvantage that a gripping takes place with undefined gripping points or surfaces and gripping members with movable prisms or jaws compensating for this disadvantage just as well as compliant gripping organs, only the rotationally symmetrical part type defines tangible, with single-awakening grippers, as in WP 149 632, only one part type.The flexibility demanded in the context of the introduction of further developed handling technology with respect to the gripping technique is negatively influenced the provided parts only within narrow limits in the Grei f operation. '·' V. ^ '.

Aim of the invention;

The aim of the invention is, by a flexible gripping member for various technological purposes purposes and different gripping tasks, such. B. removing / and dropping in three-dimensional memory directions of the peripheral technology and for various parts such . B.

rotationally symmetrical, prismatic and housing-shaped

·. '-':.:. ''. '.'. '-. - 3 -

Pieces and tools to allow a numerical saving in necessary specific gripper technology and thus reducing the technical complexity of the gripper technology.

Explanation of the essence of the invention

  . ' ''. , 'ι

. ",

The object of the invention is to provide a gripping member that ensures a wide range of work by its mbduläreri construction simple conversion and can be used for gripping and handling rotationally symmetrical, prismatic and / or housing-shaped parts. The constructive design of the gripper must compensate for positional deviation of the provided parts in relatively large limits during the gripping process and ensure defined gripping and handling of the parts symmetrically or asymmetrically with respect to the gripper axis.

  ·. ; : .. · '. · ·' ... '. ·. ....' .... ·. / "

'''.''Afford. ^: ''. '.-'"'.' . ^'; ...'^'-' '.': :: '' V · 'According to the invention the object is achieved in that the gripping member consists of two gripping fingers, different abutments which are fixed on the gripper drive system or the gripper fingers either a or two clamping elements, which are held by springs in a defined starting position and.

articulated about bolts are connected to the gripper fingers and two gripper jaws, which are hinged by bolts to the gripper finger ends, with a jaw adjustable against the gripper finger fixed and the second is arranged to be movable, is formed.

The tensioning element is designed as a rigid system in the contact between the part and the saving element. To extend the application of the gripping members, the clamping radii on the clamping elements for parts with sensitive surface and to reduce the frictional resistance with two grooved rollers with round ring, which are rotatably supported by bolts in the clamping element or parts with a textured surface with two cutting rollers, which also by bolts are rotatably mounted in the clamping element, provided

 The gripping members are rigidly connected to the parallel guide mechanism of the gripper and are moved by the gripper drive system, thereby performing a parallel movement with each other. <

This movement can be coordinated by both Greifor-. Gane done or unilaterally by a gripping member. During the movement of the gripping members towards each other either the gripper jaws are moved to the part and tension it or the clamping element on the gripping member w ^ rd moves to the part where ^ comes to rest in the pointing to the gripper drive system leg of the clamping element, the Spannelemeht to the fastening bolt against the force of the spring ^ '. is rotated until the second leg of the clamping element abuts the part, the part is pressed and clamped during the further course of movement against the respective abutment. Due to its modular design, simple design and safe function, the gripping device enhances the possible use of robot technology for the types of parts that are predominantly used in the metalworking industry and, due to its flexibility, reduces development and design capacities for specific gripping devices (single-purpose gripper) while lowering the investment costs necessary for this technology. Due to the modular design and the structural design of the gripping member,

. two gripping functions are performed with a gripper, d. H. with extended technological application possibility Geräteteehnik is saved.

embodiment

The invention will be explained in more detail below with reference to exemplary embodiments in various variants. , In the accompanying drawings show:

Fig. 1: gripping member with two fingers, two clamping elements and

Abutment for rotationally symmetrical parts at 3Q '; Clamping between gripper jaws

Fig. 2: gripping member with two fingers, two clamping elements and : '. Abutment for rotationally symmetrical parts when clamping between two clamping elements and abutment

Figure 3 gripping member with two fingers, two clamping elements and abutment for prismatic parts when ^clamping: -between gripper ^jaws. .- '^ -''':'' ^Ί.. '·' ^ '-' - ^{': 1:} Ζ ^'

Fig. 4: gripping member with two fingers, two; Clamping elements μηεά abutment for prismatic parts during clamping ν; between clamping elements and abutment

Fig. 5: gripping member with two fingers, a clamping element and; Abutment for rotationally symmetrical parts when clamping between a clamping element and abutment

10_ ^; .Fig '. 6: Greif organ with two fingers, a clamping element and abutment for prismatic parts when clamping between a clamping element and abutment ν

Fig. 7: Spahnelement with cutter rollers

Fig. 8: clamping element with groove rollers and round ring;

: The gripping member, consisting of the gripper finger 2, the abutments 3, ^, 5, the clamping element 8, the clamping element 8 and

; The spring 9 hinged to the gripper finger 2, the bearing pin 10, the fixed gripper jaw and the movable gripper jaw 12, is rigidly fixed to the gripper drive system and gripper organ guide mechanism 1. The gripper drive system and the Greiforganführungsmechanismus 1 move the gripping members in the direction 14. In this case, the parts 6, 7 between the fixed gripper jaw 11 and the movable gripper jaw 12 stretched / relaxed and in direction 15 from position fuses 13,. which are mounted on peripheral devices of the workpiece supply, removed / stored or the parts 6, 7 are stretched / relaxed for technological handling between the clamping elements 8 and the abutments 3, 4, 5. To extend the application of the gripping members Spannradiert on the clamping element 8 for parts 6, 7 with a sensitive surface and to reduce the frictional resistance with two groove rollers 18 with round ring 19, which rotatable by the Bolzen.16

are mounted in the clamping element 8 or in parts 6, 7 with a textured surface with two cutter rollers 17 which are rotatably supported by the bolt 16 in the clamping element B, are provided. By Ver-set the .Spannelemente 8 and: the abutment 4, 5 by loosening the Lagerbolzen'10 in. Bread pattern of the gripper finger 2 is varied, the gripping area within wide limits.

When reversing the movement sequence of the Greiforgan, the processes take place in the reverse order.

Claims (2)

Claim for invention 1. gripping member for rotationally symmetric and prismatic parts, which can be used in conjunction with known gripper drive systems and a suitable parallel guide mechanism for various technological applications and different gripping tasks in industrial robotics for handling both rotationally symmetrical, prismatic and housing-shaped parts, characterized in that the gripping member from two gripper fingers, different abutments, which are attached either to the gripper drive system or to the gripper fingers, "one or two clamping elements, which are held by springs in a defined starting position and articulated via bolts are connected to the gripper fingers and two gripper jaws articulated by bolts attached to the gripper finger ends, with a jaw being adjustably fixed relative to the gripper finger and the second being movably arranged.   '' '.' · 2. Greiforgan according to item 1, characterized in that the S * pannradien on JJpannelementen with two grooved rollers with round ring or with two cutting roll ^ n, which are mounted by bolts rotatably mounted in the clamping element. ! I i ο ν zn. % 3 h ο re η '+ site η''ο L ο hn u nr ^ exi