DD223979A1 - INTERNAL GRIPPER FOR HANDLING UNITS - Google Patents

Abstract

The invention relates to an internal gripper for handling devices for rotationally symmetric and prismatic parts and is particularly suitable for use in workplaces with handling equipment in automatic manufacturing systems. The aim of the invention is to develop a more cost-effective gripping mechanism that easily adapts to changing inner contours, works with a constant gripping force and lowers the Umruestaufwand by the possibility of an automatic gripper change. The inventive inner gripper consists of a cylindrical housing with a single-sided wedge-shaped piston and at least two guided in the base plate of the housing in grooves, radially displaceable fingers. For low-friction Kraftuebertragung rollers are attached to the fingers and to loosen the gripper return springs are arranged for fingers and pistons. At the drive-side upper end of the housing an annular groove is attached as a connecting element to a gripper drive for automatic gripper change. Due to the possibility to change the diameter of the housing while maintaining the connection mass of the annular groove and the adaptability of the finger to the object to be gripped by a simple replacement of the fingers, a high degree of flexibility is given.

Description

Embodiment ·

The invention will be explained in more detail using an exemplary embodiment.

In the accompanying drawing shows:

1 shows a section through the complete inner gripper in Zweifingerausführung and Fig.2: a section A-A of Fig. 1 '

The gripper for inner handle consists of a cylindrical housing 2 with an annular groove 1 for a quick release to the drive-side coupling and two finger outlet openings 11, which are provided with seals 12 to prevent contamination in particular by particulate material. By the gripper drive located in the housing 2 'one-sided wedge-shaped piston 3 is moved in the direction of the base plate 6, whereby the fingers 5 are moved radially outward and can grasp the workpiece. The gripping force P is transmitted through the piston 3 on the fingers

5 mounted rollers 7 transmitted to the fingers 5. The fingers 5 move in a guide groove 8, which in the base plate

6 was incorporated. If over the drive no G ripe force acts more, the release of the gripper takes place via mounted on the fingers 5 return spring 9 supported by located between the base plate 6 and piston 3 return springs. 4

The base plate 6 is connected via a threaded connection 10 with the housing 2 and locked to fix the position by a screw 13. This results in a compact body that is well stored in a gripper magazine and automatically by means of a engaging on the annular groove 1 Sqhnellverschlusses. can be removed again by the robot itself. Due to the closed design high reliability and low design and construction cost is achieved by the simple basic structure. Due to the possibility of the housing 2 or the base plate 6 including the fingers 5 in diameter while maintaining the Änmaßen.an the ring groove 1 and the housing 2 to vary and the adaptability of the fingers 5 to be gripped Formeiement by replacing the fingers 5 given a high flexibility. , -

Claims (1)

Invention claim: Innengreifer for handling equipment for detecting rotationally symmetric and prismatic parts, particularly suitable for workstations with industrial robots / manipulators in automatic manufacturing systems, characterized in that in a cylindrical housing a one-sided wedge-shaped trained, equipped with return spring piston is arranged and at least two in grooves in the base plate of the Housing guided, radially displaceable and provided with rollers and return springs fingers are mounted. For this 1 page drawings Field of application of the invention The invention relates to an internal gripper for handling devices of the finger construction with at least two fingers for rotationally symmetric and prismatic parts, particularly suitable at workstations with handling devices in automatic manufacturing systems. Characteristic of the known technical solutions It is known that there are technical solutions for gripping devices on industrial robots, where over a piston stroke serving as a gripping finger levers are moved. In the gripper tongs for handling equipment according to DE OS - 2916312 Mitnahrneelmente are moved over a longitudinally displaceable actuating rod in the gripping arm, which pivot two levers and thereby the output pin, which are fasteners for gripping tools close. - In DE OS - 3133205 a clamping and releasing gripping device is described, where a linear actuator along its axis and thus angle lever sections are moved, whereby radial clamping forces are transmitted to the workpiece to be gripped with the fingers. Furthermore, a gripping tongs for manipulators, robots or the like has been developed according to DE OS - 2819622 for inner and outer handle with controlled force. The gripping jaws are held by a spring device in the closed position and spread by a piston stroke on the gripper jaws away converging cam surfaces. , The invention according to DE-OS 2924019 relates to a finger-type gripping device for industrial robots / manipulators and uses a toggle linkage actuated by a slide block for exerting an input force on two fingers mounted in a completely enclosed housing. Each end of the slide block is selectively pressurized to reciprocate along an inner guide system having unidirectional spring support in the workpiece clamping position. It is further to DD WP -149320 a clamping device known to be clamped with the flange and disc-shaped workpieces in that a pressure ring, which is in communication with the clamping arms, is spring-loaded on the spherical end of the guide pin. In DD WP-139805 a gripping device of a tool or workpiece changing device is described on machine tools with two mounted around a pivot pin hebeiförmigen gripper jaws between which a wedge is arranged längsbewegiich and by the movement of the gripping lever close. Furthermore, grippers of the finger type are known, which operate on the principle of the gear train (DE - 3038234, DE - 2530598, DE - 2254784) and working according to the Stoffederprinzip gripper in which a highly elastic material is strongly compressed by two rigid components, this itself expands and thus a positive and frictional connection with the part to be gripped is achieved. The mentioned solutions of Fingerbauart require a relatively high construction and construction costs and thus high costs. Due to their complexity, a gripper change is difficult to automate, so that manual retooling remains. According to the Stoffederprinzip working gripper are due to the Plasteanteils relative. , temperature sensitive and therefore not usable for handling tasks under elevated temperature. Object of the invention The aim of the invention is to provide by a simple construction that requires little structural effort, a gripping mechanism for the inner handle, which can be realized by automatic gripper change high flexibility of manufacturing cells with industrial robots for the processing of small batches and the previous conversion effort is lowered considerably. . ' . Explanation of the essence of the invention The invention is based on the object, the known, associated with high structural complexity, relatively complicated and therefore only conditionally suitable for automatic gripper change industrial robot gripper to change so that a simple, cost-effective, automatically replaceable and thereby to change to be gripped inner contours easily adaptable inner gripper arises with constant gripping force. According to the invention the object is achieved in that in a cylindrical housing a one-sided wedge-shaped piston and at least two in the base plate, which is fixed to the housing, guided in grooves, radially displaceable fingers are arranged. For low-friction power transmission rollers are attached to the fingers and to release the gripper return springs are mounted for fingers and pistons. The housing has at the upper drive end end an annular groove which serves as a connecting element to a gripper drive. The gripping force of the gripper drive acting axially on the piston pushes the piston toward the base plate, whereby the fingers are displaced radially outwards and can grasp the workpiece. If no gripping force acts on the drive, the loosening of the gripper takes place via return springs mounted on the fingers, supported by return springs located between the base plate and the piston. The inner gripper according to the invention is characterized in addition to its simple design in particular by its great variability in terms of ease of adaptability to the inner contour and changing inner dimensions, d. H. the number of fingers can be easily changed by replacing the base plate or it can only be exchanged fingers and thus changed gripping surfaces on the fingers can be achieved. Due to the annular groove on the gripper housing for attachment on the drive side, an automatic gripper change from a gripper magazine is quick and easy, as a result of which considerable changeover times can be saved.