DD225383A1 - GRIPPING HEAD TO ROTATE WORKPIECES - Google Patents

Abstract

Contents of the invention is a gripping head for turning workpieces, preferably for workpieces with rotationally symmetrical Mantelflaeche for outreaching or prismatic and rotationally symmetrical workpieces with a receiving bore for internal gripping, for handling by industrial robots or manipulator for the advantageous realization of handle operations, in which a defined further rotation Turning the gripped workpiece about its axis of rotation also for grippers is possible, which have gripped the workpieces for objective reasons perpendicular to the axis of rotation. According to the invention, the gripping head is formed using a known parallel gripping gripper gripper by two rotatably mounted cylindrical rollers of the same diameter are arranged on the gripper fingers, wherein at least one of these rolling bodies by a regulated drive system which is attached to the gripper or robot arm, driven.

Description

Title of the invention

Gripping head for turning workpieces

Field of application of the invention

The invention relates to a gripping head for rotating workpieces, he preferably for workpieces with rotationally symmetrical lateral surface for Auflengreifen or prismatic and rotationally symmetrical workpieces with a receiving bore for internal gripping, for handling by means of industrial robots for the advantageous realization of handle operations, in which a defined continued turning or Turning the gripped workpieces around their axis of rotation is also possible for grippers that have gripped the workpieces for objectively necessary reasons perpendicular to the axis of rotation.

Characteristic of the known technical solutions

5 Known are the most diverse grippers for industrial robots, which are used to handle workpieces in a variety of work tasks. A rotation of the thereby gripped by the gripper workpieces about its axis of rotation is previously possible only in the grippers, which have gripped the workpieces coaxial with the axis of rotation and either rotatably mounted on the industrial robot about the axis of rotation or have its own rotary drive on the gripper.

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In grippers, which grip the workpieces perpendicular to the axis of rotation, turning these workpieces about their axis of rotation is not possible in the gripped state. If it is necessary to rotate such workpieces, it is either necessary to deposit the workpieces and to grasp them again from another position in order to obtain the required rotation or the gripped workpiece must be deposited on an additional turning device. But all these measures have the disadvantage that the workpiece must be handled several times with the industrial robot or additional expensive turning devices are necessary.

Object of the invention

The aim of the invention is a gripping head for rotating workpieces, preferably for workpieces with rotationally symmetrical

/] c lateral surface or prismatic and rotationally symmetrical workpieces with a receiving bore for internal gripping, to develop for handling by industrial robots, which allows the defined turning of workpieces, which are perpendicular to the axis of rotation, allowed to urn perpendicular to the axis of rotation gripped workpieces during assembly operations , z. B. spindles, gripped workpieces between individual operations by defined amounts v / eiterzudrehen and then make on the circumference of the workpieces Montagingsgangs or cutting operations or other reasons to bring the workpieces in a different position.

This extends the range of application of the gripper, saves handling operations of the industrial robot and reduces the handling time and complex designs for screw-in units and rotary units are used.

Explanation of the essence of the invention

The invention is based on the object, using a known gripper gripper with parallel grippers a gripping head for rotating workpieces, preferably for workpieces with rotationally symmetrical lateral surface for external gripping or

To develop prismatic and rotationally symmetric workpieces with a receiving bore for internal gripping, for handling by means of industrial robots, which allows the defined turning perpendicular to the axis of rotation gripped workpieces. According to the invention the object is achieved in that two rotatably mounted cylindrical roller bodies of the same diameter are symmetrically arranged so that these four rolling elements axially form a common axis of symmetry between the gripper tongs to each gripper finger of the forceps gripper. "At least one of the four rolling elements is designed as a drive roller and driven by a suitable controllable drive system mounted directly on the gripper or on the robot arm The transmission of the rotational movement from the drive system to the drive roller can be achieved via a flexible drive shaft, through a worm shaft with worm drive.

\ 5 wheel or via a link chain or a toothed belt. This driven rolling body is advantageously coated on the cylindrical circumference with a surface covering, which makes the drive roller grip. The other three rolling elements are easily rotatably mounted on the gripper fingers that they take a certain distance from the gripper fingers axially. Between the two rolling bodies of a gripper finger, it is prismatically recessed, so that the gripped rotationally symmetric parts do not touch the gripper finger and are only carried by the rolling bodies.

When gripping a rotationally symmetrical workpiece, the four rolling bodies of the gripper fingers lie evenly against the workpiece. The same applies to the internal gripping of workpieces with a receiving bore. Due to the smooth rotatable mounting of the rolling elements, the drive roller is set into rotary motion when the regulated drive is switched on, thereby rotating the gripped workpiece about its axis. The rotation of the workpiece takes place until the drive shuts off. The braking process is accelerated by a brake coupling flanged to the drive motor. This makes it possible to continue to rotate the workpiece by precisely defined angular amounts.

- 4 embodiment

The invention will be explained in more detail with reference to an embodiment with several possible drive variants.

It shows

Fig. 1: - Robot arm with flanged on the wrist gripping head for turning workpieces

Fig. 2: - Robot arm with flanged on the wrist gripper head, 90 ° twisted

Fig. 3: - Gripper fingers with rolling bodies

Fig. 4: - Gripper fingers with drive of the drive roller via a flexible drive shaft, sectional view

Fig. 5: - Gripper fingers with drive of the drive roller via PTO shaft and worm drive

Fig. 6: - Gripper fingers with drive of the drive roller via worm drive, sectional view

Fig. 7: - Gripper fingers with drive of the drive roller via toothed belt drive

Fig. 3: - Gripper fingers with drive of the drive roller toothed belt drive, sectional view

Fig. 9- - tensioning pulley for toothed belt drive

In detail, the erfingungsgemäße gripping head for turning workpieces for handling by industrial robots according to Fig. 1, 2, 3 and 4 was performed as follows: On the wrist 1 of an industrial robot 2, a parallel clamp gripper 3 is flanged. Become through two pick-up bolts A-

taken from below to a gripper finger 5 each a radial ball bearing 6 of the same size at a certain distance from each other, held by a spacer sleeve 7 from the gripper fingers 5 at a distance, so that the outer ring 8 of the radial ball bearing 6 is free to rotate. By a washer 9 and two Plachmuttern 10, the receiving bolt k is firmly screwed on the gripper fingers 5 and countered. On the gripper finger 11 is a mirror image of the gripper finger 5, a same radial ball bearing 5 via locating bolt 4, spacer 7, washer 9 and Plachmuttern 10 attached. Instead of the rear radial ball bearing 5 on the gripper finger 5, a drive roller 12 of the same outer diameter and the same width as the radial ball bearing δ is attached to the gripper finger 11. This drive roller 12 is received via a radial ball bearing 13 in the gripper finger 11 and secured axially via a shaft lock ring 14 and a bore lock ring 15. At the uppermost shaft journal 15 of the drive roller 12, a thread is attached to which a flexible drive shaft 17 is attached.

The radial deep groove ball bearings δ and the drive roller 12 of the gripper fingers 5 and 11 form a horizontal plane and can be coated on its periphery for better grip with an elastic coating. On the robot arm 13, a controllable drive system 19 is attached, for. B. a stepper motor to which the other end of the flexible working shaft 17 is coupled. The gripper fingers 5 and 11 are each prismatically recessed on the inner sides between the radial ball bearings δ and between radial ball bearing 6 and drive roller 12 that when gripping a rotationally symmetrical workpiece 20 whose cylindrical surface remains freely rotatable.

For very large grippers, the controlled drive system 19 can also be coupled directly to the drive roller 12. In Fig. 5 and 6, the possibility of the drive is represented by a worm gear. In this case, the controllable drive system 19 is attached to the gripper housing 3. A worm wheel 21 is non-positively connected to the shaft journal of the drive roller 12 and the worm shaft 22 is split into two radial ball bearings.

stock stored in a pivotable about the drive roller axle bearing block. Via a propeller shaft 25, the worm shaft 22 is connected to the drive system 19.

In Figs. 7, 8 and 9, the possibility of the drive is shown by a toothed belt. On the shaft journal of the drive roller 12, a pinion 27 is fixedly mounted. In this pinion 27 engages a toothed belt 28, which is connected to pinion 29 of the drive system 19 and to the pinion 32 of a tensioning bracket with torsion spring.

Claims (7)

- 7 claim for invention 1. Gripping head for rotating workpieces, preferably for workpieces with rotationally symmetrical lateral surface for external engagement and prismatic and rotationally symmetrical workpieces with a receiving bore for internal gripping, which allows the defined rotation perpendicular to the rotation axis gripped workpieces and attached using a wrist of an industrial robot or manipulator, Preferably, parallel gripping tongs gripper is formed, characterized in that on each gripper finger of the pliers gripper two rotatably mounted cylindrical rolling bodies of the same diameter are arranged symmetrically so that these four rolling axially form a common axis of symmetry between the gripper fingers and at least one rolling body via a variable drive system, the attached to the gripper or robotic arm is driven. 2. gripping head according to item 1, characterized in that the passive rolling bodies are designed as radial ball bearings and are advantageously coated on the cylindrical outer circumferential surface with an elastic coating. 3. gripping head according to item 1 and 2, characterized in that the radial ball bearings of the passive rolling body mounted on a respective locating pin on the gripper fingers and held by a spacer sleeve at a distance from the gripper finger v / ground. 4. gripping head according to item 1, 2 and 3, characterized in that on the inside of the gripper fingers, symmetrically between the rolling bodies, a prismatic recess is mounted so that the rolling bodies protrude at this point with their outer diameter on the gripper fingers. 5. gripping head according to item 1, characterized in that at least one rolling body is designed as a drive roller which is radially mounted on a deep groove ball bearing in the gripper finger and coupled to the drive roller via a passing through the gripper finger shaft journal to a flexible drive shaft, which is connected to a controlled drive, which is attached to the robot arm is connected. δ. Gripping head according to item 1, characterized in that a worm wheel is fixedly arranged on the shaft journal of the drive roller, in which a worm shaft engages, wherein the worm shaft is mounted with two radial ball bearings radially in a pivotable about the drive roller bearing block and by means of a propeller shaft with a variable drive system , which is attached to the gripper housing is connected. 7. gripping head according to item 1, characterized in that on damper shaft of the drive roller, a pinion is fixedly mounted, in which engages a link chain or a toothed belt, which is arranged on a pinion of a controlled drive system, which is arranged on the gripper housing and a clamping bracket Pinion, which is stretched by a torsion spring, runs This includes 9 pages drawings