DD236047A1

DD236047A1 - GRIPPING HEAD WITH PARALLEL MOTION OF THE CLAIM

Info

Publication number: DD236047A1
Application number: DD27510485A
Authority: DD
Inventors: Harald Thoss; Mike P Hentschke; Ulrike Wolf; Olaf Wagner; Kristin Guenter
Original assignee: Berliner Bremsenwerk Veb
Priority date: 1985-04-12
Filing date: 1985-04-12
Publication date: 1986-05-28

Abstract

Die Erfindung betrifft die Ausgestaltung eines Greifkopfes fuer einen Manipulator zur Handhabung insbesondere prismatischer Teile kleiner, aber unterschiedlicher Abmessungen. Ziel der Erfindung ist die Senkung des Herstellungsaufwandes bei Gewaehrleistung einer universellen Einsetzbarkeit. Der Erfindung liegt die Aufgabe zugrunde, einen Greifkopf zu entwickeln, bei dem bei synchronem Bewegungsablauf der Greiferklauen ein exakt paralleles Angreifen beider Greifelemente auch bei unterschiedlicher Groesse der Teile bei stets gleichbleibender, auf das Teil wirkender Kraft der Greifelemente gesichert ist. Erfindungsgemaess wird die Aufgabe dadurch geloest, dass in dem aus Grund-, Zwischen- und Deckplatte bestehendem Greiferkopf, auf gleicher Ebene mit der Zwischenplatte zwei Klauen angeordnet werden, die an ihrem inneren, abgewinkelten Ende je einen Zylinderbolzen und eine Bohrung aufweisen, wobei die Bohrungen je eine Rundfuehrung aufnehmen, die Bestandteile eines Schiebers ist. Fig. 1The invention relates to the design of a gripping head for a manipulator for handling in particular prismatic parts smaller but different dimensions. The aim of the invention is to reduce the production costs while ensuring a universal applicability. The invention has for its object to develop a gripping head, is secured in the case of synchronous movement of the gripper claws exactly parallel engagement of both gripping elements even with different sizes of the parts with constant, acting on the part force of the gripping elements. According to the invention, the object is achieved by arranging two claws on the same plane with the intermediate plate in the gripper head consisting of base plate, intermediate plate and cover plate, each having a cylinder pin and a bore at its inner, angled end, wherein the holes each record a Rundfuehrung, which is part of a slider. Fig. 1

Description

Es zeigt sich folgende Anordnung:It shows the following arrangement:

Der Greifkopf besteht, wie in Figur 2 dargestellt, aus einer Grundplatte 1, die über ein Teil 16 Verbindung mit dem Linearantrieb 5 hat und eine Ausnehmung 17 zur Aufnahme einer Paßfeder 4 aufweist, aus einer U-förmigen Zwischenplatte, die von der Kolbenstange 11 des Linearantriebes 5 durchdrungen wird, sowie aus einer Deckplatte 3 mit einer Nut 10, die der Führung von Zylinderbolzen 9 dient. Die Zylinderbolzen 9 sind jeweils Bestandteil der beiden, auf gleicher Ebene, mit der Zwischenplatte 2 vorgesehen Klauen 7, an deren unteren, nach innen rechtwinklig geführten Enden 15 angeordnet, wobei die Enden 15 jeweils eine schräg nach innen geneigte angeordnete Bohrung 13 aufweisen. Diese Bohrungen 13 nehmen jeweils eine Rundführung 6 auf, die Bestandteil eines Schiebers 12 sind, der, verbunden mit der Kolbenstange 11 des Linearantriebes 5, unterdessen Kraftwirkung axial bewegbar ist. Die Neigung der Rundführungen 6 zueinander erfolgt in einem, nach Größe des Greiferkopfes und derAuslegung des Linearantriebes 5 jeweils unterschiedlichen, aber auf die jeweils gewählte Ausführung, bezogen, konkret definierten Winkel, der sich aus der Aufteilung der wirkenden Kraft in eine radial und eine axial wirkende Komponente ergibt. Es ergibt sich folgende Funktion:The gripping head consists, as shown in Figure 2, of a base plate 1, which has a part 16 connection with the linear drive 5 and a recess 17 for receiving a key 4, from a U-shaped intermediate plate of the piston rod 11 of the Linear drive 5 is penetrated, as well as from a cover plate 3 with a groove 10 which serves to guide the cylinder pin 9. The cylinder bolts 9 are each part of the two, on the same level, provided with the intermediate plate 2 jaws 7, arranged at the lower, inwardly guided at right angles ends 15, wherein the ends 15 each have an obliquely inwardly inclined arranged bore 13. These holes 13 each receive a circular guide 6, which are part of a slider 12 which, connected to the piston rod 11 of the linear drive 5, meanwhile force is axially movable. The inclination of the circular guides 6 to each other in one, according to the size of the gripper head and the design of the linear drive 5 respectively, but based on the selected version, based, specifically defined angle, resulting from the division of the acting force into a radially and an axially acting Component results. The result is the following function:

Beaufschlagt durch die vom Linearantrieb 5 ausgehende, über die Kolbenstange 11 wirkende Kraft bewegt sich der Schieber 12 in axialer Richtung, gleitet mit den Führungsflächen 14 der Rundführungen 6 in den Bohrungen 13 der Enden 15 der Klauen 7 und bewirkt durch die radial wirkende Komponente der Kraft eine gleichzeitige, parallele Bewegung der Klauen 7 nach außen, wobei diese Bewegung, zwangsgeführt durch die Zylinderbolzen 9 in der Nut 10 der Deckplatte 3, zur Öffnung der Klauen 7 und damit zu der in Figur 1 dargestellten Stellung führt.Pressed by the outgoing from the linear drive 5, acting on the piston rod 11 force, the slider 12 moves in the axial direction, slides with the guide surfaces 14 of the circular guides 6 in the holes 13 of the ends 15 of the jaws 7 and caused by the radially acting component of the force a simultaneous, parallel movement of the jaws 7 to the outside, said movement, forcibly guided by the cylinder pin 9 in the groove 10 of the cover plate 3, to the opening of the jaws 7 and thus to the position shown in Figure 1.

Die Aufnahme des Teiles 18 wird dadurch erreicht, daß durch die Rückführung der Kolbenstange 11 in den Linearantrieb 5 eine Bewegung des Schiebers 12 radial nach unten erfolgt, diese wird über die Rundführung 6 und die Bohrungen 13 auf die Klauen 7 übertragen, die dadurch, wiederum zwangsgeführt über die Zylinderbolzen 9 in der Nut 10 gleichzeitig und parallel mit den Greifelementen 8 das Teil 18 erfassen. Dies erfolgt über die gesamte Fläche der Greifelemente 8, bedingt durch die während der gesamten Bewegung stabile Stellung der Klauen 7 in einem Winkel zueinander, mit stets gleichbleibender definierter Kraft.The inclusion of the part 18 is achieved in that by the return of the piston rod 11 in the linear drive 5, a movement of the slider 12 is radially downwards, this is transmitted through the circular guide 6 and the holes 13 on the jaws 7, thereby, in turn positively guided via the cylinder pin 9 in the groove 10 at the same time and in parallel with the gripping elements 8 detect the part 18. This is done over the entire surface of the gripping elements 8, due to the stable during the entire movement position of the jaws 7 at an angle to each other, with always the same defined defined force.

Claims

Invention claim:

1. gripping head with parallel movement of the jaws in synchronous movement and always constant acting on the gripping elements force, characterized in that the gripping head of a, via a part (16) with a linear drive (5) base plate connected (1), a U-shaped , Interposed by a piston rod (11) intermediate plate (2), a cover plate (3) and arranged in a plane with the intermediate plate (2) claws (7), the claws (7) at its inner, inwardly unwound end (15) each cylinder pin (9) which engage in a groove (10) of the cover plate (3), and bores (13), the circular guides (6) of a by the piston rod (11) acted upon slide (12) record, have, wherein the circular guides (6) and symmetrically to the holes (13) at a defined angle (α) are inclined inwardly towards each other.

2. Gripping head according to item 1, characterized in that the angle (α), depending on the size of the gripping head and the design of the linear drive (5), is defined by the resulting in the division of the acting Kraftsich radial and axial components.

For this 1 page drawings

Field of application of the invention

The invention relates to the design of a gripping head for a manipulator for use in handling insbesonderer prismatic parts of small but different dimensions of machine tools.

Characteristic of the known technical solutions

In certain applications, it is necessary that the prismatic part to be manipulated by the gripping head is detected with an always constant force of the gripping elements and an always parallel engagement of the gripping elements must be ensured with secure synchronous movement. In this case, the gripping head should be used for parts of different dimensions.

Solutions are known in which a parallel gripping is secured with synchronous movement sequence, but where the acting force is different in the individual phases of movement. Examples show the DE 2257609 and 2937061, but which are complicated in structure and susceptible to interference by their complicated lever systems and the high number of pivot points in the function. Another example shows the SU 848353, which is relatively simple in construction, but in which must be set via an adjusting pin, the gripping elements on each part to be detected. Also known are solutions that work in parallel with synchronous workflow with always the same force of the gripping elements. An example shows the SU 1 068281, in which the movement is controlled by a curved element, to ensure the parallel movement and always the same force but additional lever elements and springs are provided, the thus. lead to increased design effort.

Object of the invention

The object of the invention is to develop a gripper head with parallel movement of the claws, which requires low production costs through simple structure, but is safe in the function.

Explanation of the essence of the invention

The invention is based on the object, taking into account the objective to ensure a simple structure with low production costs to develop a gripping head for a manipulator, in which synchronous movement of the gripper claws exactly parallel engagement of both gripping elements of prismatic parts mainly even with different sizes the parts is secured at constantly consistent, acting on the part force of the gripping elements.

According to the invention the object is achieved in that in the gripper head, consisting of base, intermediate and cover plate, two claws are arranged on the same plane with the intermediate plate at its lower, located within the gripper, angled end ever a cylinder pin and a bore have, wherein the holes each receive a circular guide, which is part of a, by a feather key on its underside loaded by the piston rod of a linear actuator movable slide. In this case, the circular guides extend at a defined angle to each other, which results from the division of the force acting on the slide force into a radial and an axial component, but it is crucial for a force that always occurs uniformly on the gripping elements.

embodiment

The invention will be explained below with reference to an embodiment. Show it:

Figure 1: Top view of the solution according to the invention without printing plate
FIG. 2: side view of the solution according to the invention