DD287220A5

DD287220A5 - CLOUD WITH TWO OPENING WIDTHS

Info

Publication number: DD287220A5
Application number: DD33191089A
Authority: DD
Inventors: Horst Groeger; Herbert Brodmann
Original assignee: Veb Forsch.,Entw. U. Rationalisierung D. Schwermasch.- U. Anlagenbaus,De
Priority date: 1989-08-18
Filing date: 1989-08-18
Publication date: 1991-02-21

Abstract

Die Erfindung betrifft einen Greifer fuer Industrieroboter, der durch Realisierung von wahlweise zwei Greifweiten fuer die Entnahme bzw. Beschickung von Werkstuecken zweier Baugroeszen von Werkstueckflachspeichern, auf denen diese mit geringem gegenseitigen Abstand positioniert sind, geeignet ist. Der Greifer besteht im wesentlichen aus einem Gehaeuse, in dem die Greiffingertraeger gefuehrt werden. Die Greifkraft wird durch Federn zwischen Gehaeuse und Greiffingertraeger aufgebracht. Das OEffnen und die Greifweiteneinstellung erfolgt ueber einen frei aufgehaengten Doppelzylinder, in den die an den Greiffingertraegern befindlichen Kolben eintauchen. Figur{Greifer; Greiffinger; Druckmittelantrieb; Greifweite; Doppelzylinder}The invention relates to a gripper for industrial robots, which is suitable by the realization of either two gripping distances for the removal or loading of workpieces of two Baugroeszen of Werkstueckflachspeichern on which they are positioned with low mutual distance. The gripper consists essentially of a housing in which the gripper fingers are guided. The gripping force is applied by springs between housing and gripper fingers. The opening and the gripping width adjustment are made via a freely suspended double cylinder into which the pistons located on the gripper fingers engage. FIG {gripper; Gripping fingers; Pressure fluid drive; Gripping width; Double cylinder}

Description

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

Die dazugehörige Zeichnung zeigt einen Längsschnitt durch einen druckmittelgetriebenen Zweifingergreifer für zwei Griffweiten. Wie aus der Figur ersichtlich, besteht der Greifer aus dem Gehäuse 8 mit Anschlußflansch zum Industrieroboter, in dem die Greiffingerträger mit den Kolben 2 und 3 geführt sind. Dazwischen befinden sich die Federn 6 und 7. Der Doppelzylinder 1, in dem die Kolben 2 und 3 mit unterschiedlichen Hublängen eintauchen, enthält die Druckmittelzulaufanschlüsse 4 und 5. Die Greiffinger 9 und 10 sind an den Greiffingerträgern 2 und 3 befestigt. Anstelle Hir gleichsteifen Federn 6 und 7 können auch zusammengesetzte Federsysteme verwendet werden.The accompanying drawing shows a longitudinal section through a pressure-medium-driven two-finger gripper for two grip widths. As can be seen from the figure, the gripper consists of the housing 8 with connecting flange to the industrial robot, in which the gripper fingers are guided with the pistons 2 and 3. In between are the springs 6 and 7. The double cylinder 1, in which the plungers 2 and 3 with different stroke lengths, contains the pressure medium inlet ports 4 and 5. The gripping fingers 9 and 10 are attached to the gripper fingers 2 and 3. Instead of Hir gleichsteifen springs 6 and 7 and composite spring systems can be used.

Im drucklosen Zustand ist der Greifer bei kleiner Greifweite geschlossen. Mit Druckbeaufschlagung des Kolbens 2 mit der kleineren Hublänge wird der Greifer bei kleiner Greifweite geöffnet, mit Druckbeaufschlagung des Kolbens 3 mit der größeren Hublänge wird die große Greifweite eingestellt, werden beide Kolben 2 und 3 beaufschlagt, ist der Greifer bei großer Greifweite geöffnet. Die Greiffingerträger mit den Kolben 2 und 3 verschieben sich dabei immer so, daß stets die Greiffinger 9 und 10 symmetrisch zur Greifermittelachse stehen. Die jeweilige Öffnungsweite ist konstrukt ν ι.η den Abstand zwischen den Werkstücken 11 und 12 angepaßt.When unpressurized, the gripper is closed with a small gripping distance. With pressurization of the piston 2 with the smaller stroke length of the gripper is opened at a small gripping width, with pressurization of the piston 3 with the larger stroke length, the large gripping width is set, both pistons 2 and 3 are applied, the gripper is open with a large gripping distance. The gripper carrier with the piston 2 and 3 always move so that always the gripping fingers 9 and 10 are symmetrical to the gripper central axis. The respective opening width is konstrukt ν ι.η adapted to the distance between the workpieces 11 and 12.

Claims

1. gripper with two opening, consisting of a housing with two pressure-medium-actuated gripper fingers, characterized in that in the housing (8) guided gripper (2.3) are acted upon by two identical springs (6,7) and to the gripper fingers arranged piston (2,3) in a housing (8) freely suspended double cylinder (1) dip.

2. Gripper according to claim 1, characterized in that the stroke lengths of the pistons (2,3) in the double cylinder (1) are formed differently according to the required gripper opening or gripping width adjustment.

For this 1 page drawing

Field of application of the invention

The invention relates to a gripper for industrial robots, in which either two different opening widths can be used.

Characteristic of the known state of the art

In industrial robotics, a variety of grippers and gripper systems are known, which are selected according to the respective handling task. For handling different sized workpieces are either simple gripper with a (maximum) opening width, gripper mi. programmable opening width, multiple gripper (double gripper or turret gripper) or gripper with automatically exchangeable gripping heads used. For the selective removal or loading of two different workpieces of flat pallets or similar workpiece stores, in which between the workpieces only little free space for the gripping fingers is present, the gripper must realize an opening corresponding to the respective workpiece. Grippers with only one opening width, where the different workpiece size leads to different closing distances, are not suitable for this because the gripper fingers can not reach the gripping position for both workpiece sizes. Known double gripper or revolver gripper such. As described in EP 0139857 and DD 240519, are suitable for these tasks, when the gripper pairs are arranged in different levels that they do not interfere with the gripping operation and are not paid by moving the gripper in the grip position. The expense of such grippers is quite large. Likewise, the high effort be! programmable grippers, such as in DE 3706500, DE 3640689, DE 3632151, DD 226511, DD 220820 or DD 227079, to be regarded as a disadvantage. Even with gripper changing systems, such. As in DD 231535 or EP 0154 227 the effort is disadvantageously high, especially as additional times are required for the head change.

Object of the invention

The aim of the invention is a simple and inexpensive gripper solution for the optional removal and loading of two different large workpieces of flat pallets using industrial robots.

Explanation of the essence of the invention

The object of the invention is a gripper for industrial robots, designed as a pressure medium driven operated two-finger gripper, optionally realized without additional control effort two different opening widths and thus remove or store two different sizes of workpieces / on workpiece storages. For each size a separate pallet should be used and the distances between the workpieces are to be chosen so that the positioning or gripper fingers fit between.

According to the invention, the object is achieved by a gripper, which is essentially formed from a housing with two pressure medium-driven Graiffingerträgern guided therein. The gripping force is applied by two equal stiff springs directly to the guided gripper fingers. On the gripper finger carriers are pressure medium pistons, which dive into a common, arranged in the housing but not fixed, double cylinder, the stroke length of the piston may be different according to the required gripper opening or gripping width adjustment. With actuation of a pressure medium piston, the gripper is opened, with actuation of the other pressure medium piston, the second gripping width is adjusted, with the gripping fingers always align symmetrically to the gripper center position due to the same stiff springs. The inventive gripper thus allows the optional open in two different opening widths without additional tax expense.