DE102016221606A1 - Gripping and transport device with linear drive - Google Patents

Abstract

The present invention relates to a gripping and transporting device for gripping and transporting an article, comprising a first moving element (11), a second moving element (12), a third moving element (13) and a fourth moving element (14) arranged in series a gripper tongs (2) having a first gripper finger (21) and a second gripper finger (22), wherein the movement elements (11, 12, 13, 14) are arranged to be moved individually by means of a linear drive (3), the second one and third movement elements (12, 13) between the first and fourth movement element (11, 14) are arranged, wherein the second and third movement element are fixedly coupled to each other, wherein the first gripper finger (21) by means of a connecting element (4) with the second and or third movement element is connected, wherein the connecting element (4) with the first movement element (11) via a first lever arrangement (5) is connected, which rotatably a m first movement element (11) and rotatably on the connecting element (4) is articulated, and wherein the second gripping finger (22) on a second lever arrangement (6) is arranged, wherein the second lever arrangement (6) is pivotally articulated on the connecting element (4) and is connected to the fourth movement element (14).

Description

State of the art

The present invention relates to a gripping and transporting device for gripping and transporting an article with a linear drive.

For example, transport devices for conveying an object are known from the prior art, which are moved by means of a linear drive. This shows the DE 102013202674 A1 a transport device which has along a carrier web a plurality of individually controllable induction coils. Movably arranged conveying elements, which have at least one permanent magnet in operative connection with the induction coils, are provided on the carrier track. It is proposed to use two adjacent conveying elements by a relative movement of the conveying elements to each other for energy generation and energy storage. Furthermore, from the WO 2015/128113 A1 a device for transporting containers within insulator machines known. The device comprises a gripper which is arranged in the insulator space and can grip preforms or containers or the like. Furthermore, conventionally driven electro-mechanical or pneumatic multi-axis systems for horizontal and vertical method and manipulation of a gripping system are also known. However, these are often very complex and therefore very expensive and also prone to failure. In particular, expensive power transmission chains or the like must be provided for power supply and due to wear, the precision of gripping and transporting over the life is getting worse. It would therefore be desirable to have a gripping and transport device which does not have the disadvantages described.

Disclosure of the invention

The gripping and transport device according to the invention for gripping and transporting an article with the features of claim 1 has the advantage that a fault-tolerant and inexpensive gripper system can be provided with a fixed and only one movable gripping element. A high positioning accuracy is achieved by a backlash-free drive system. This also allows a significant increase in system rigidity and positioning accuracy. The device according to the invention can be operated with very little wear and, in addition to a very compact construction, also has a relatively small moving mass. As a result, even highly dynamic acceleration processes can be implemented easily. The device according to the invention is largely insensitive to contamination and can be provided more cost-effectively than comparable conventional systems. Furthermore, the device according to the invention has lower noise emissions even with highly dynamic acceleration processes and high travel speeds. This is inventively achieved in that the gripping and transport device comprises at least four moving elements or running elements (movers), which are arranged in series. In this case, a first movement element, a second movement element, a third movement element and a fourth movement element are arranged in series. Furthermore, a gripping tongs with a first and a second gripping fingers is present. The movement elements are set up to be moved individually by means of a linear drive. These include both acceleration and deceleration processes. The movement elements are arranged such that the second and third movement element between the first and fourth movement element are arranged. Here, the second and third movement element are firmly coupled together. Thus, one of the second or third movement elements is preferably unpowered. Furthermore, the first gripping finger is connected by means of a connecting element with the second and / or third movement element. The connecting element is connected to the first movement element via a first lever arrangement. The first lever arrangement is rotatably mounted on the first movement element and rotatably articulated on the connection element. Further, the second gripping finger is arranged on a second lever arrangement, wherein the second lever arrangement is pivotally articulated on the connecting element and is connected to the fourth movement element. Thus, a gripping and transport device can be provided by the individually controllable movement elements, in which the first gripper finger is fixedly arranged on a connected to the second and third movement element connecting element and the second gripping fingers by relative movement of the first and / or fourth movement element relative to the second and third movement element and the first gripping finger is movable.

The dependent claims show preferred developments of the invention.

Preferably, the second gripping finger has an involute curved path on a contact side directed towards the object. As a result, a motion scheme can be imposed on the movable gripper finger without transverse force. For reliable gripping or holding the object during power failure, the second lever assembly is preferably biased. The bias becomes special preferably provided by means of a permanent magnet spring.

More preferably, the device comprises a guide member, which is arranged on the second and / or third movement element. The connecting element is guided vertically in the guide member. In this way, in particular, a stroke can be carried out by means of the device.

Particularly preferably, the guide component is arranged between the second and third movement element. The guide component more preferably takes over a coupling of the second and third movement element with each other. The connecting element is preferably guided by means of a guide rod in the guide component.

In order to enable a safe movement of the second gripping element, the first lever arrangement preferably comprises a first and a second lever. The two levers are each arranged laterally on the first movement element on opposite sides and are articulated on opposite sides on the connecting element.

More preferably, the second lever arrangement comprises a third and a fourth lever, which are articulated laterally on the fourth movement element.

In order to determine dimensions of the object to be conveyed or additionally to obtain information regarding the object to be conveyed, a control unit is preferably provided which is set up based on a first distance of the third movement element to the fourth movement element a geometric dimension of the object, in particular a diameter of a cylindrical object, to determine which is between the gripper fingers.

Preferably, the control unit is set up in which to generate from the measured geometric dimension of an object a correspondingly corrected position setpoint for the fixed storage position.

More preferably, the second lever arrangement comprises a second involute curve path, which is in contact with the biasing element, to specify a movement of the second lever arrangement.

In order to achieve the most cost-effective design, the first to fourth movement element are each designed identical.

A particularly safe movement is made possible when the linear drive comprises a running rail with an X-shaped cross-sectional profile. Particularly preferably, the housing of each movement element has a U-shape.

list of figures

• 1 eine schematische, perspektivische Ansicht einer Greif- und Transportvorrichtung gemäß der vorliegenden Erfindung,
• 2 eine schematische, perspektivische Ansicht eines Bewegungselements von 1,
• 3 eine schematische Prinzipdarstellung der Greif- und Transportvorrichtung beim Greifen eines Gegenstands mit kleinem Durchmesser und
• 4 eine schematische Prinzipdarstellung der Greif- und Transportvorrichtung beim Greifen eines anderen Gegenstands mit großem Durchmesser.

Hereinafter, a preferred embodiment of the invention will be described in detail with reference to the accompanying drawings. In the drawing is:

• 1 a schematic, perspective view of a gripping and transporting device according to the present invention,
• 2 a schematic, perspective view of a moving element of 1 .
• 3 a schematic diagram of the gripping and transporting device when gripping a small diameter object and
• 4 a schematic diagram of the gripping and transporting device when gripping another article with a large diameter.

Embodiment of the invention

The following is with reference to the 1 to 4 a gripping and transport device 1 according to a preferred embodiment of the invention described in detail.

How out 1 it can be seen comprises the gripping and transporting device 1 exactly four movement elements (movers), namely a first movement element 11 , a second movement element 12 , a third movement element 13 and a fourth moving element 14 ,

The gripping and transport device 1 further comprises a linear drive 3 with a substantially horizontal track 30 , in which not shown coils, which are individually controllable, are integrated, and permanent magnets 31 , wherein a plurality of permanent magnets 31 at each of the movement elements 11 . 12 . 13 . 14 is arranged (see 2 ).

As in 1 at the lower part of the track 30 can be seen, an X-shaped cross-sectional profile is provided on which the individual movement elements run. The movement elements in this case have a plurality of rollers 15 on. As a result, a positive play-free connection between the running rail and the moving elements is achieved and the moving elements 11 . 12 . 13 . 14 are stored without play.

Acceleration forces and deceleration forces can be achieved via the electromagnetic coupling between the coils and the permanent magnets 31 at the movement elements 11 . 12 . 13 . 14 be generated. Preferably, a current position of each movement element 11 . 12 . 13 . 14 in this case an absolute multi-position measuring system, which in the track 30 is integrated and to which at each movement element a signal element 32 is arranged provided.

Each movement element has a U-shaped housing 16 on, on which the rollers 15 and the permanent magnets 31 are arranged. In order to limit one degree of static overdetermination of mechanically coupled movement elements and to avoid additional bearing loads on the rollers, the movement elements can each be gimballed with two interfaces each. Furthermore, preferably spherical discs and conical pans or the like can be arranged at the frontal contact points between adjacent movement elements. As a result, especially cornering of the movement elements are facilitated.

According to the invention are now the second moving element 12 and the third moving element 13 between the first and fourth movement element 11 . 14 arranged in a row. In this case, the second and third movement element are firmly coupled together. In this embodiment, this is a guide member 8th provided, which the second and third movement element 12 . 13 firmly coupled with each other.

Furthermore, a connecting element 4 provided, which via a vertical guide rod 80 with the guide component 8th connected is. The connecting element 4 is characterized the second and third movement element 12 . 13 connected, but can a vertical stroke perpendicular to the track 30 relative to the second and third movement element.

The gripping and transport device 1 further comprises a grasping forceps 2 with a first gripper finger 21 and a second gripper finger 22 , How out 1 is apparent, is the first gripper finger 21 firmly on the connecting element 4 arranged. The second gripper finger 22 is pivotable on the connecting element 4 arranged and can with respect to the first gripper fingers 21 to be moved.

The connecting element 4 is with the first movement element 11 via a first lever arrangement 5 connected. The first lever arrangement 5 includes a first lever 51 and a second lever 52 , How out 1 it can be seen, the two levers 51 . 52 laterally on the first movement element 11 hinged and also on the side of the connecting element 4 hinged.

The second gripper finger 22 is with a second lever arrangement 6 connected, wherein the second lever arrangement 6 pivotable on the connecting element 4 is articulated and with the fourth movement element 14 over a third lever 63 and a fourth lever 64 is connected (see 1 ).

With this structure, it is possible that a functional principle of the gripping and transport device according to the invention 1 is traceable to a relative movement between the movement elements. The principle of operation is particularly with reference to the 3 and 4 seen. Here are the second and third movement element 12 . 13 together with the guide component 8th and the connecting element 4 an axis (Z-axis) of the gripper system.

As a second distance A between the first moving element 11 and the second moving element 12 and a first distance B between the third moving element and the fourth moving element is variable, thereby a stroke of the connecting element 4 in the Z direction and an opening and closing of the gripper tongs 2 be achieved.

Here, the lifting and lowering operations are on the one hand by the coupling of the first moving element 11 with the connecting element 4 realized and closing and opening the tongs 2 is about the coupling of the second gripper finger 22 with the fourth movement element 14 realized.

The 3 and 4 illustrate the operation of the gripping and transport device according to the invention 1 , By increasing the second distance A in the running direction between the first moving element 11 and the second moving element 12 will be a lifting of the connecting element 4 and thus also a lifting of the gripping tongs 2 reached reached object. When the second distance A is shortened, a lowering of the connecting element 4 and thus also the gripper 2 with the first object grasped 20 reached. This is achieved by the coupling of the first movement element 11 over the first lever arrangement 5 with the connecting element 4 allows.

By changing the first distance B between the third movement element 13 and the fourth moving element 14 will close the tongs 2 or an opening of the gripping tongs 2 allows. The second gripper finger 22 is with the second lever arrangement 6 connected, which pivotally at a pivot point 17 on the connecting element 4 is arranged. A permanent magnet spring 7 puts a bias on the movable second gripper fingers 22 ready so during the Transports the object 20 safely between the gripper fingers 21 . 22 can be held. The direction of movement is in 3 indicated by the arrow X. A release of the object 20 takes place by shortening the first distance B between the third movement element 13 and the fourth moving element 14 ,

4 shows the gripping of a second object 20 ' with a larger diameter. Here is the permanent magnet spring 7 more compressed, as in 4 indicated schematically.

The coupling of the second and third movement element 12 . 13 together with the connecting element 4 thus allows a secure gripping and releasing objects by a relative movement of the first and fourth movement element 11 . 12 opposite the second and third movement elements 12 . 13 ,

It should be noted that the fixed first gripper finger 21 is preferably designed as a format part and changeable on the connecting element 4 is arranged. Because the first lever arrangement 5 and the second lever assembly 6 each comprise two levers, an undesirable introduction of torques about the Z axis is avoided.

To avoid transverse forces, the force introduction points on the movable second gripper fingers 22 with a first involute curve 41 and on the second lever assembly 6 on the permanent magnet spring 7 provided with a second involute curved path. Furthermore, at the connection region of the second lever arrangement 6 on the fourth movement element 14 a third involute curved path 43 be provided, which against a role 114 on the fourth movement element 14 running.

The permanent magnet spring 7 ensures that a spring force is essentially constant regardless of the spring travel. Further, even in the presence of a power failure, it can be ensured that the object 20 Reliable in the closed gripping tongs 20 remains.

Furthermore, it is possible according to the invention to provide a control unit which is set up, based on the first distance B between the third and fourth movement element 13 . 14 to determine a geometric dimension of the object to be gripped, in particular in cylindrical objects a diameter of the object 20 ,

Deviations from the theoretical nominal diameter and the resulting falsification of the storage position can be compensated by a corresponding correction of the position setpoint when depositing.

Thus, the gripping and transport device according to the invention 1 only a movable gripping finger, wherein a gripping operation and a release operation can be achieved only by changes in distances between the movement elements. This can of course also during a ride on the track 30 done by the second and third coupled motion elements 12 . 13 be moved at a constant speed and the first and fourth movement elements 11 . 14 be moved at a different speed or alternatively by the first and fourth moving elements are moved at a constant speed and the second and third moving elements are moved at a different speed.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102013202674 A1 [0002]
• WO 2015/128113 A1 [0002]

Claims (12)

Gripping and transporting device for gripping and transporting an article, comprising: a first movement element (11), a second movement element (12), a third movement element (13) and a fourth movement element (14), which are arranged in series, - a gripping tongs (2) with a first gripper finger (21) and a second gripper finger (22), - wherein the moving elements (11, 12, 13, 14) are arranged to be moved individually by means of a linear drive (3), - Wherein the second and third movement element (12, 13) between the first and fourth movement element (11, 14) are arranged, - Wherein the second and third movement element are fixedly coupled together, wherein the first gripping finger (21) is connected to the second and / or third movement element by means of a connecting element (4), - wherein the connecting element (4) with the first movement element (11) via a first lever assembly (5) is connected, which is pivotally connected to the first movement element (11) and rotatably mounted on the connecting element (4), and - Wherein the second gripping finger (22) on a second lever arrangement (6) is arranged, wherein the second lever arrangement (6) is pivotally articulated on the connecting element (4) and is connected to the fourth movement element (14). Device after Claim 1 wherein the second gripping finger (22) has a first involute curve path (41) on a contact side facing the object (20). Device according to one of the preceding claims, wherein the second lever arrangement (6) is biased by means of a biasing means. Device after Claim 3 wherein the biasing means comprises a permanent magnet spring (7). Device according to one of the preceding claims, further comprising a guide member (8) which is arranged on the second and / or third movement element (12, 13) and in which the connecting element (4) by means of a guide rod (80) or the like is guided vertically. Device after Claim 5 wherein the guide member (8) is disposed between the second and third moving members (12, 13). Device according to one of the preceding claims, wherein the first lever arrangement (5) has a first lever (51) and a second lever (52) which are each arranged laterally pivotable on the first movement element (11). Device according to one of the preceding claims, wherein the second lever arrangement (6) has a third lever (63) and a fourth lever (64), each of which is arranged laterally pivotable on the fourth movement element (14) or by means of a third involute curve path and a roller or the like on the fourth movement element (14) are arranged. Device according to one of the preceding claims, further comprising a control unit, which is set up, based on a first distance (B) of the third movement element (13) to the fourth movement element (14) a geometric dimension of an object (20), in particular a diameter of a cylindrical Item to determine which is in the tongs (2). Device after Claim 9 wherein the control unit is set up to generate from the measured geometrical dimension of an object (20) a correspondingly corrected position setpoint value for the fixed storage position. Device after Claim 3 or 4 wherein the second lever arrangement (6) has a second involute curved path (42) which is in communication with the biasing element. Device according to one of the preceding claims, wherein the movement elements (11, 12, 13, 14) are identical.

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