DE20017129U1 - Modular gripper system for use in the body shop of the automotive industry - Google Patents

Modular gripper system for use in the body shop of the automotive industry

Info

Publication number
DE20017129U1
DE20017129U1 DE20017129U DE20017129U DE20017129U1 DE 20017129 U1 DE20017129 U1 DE 20017129U1 DE 20017129 U DE20017129 U DE 20017129U DE 20017129 U DE20017129 U DE 20017129U DE 20017129 U1 DE20017129 U1 DE 20017129U1
Authority
DE
Germany
Prior art keywords
centering
positioning
gripper system
grid
modular gripper
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE20017129U
Other languages
German (de)
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tuenkers Maschinenbau GmbH
Original Assignee
Tuenkers Maschinenbau GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tuenkers Maschinenbau GmbH filed Critical Tuenkers Maschinenbau GmbH
Priority to DE20017129U priority Critical patent/DE20017129U1/en
Publication of DE20017129U1 publication Critical patent/DE20017129U1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/003—Combinations of clamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/38—Connections for building structures in general
    • E04B1/58—Connections for building structures in general of bar-shaped building elements
    • E04B1/5825—Connections for building structures in general of bar-shaped building elements with a closed cross-section
    • E04B1/5837—Connections for building structures in general of bar-shaped building elements with a closed cross-section of substantially circular form
    • E04B1/585—Connections for building structures in general of bar-shaped building elements with a closed cross-section of substantially circular form with separate connection devices
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
    • E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
    • E04B1/38—Connections for building structures in general
    • E04B1/58—Connections for building structures in general of bar-shaped building elements
    • E04B2001/5875—Connections for building structures in general of bar-shaped building elements using exterior clamping plates or shells

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Clamps And Clips (AREA)

Description

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßtThe description text was not recorded electronically

Claims (5)

1. Modular aufgebautes Greifersystem zur Verwendung im Karosseriebau der Kfz-Industrie, dem vorzugsweise ein Verbindungsteil zum Ankuppeln an einen Roboterarm oder dergleichen zugeordnet ist, und an das be­ darfsweise jeweils eine oder mehrere gleiche oder unterschiedliche Vor­ richtungen wie zum Beispiel Kniehebelspannvorrichtungen (4), Zentner­ dorne, Sauger, Sensoren, Schweißvorrichtungen oder dergleichen ange­ ordnet sind, mit mindestens einem an seiner Außenmantelfläche zylin­ drisch ausgebildetem Rasterrohr (2, 3, 6, 7, 8, 9), dem jeweils eine oder mehrere, insbesondere zweiteilige, kraftschlüssig an dem betreffenden Rasterrohr (2, 3, 6, 7, 8, 9) angeordnete Klemmschellen (5) zum Positio­ nieren und Halten der betreffenden Vorrichtungen (4) zugeordnet sind, wobei das Rasterrohr (2, 3, 6, 7, 8, 9) eine Mehrzahl oder Vielzahl von über seine zylindrische Mantelfläche in einem Raster angeordnete Zen­ trier- und Positionierbohrungen (11, 12, 13, 14) aufweist, von denen wahlweise eine der Zentrier- und Positionierbohrungen (11, 12, 13, 14) mit einer in einem oder in mehreren der Klemmschellenteile (5) angeordneten Gegenzentrier- und Positionierbohrung koaxial zur Deckung bringbar ist, und diese Lage wenigstens bis zum kraftschlüssigen Verbinden der betreffenden Klemmschelle (5) durch einen Absteckdorn oder einen Zentrierstift (15), der paßgerecht nach der vorliegenden Betriebsbedin­ gung in die ausgewählte Zentrier- und Positionierbohrung (11, 12, 13, 14) einerseits und die entsprechende Gegenzentrier- und Positionierbohrung andererseits eingreift und dadurch die betreffende Vorrichtung (4) in Bezug auf das betreffende Rasterrohr (2, 3, 6, 7, 8, 9) genau positioniert.1. Modular gripper system for use in body construction in the motor vehicle industry, which is preferably assigned a connecting part for coupling to a robot arm or the like, and to which one or more identical or different devices such as, for example, toggle lever clamping devices ( 4 ) may be used, Hundreds of mandrels, suction cups, sensors, welding devices or the like are arranged with at least one grid tube ( 2 , 3 , 6 , 7 , 8 , 9 ) formed cylindrically on its outer circumferential surface, each of which has one or more, in particular two-part, non-positive on the The relevant grid tube ( 2 , 3 , 6 , 7 , 8 , 9 ) arranged clamps ( 5 ) for positioning and holding the relevant devices ( 4 ) are assigned, the grid tube ( 2 , 3 , 6 , 7 , 8 , 9 ) a plurality or a plurality of arranged over its cylindrical outer surface in a grid Zen trier and positioning bores ( 11 , 12 , 13 , 14 ) ice, of which one of the centering and positioning bores ( 11 , 12 , 13 , 14 ) can be brought coaxially to the cover with a counter-centering and positioning bore arranged in one or more of the clamp parts ( 5 ), and this position at least up to the non-positive Connect the relevant clamp ( 5 ) by means of a setting pin or a centering pin ( 15 ), which fits into the selected centering and positioning hole ( 11 , 12 , 13 , 14 ) on the one hand and the corresponding counter-centering and positioning hole on the other hand, according to the present operating conditions and thereby the device ( 4 ) in relation to the grid tube ( 2 , 3 , 6 , 7 , 8 , 9 ) precisely positioned. 2. Modular aufgebautes Greifersystem nach Anspruch 1, dadurch gekenn­ zeichnet, daß die Zentrier- und Positionierbohrungen (11, 12, 13, 14) an dem betreffenden Rasterrohr (2, 3, 6, 7, 8, 9) jeweils paarweise diametral gegenüberliegend angeordnet und vorzugsweise als Durchgangsbohrun­ gen ausgebildet sind. 2. Modular gripper system according to claim 1, characterized in that the centering and positioning bores ( 11 , 12 , 13 , 14 ) on the respective grid tube ( 2 , 3 , 6 , 7 , 8 , 9 ) are arranged diametrically opposite each other in pairs and are preferably formed as through holes. 3. Modular aufgebautes Greifersystem nach Anspruch 1 und/oder 2, da­ durch gekennzeichnet, daß die Zentrier- und Positionierbohrungen (11, 12, 13, 14) an dem betreffenden Rasterrohr (2, 3, 6, 7, 8, 9) in einem fest definierten regelmäßigen Raster angeordnet sind.3. Modular gripper system according to claim 1 and / or 2, characterized in that the centering and positioning holes ( 11 , 12 , 13 , 14 ) on the relevant grid tube ( 2 , 3 , 6 , 7 , 8 , 9 ) in are arranged in a defined regular grid. 4. Modular aufgebautes Greifersystem nach Anspruch 1 oder einem der dar­ auffolgenden Ansprüche, dadurch gekennzeichnet, daß eine der Halb­ schalen der Klemmschellen (5) mit einer Gegenzentrier- und Positionier­ bohrung ausgerüstet ist.4. Modular gripper system according to claim 1 or one of the following claims, characterized in that one of the half-shells of the clamps ( 5 ) is equipped with a counter-centering and positioning bore. 5. Modular aufgebautes Greifersystem nach Anspruch 1 oder einem der An­ sprüche 2 bis 4, dadurch gekennzeichnet, daß eine Halbschale einer Kreuzklemme und zwei mit ihren Längsachsen unter einem Winkel von zum Beispiel 90° kreuzende Rasterrohre (3, 11) durch nur einen Absteck­ dorn oder nur einen Zentrierstift (15) zueinander zentriert und positioniert angeordnet sind.5. Modular gripper system according to claim 1 or one of claims 2 to 4, characterized in that a half-shell of a cross clamp and two with their longitudinal axes at an angle of, for example 90 ° intersecting grid tubes ( 3 , 11 ) by only one pin or only one centering pin ( 15 ) is centered and positioned relative to one another.
DE20017129U 2000-10-05 2000-10-05 Modular gripper system for use in the body shop of the automotive industry Expired - Lifetime DE20017129U1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE20017129U DE20017129U1 (en) 2000-10-05 2000-10-05 Modular gripper system for use in the body shop of the automotive industry

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE20017129U DE20017129U1 (en) 2000-10-05 2000-10-05 Modular gripper system for use in the body shop of the automotive industry

Publications (1)

Publication Number Publication Date
DE20017129U1 true DE20017129U1 (en) 2000-12-28

Family

ID=7947312

Family Applications (1)

Application Number Title Priority Date Filing Date
DE20017129U Expired - Lifetime DE20017129U1 (en) 2000-10-05 2000-10-05 Modular gripper system for use in the body shop of the automotive industry

Country Status (1)

Country Link
DE (1) DE20017129U1 (en)

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1136195A1 (en) * 2000-03-24 2001-09-26 Dieter-Heinz Rieger Modular structure for supporting tools, workpieces or similar
WO2005028167A1 (en) * 2003-08-29 2005-03-31 Kuka Schweissanlagen Gmbh Supporting body for scaffold poles of a position scaffolding
DE102004020945B3 (en) * 2004-04-28 2006-01-19 Kuka Schweissanlagen Gmbh Machine center in particular for creation of replacement part for large gripping unit, working with saved information and reference bore
EP1671760A1 (en) 2004-12-18 2006-06-21 TÜNKERS MASCHINENBAU GmbH Modular structure made of bored profiled tubular elements
DE102005036431B3 (en) * 2005-08-03 2006-10-19 Audi Ag Modular support used in chassis construction in the automobile industry comprises a cylindrical support tube having an axial groove along which slides a sliding block
DE102005049494B3 (en) * 2005-10-13 2007-04-19 Thyssenkrupp Automotive Ag A robotic handling system for components having a similar shape as motor vehicle body parts has two gripper chucks used alternately where one has a parking position when not used
WO2007042518A1 (en) * 2005-10-13 2007-04-19 Thyssenkrupp Drauz Nothelfer Gmbh Handling system for components having similar shapes, particularly body components for motor vehicles
WO2007120795A2 (en) * 2006-04-13 2007-10-25 Norgren Automotive, Inc. Apparatus for accurately positioning and supporting modular tooling
DE102004028707B4 (en) * 2004-06-14 2009-04-30 Tünkers Maschinenbau Gmbh Scaffolding system, for use in the bodywork of the automotive industry, and method for producing parts of a scaffolding system
DE10323569B4 (en) * 2003-05-26 2009-08-27 Tünkers Maschinenbau Gmbh Scaffolding system for use in the bodywork of the automotive industry
DE102005060151B4 (en) * 2005-12-16 2010-02-25 Audi Ag Connecting device for connecting a support tube of a modular buildable support device and a tool holder
FR2946710A1 (en) * 2009-06-11 2010-12-17 Renault Sas Ring for use in manipulating, handling or gripping system used to handle e.g. opening frame of motor vehicle, has indexing unit cooperating with another indexing unit provided on section, and movable between locked and unlocked states
EP3047942A1 (en) * 2015-01-21 2016-07-27 Schrempp Stahl- und Metallbau GmbH Clamping device
CN106863298A (en) * 2017-01-19 2017-06-20 昆山斯比得自动化设备有限公司 A kind of automobile product pickup cleft hand
DE102016009470B3 (en) * 2016-08-03 2017-08-17 Olaf und André Tünkers GbR (vertretungsberechtigter Gesellschafter: Dipl.-Ing. Olaf Tünkers, 40885 Ratingen + Dipl.-Wirt.-Ing. André Tünkers, 40880 Ratingen) Modular device of polygonal in cross section on its outer side designed tubes
DE102016005961A1 (en) * 2016-05-13 2017-11-16 Man Truck & Bus Ag Connecting element for connecting handrails in a bus
DE102017004697B3 (en) * 2017-05-17 2018-02-22 Olaf Und André Tünkers Gbr (Vertretungsberechtigter Gesellschafter: Dipl.-Ing. Olaf Tünkers, 40885 Ratingen) Modular device constructed of polygonal in cross-section on their outer sides tubes
DE102013209542B4 (en) 2012-11-14 2021-09-16 Hyundai Motor Company A robot gripper for assembling a vehicle

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1136195A1 (en) * 2000-03-24 2001-09-26 Dieter-Heinz Rieger Modular structure for supporting tools, workpieces or similar
DE10323569B4 (en) * 2003-05-26 2009-08-27 Tünkers Maschinenbau Gmbh Scaffolding system for use in the bodywork of the automotive industry
WO2005028167A1 (en) * 2003-08-29 2005-03-31 Kuka Schweissanlagen Gmbh Supporting body for scaffold poles of a position scaffolding
DE102004020945B3 (en) * 2004-04-28 2006-01-19 Kuka Schweissanlagen Gmbh Machine center in particular for creation of replacement part for large gripping unit, working with saved information and reference bore
DE102004028707B4 (en) * 2004-06-14 2009-04-30 Tünkers Maschinenbau Gmbh Scaffolding system, for use in the bodywork of the automotive industry, and method for producing parts of a scaffolding system
EP1671760A1 (en) 2004-12-18 2006-06-21 TÜNKERS MASCHINENBAU GmbH Modular structure made of bored profiled tubular elements
US8108978B2 (en) 2005-07-06 2012-02-07 Norgren Automation Solutions, Inc. Apparatus for accurately positioning and supporting modular tooling
DE102005036431B3 (en) * 2005-08-03 2006-10-19 Audi Ag Modular support used in chassis construction in the automobile industry comprises a cylindrical support tube having an axial groove along which slides a sliding block
CN101316686B (en) * 2005-10-13 2010-12-22 蒂森克虏伯·德劳茨·诺帮有限责任公司 Handling system for components having similar shapes, particularly body components for motor vehicles
WO2007042518A1 (en) * 2005-10-13 2007-04-19 Thyssenkrupp Drauz Nothelfer Gmbh Handling system for components having similar shapes, particularly body components for motor vehicles
DE102005049494B3 (en) * 2005-10-13 2007-04-19 Thyssenkrupp Automotive Ag A robotic handling system for components having a similar shape as motor vehicle body parts has two gripper chucks used alternately where one has a parking position when not used
US8061748B2 (en) 2005-10-13 2011-11-22 Thyssenkrupp Drauz Nothelfer Gmbh System for handling components having similar shapes by using two gripper jaws coupled to a common displacement drive
DE102005060151B4 (en) * 2005-12-16 2010-02-25 Audi Ag Connecting device for connecting a support tube of a modular buildable support device and a tool holder
WO2007120795A2 (en) * 2006-04-13 2007-10-25 Norgren Automotive, Inc. Apparatus for accurately positioning and supporting modular tooling
WO2007120795A3 (en) * 2006-04-13 2008-04-17 Norgren Automotive Inc Apparatus for accurately positioning and supporting modular tooling
FR2946710A1 (en) * 2009-06-11 2010-12-17 Renault Sas Ring for use in manipulating, handling or gripping system used to handle e.g. opening frame of motor vehicle, has indexing unit cooperating with another indexing unit provided on section, and movable between locked and unlocked states
DE102013209542B4 (en) 2012-11-14 2021-09-16 Hyundai Motor Company A robot gripper for assembling a vehicle
EP3047942A1 (en) * 2015-01-21 2016-07-27 Schrempp Stahl- und Metallbau GmbH Clamping device
DE102016005961A1 (en) * 2016-05-13 2017-11-16 Man Truck & Bus Ag Connecting element for connecting handrails in a bus
RU2735396C2 (en) * 2016-05-13 2020-10-30 Ман Трак Унд Бас Аг Connecting element for connection of bar handrails in bus
DE102016009470B3 (en) * 2016-08-03 2017-08-17 Olaf und André Tünkers GbR (vertretungsberechtigter Gesellschafter: Dipl.-Ing. Olaf Tünkers, 40885 Ratingen + Dipl.-Wirt.-Ing. André Tünkers, 40880 Ratingen) Modular device of polygonal in cross section on its outer side designed tubes
CN106863298A (en) * 2017-01-19 2017-06-20 昆山斯比得自动化设备有限公司 A kind of automobile product pickup cleft hand
DE102017004697B3 (en) * 2017-05-17 2018-02-22 Olaf Und André Tünkers Gbr (Vertretungsberechtigter Gesellschafter: Dipl.-Ing. Olaf Tünkers, 40885 Ratingen) Modular device constructed of polygonal in cross-section on their outer sides tubes

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Legal Events

Date Code Title Description
R207 Utility model specification

Effective date: 20010201

R150 Term of protection extended to 6 years

Effective date: 20031114

R151 Term of protection extended to 8 years

Effective date: 20061019

R152 Term of protection extended to 10 years

Effective date: 20081029

R071 Expiry of right