DE2016733A1 - Device for gripping work pieces, such as balls, cylindrical rods etc with automatic scanning on it ensues clamping of the workpiece - Google Patents
Device for gripping work pieces, such as balls, cylindrical rods etc with automatic scanning on it ensues clamping of the workpieceInfo
- Publication number
- DE2016733A1 DE2016733A1 DE19702016733 DE2016733A DE2016733A1 DE 2016733 A1 DE2016733 A1 DE 2016733A1 DE 19702016733 DE19702016733 DE 19702016733 DE 2016733 A DE2016733 A DE 2016733A DE 2016733 A1 DE2016733 A1 DE 2016733A1
- Authority
- DE
- Germany
- Prior art keywords
- housing
- workpiece
- piston rod
- pressure
- lever
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q2707/00—Automatic supply or removal of metal workpieces
- B23Q2707/04—Automatic supply or removal of metal workpieces by means of grippers also magnetic or pneumatic gripping
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Description
Vorrichtung zum Greifen von Werkstücken, wie Kugeln, zylindrischen Stäben etc mit automatischer Abtastung auf erfolgtes Einklemmen des Werkstüokes.Device for gripping workpieces such as spheres, cylindrical Rods etc. with automatic scanning of the trapping of the workpiece.
Beschreibung der Erfindung: In der Industrie gibt es die verschiedenartigsten Vorriohtungien zum maschinellen Greifen von Werkstücken. Zumeist werden die Werkstücke Jedoch der Greifeinrichtung zwangsläufig zugeführt.Description of the invention: There are a wide variety of types in the industry Provision for machine gripping of workpieces. Mostly the workpieces are However, inevitably supplied to the gripping device.
Die nachstehend aufgezeichnete Erfindung soll eine einfache Lösung für das Problem sein, Werkstücke, die nicht zwangsweise und geordnet einer Greifeinrichtung vorgeführt werden, zu erfassen, um diese dann transportieren zu können. So erfasst die nachstehend näher beschriebene Vorrichtung Werkstücke, wie Kugeln oder zylindrische Stifte aus einem Behälter, in dem sie sich in ungeordneter Lage befinden. Weiterhin ist diese Vorrichtung mit einer Untervorrichtung versehen, die den Greif - Vorgang automatisch wiederholt, falls er nicht zum erwünschten Greifen des Werketückes geführt hat.The invention set forth below is intended to provide a simple solution for the problem of being workpieces that are not compulsorily and orderly a gripping device can be demonstrated, in order to be able to transport them. So captured the device described in more detail below workpieces, such as spheres or cylindrical Pens from a container in which they are in a disorganized position. Farther this device is provided with a sub-device that does the gripping process automatically repeated if it does not lead to the desired gripping of the workpiece Has.
Beschreibung der Funktion Figur 1 Das Werkstück 1 liegt in seinem Behälter, Die Figur 1 zeigt die Stellung an, bei der sich kein Werkstück zwischen den zusammengefahrenen Greifern 2 befindet. Der Kolben 8 und das Gehäuse 4 befinden sich in den unteren Endlagen, das Ventil 11 hat auf Durch -gang geschaltet, der Druck P2 steht an.Description of the function Figure 1 The workpiece 1 is in his Container, Figure 1 shows the position in which there is no workpiece between the moved grippers 2 is located. The piston 8 and the housing 4 are located in the lower end positions, the valve 11 has switched to passage, the Pressure P2 is pending.
Figur 2 Druck P2, der größer ist als P1 wird jetzt auf der Kolbenfläche 8 wirksam, die die Kolbenstange anhebt. Dabei überfährt der Nocken 10 das Ventil 11, wodurch ein kurzzeitiges Schließen des Ventils 11 folgt. Infolge der Expansion des im Zylinder 9 befindlichen kompressiblen Mediums wird trotz Unterbrechung von P2 die Kolben -stange noch weiter angehoben, was wiederum das Öffnen des Ventils 11 zur Folge hat. Dabei öffnen sich die Greifer 2, P2 baut sich im Zylinder voll auf. die Kolbenkraft wird nun größer als die Summe der durch P7 hervorgerufenen Kolbenkraft und die, der Arretierungsvirkung 12.Figure 2 pressure P2, which is greater than P1, is now on the piston surface 8 effective, which raises the piston rod. In the process, the cam 10 travels over the valve 11, whereby a brief closing of the valve 11 follows. As a result of expansion of the compressible medium located in the cylinder 9 is despite an interruption of P2 the piston rod is raised even further, which in turn opens the valve 11 results. The grippers 2 open, P2 fully builds up in the cylinder on. the piston force is now greater than the sum of those caused by P7 Piston force and the locking effect 12th
Figur 3 Das an der oberen Stelle der Kolbenstange 7 befindliche Gabelgelenk 5 hat in dem Gehäuse 4 einen Maximalweg h zurückgelegt, wobei sich die Greifer 2 voll öffnen und das Gehäuse 4 nun infolge Maxibegrenzung in Richtung B fährt und die Greifer 2 in die ungeord -nete Ansammlung der in dem Behälter befindlichen Werkstücke eintaucht0 Figur 4 P2 fällt ab und die Kolbenkraft von Pl zieht die Kolbenstange 7 in Richtung A . Infolge Arretierung 12 des Gehäuses 4 schließen zu -nächst die Greifer 2 und klemmen ein Werkstück ein, dann überwiegt die von P1 bewirkte Kolbenkraft die der Arretierung 12 und das zea Ge -häuse 4 bewegt sich in Richtung A Figur 5 zeigt das eingeklemmte Werkstück 1, die untere Stellung des Gehäuses 4, P1 ist weiter wirksam und die Stellung des Nocken 10, der den Durchgang von dem periodisch auftretenden Druck P2 über das Ventil versperrt.Für den Fall, daß kein Werkstück eingeklemmt worden wäre, würde wieder die Stellung aller Teile wie in Fig. 1 be -schrieben vorliegen, der periodisch anfallende P2 würde nun den Vorgang wiederholen.FIG. 3 The fork joint located at the upper point of the piston rod 7 5 has covered a maximum path h in the housing 4, the grippers 2 fully open and the housing 4 now travels in direction B due to maximum limitation and the gripper 2 into the disordered collection of workpieces in the container immersed0 Figure 4 P2 drops and the piston force of P1 pulls the piston rod 7 in direction A. As a result of locking 12 of the housing 4 close to -next the Gripper 2 and clamp a workpiece, then the piston force caused by P1 predominates that of the lock 12 and the zea Ge housing 4 moves in the direction A of FIG. 5 shows the clamped workpiece 1, the lower position of the housing 4, P1 is wider effective and the position of the cam 10, the passage of the periodically occurring Pressure P2 blocked via the valve in the event that no workpiece is jammed would have been, the position of all parts as described in Fig. 1 would be available again, the periodically occurring P2 would now repeat the process.
Figur 6 zeigt, daß weder P1 noch P2 wirksam sind und die Feder 6 die Kolbenstange 7 soweit angehoben hat, daß die Greifer das Werkstück freigeben.Figure 6 shows that neither P1 nor P2 are effective and the spring 6 the Piston rod 7 has raised so far that the grippers release the workpiece.
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19702016733 DE2016733A1 (en) | 1970-04-08 | 1970-04-08 | Device for gripping work pieces, such as balls, cylindrical rods etc with automatic scanning on it ensues clamping of the workpiece |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19702016733 DE2016733A1 (en) | 1970-04-08 | 1970-04-08 | Device for gripping work pieces, such as balls, cylindrical rods etc with automatic scanning on it ensues clamping of the workpiece |
Publications (1)
Publication Number | Publication Date |
---|---|
DE2016733A1 true DE2016733A1 (en) | 1971-10-21 |
Family
ID=5767444
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE19702016733 Pending DE2016733A1 (en) | 1970-04-08 | 1970-04-08 | Device for gripping work pieces, such as balls, cylindrical rods etc with automatic scanning on it ensues clamping of the workpiece |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE2016733A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1988005608A1 (en) * | 1987-01-16 | 1988-07-28 | Drg (Uk) Limited | Handling apparatus and methods |
-
1970
- 1970-04-08 DE DE19702016733 patent/DE2016733A1/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1988005608A1 (en) * | 1987-01-16 | 1988-07-28 | Drg (Uk) Limited | Handling apparatus and methods |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
OHW | Rejection |