DE202020004034U1 - Drive device, in particular drive device for a tool - Google Patents

Abstract

Drive device (10, 10.3, 10.5), in particular drive device for at least one tool (44, 46, 62, 64),
- with at least one pressure-tight chamber (20, 20.3),
- With at least one elastically deformable membrane (30, 50), which is present as a cover surface of the pressure-tight chamber (20, 20.3),
- wherein the elastically deformable membrane (30, 50) is curved inward in a first state (32, 52) and is thus concave and in a second state (36, 56) is curved outward and is thus convex.

Description

TECHNICAL AREA

The invention relates to a drive device, in particular a drive device for at least one tool, for example for a gripper or for an embossing tool.

STATE OF THE ART

In plant construction, versatile movements must be driven by means of drive devices. The drive devices use different energy sources to generate a movement and are usually of greater complexity. This can result in restrictions for certain applications.

In addition, the solutions known in the prior art can often only be used to a limited extent for sectors in which high demands are made on cleanability and sterilizability. In particular in the case of drive devices for aseptic production and for production in clean rooms, solutions are therefore often used in which the drive devices are integrated in a concealed manner, so that only the movement is guided into the production room. This is usually only possible with a great deal of effort, since complex kinematics are required to implement the movement. In addition, commercially available drive devices often work with linear movements, in which one or more elements are moved back and forth between the production space and the interior of the drive device. Such solutions therefore entail the risk of germs, active substances or lubricants being carried over. In addition, particles can be generated and / or carried over here. The complexity of the respective drive devices also entails higher manufacturing costs, increased maintenance expenditure and, as a rule, also a comparatively large installation space.

DISCLOSURE OF THE INVENTION

Proceeding from this previously known prior art, the invention is based on the object of specifying an improved drive device for at least one tool, which can also be used under aseptic conditions.

The drive device according to the invention is given by the features of main claim 1. Useful further developments of the invention are the subject of further claims which follow this claim.

The drive device according to the invention has at least one elastically deformable membrane which is present as the cover surface of a pressure-tight chamber. The elastically deformable membrane is arched inward in a first state and thus formed concave, and in a second state arched outward and thus formed convex. The cross-section of the chamber and the cross-section of the deformable membrane can in principle be freely selected so that it can be adapted to different requirements.

When the elastic membrane is deformed, several geometrically determined states can be assumed. In principle, these states can be assumed both stable and metastable. From a stable basic state, the membrane can be deformed into a further stable or metastable state by the action of force. The recovery of the membrane from a metastable state can take place after the forces acting on the membrane have been balanced by the internal stress built up in the membrane. The restoration from a stable state, on the other hand, takes place through an additional force that is opposite to the first force. This can be done in particular by reversing the pressure in the chamber or by actuating the membrane in some other way, for example by an internal or external spring, another actuator or a comparable restoring force.

In principle, the membrane can be deformed by any force acting on the membrane from outside or inside. For example, the membrane can be deformed by an actuator, a spring or the cylinder of a piston-cylinder unit.

The deformation of the membrane can preferably take place by generating a pressure difference between the membrane side (inside) lying inside the chamber and the outside of the membrane. To generate such a pressure difference, at least one pressure connection can be provided on the chamber. A line can be connected to the pressure connection via which the chamber can be subjected to negative pressure and / or positive pressure. The pressure connection can preferably be connected to at least one hydraulic line or to at least one pneumatic line.

By using an elastically deformable membrane, the use of longitudinally displaceable or pivotable parts can essentially be dispensed with. As a result, there are no bearing points or tribologically stressed Joints required. This reduces the maintenance effort compared to the solutions known in the prior art. The drive device according to the invention manages without exposed lines or exposed guides. Also, no lubricants are required during operation that could potentially get into the production area of a system. The simple working principle thus enables an easy-to-clean and simple structural design that makes the drive device particularly attractive for applications in sterile and clean rooms. Since the number of components can be kept very low, the manufacturing costs and the probability of failure also decrease. Due to the lower mass of the drive device according to the invention compared to known solutions, it also offers the possibility of being used in dynamic applications and of reducing the loads caused.

The elastically deformable membrane can itself serve as a tool and can be used, for example, to grip workpieces.

In an advantageous embodiment, at least one tool can be attached or attachable to the elastically deformable membrane.

If several tools are available, they can be present on a common membrane. In this case, the tools can preferably be attached or attachable off-center of the common membrane. When using a common membrane, all tools attached to this membrane are driven simultaneously, although not necessarily all in the same direction. Alternatively, if there are several tools, each tool can be attached to its own membrane. This allows the tools to be moved separately from one another. A combination of several tools on a common membrane and at least one other tool on a separate, different membrane is also possible.

In principle, the tools used can be attached directly to the membrane. In this case, the tools can be arranged fixedly or detachably on the membrane.

At least one connecting element can preferably be fixedly arranged on the at least one membrane. The at least one tool can be releasably attached to this connecting element.

In this case, the connecting element can serve to transfer the movement from the elastically deformable membrane to the tool. At the same time, the tool can be easily exchanged, should this be necessary, for example, for maintenance or cleaning purposes. A conversion of the device to adapt it to different workpieces to be machined can also be implemented quickly and easily in this way.

The device according to the invention can be used in particular for pneumatic or hydraulic gripping and / or clamping systems. In a gripper system, there can be a first gripper finger as the first tool and a second gripper finger as the second tool. The two gripper fingers can be arranged on a common membrane, or each on their own membrane. By means of the two gripper fingers, a workpiece can be gripped and held non-positively or positively. In addition, further gripper fingers could also be present as further tools. For example, a single gripper finger could also be present, by means of which the workpiece can be gripped internally.

As an alternative or in addition to the generation of a pressure difference between the interior of the chamber and the surrounding area, a further drive element can be provided, by means of which the elastically deformable membrane can be deformed. This further drive element can in particular be present in the interior of the chamber. The further drive element can be, for example, a servo drive, a pneumatic cylinder, a spring or an electromagnetic drive. The further drive element could also act on the membrane from the outside, for example by means of a plunger or the piston of a piston-cylinder unit.

The states of the membrane can be monitored by means of a sensor, which can preferably be arranged in the interior of the chamber. The sensor can in particular determine whether the membrane is in its basic state or in the state that has been deflected from the basic state. Such a sensor can, for example, have a strain gauge or work by means of flow sensors. The arrangement of the sensor in the interior of the chamber has the advantage that the drive device is still easy to clean.

Further advantages and features of the invention can be found in the features further specified in the claims and in the exemplary embodiments below.

Figure list

• 1 einen schematischen Schnitt durch eine als Greif-Vorrichtung ausgebildete erste Ausführungsform der Erfindung in ihrem Grundzustand,
• 2 einen schematischen Schnitt durch die Greif-Vorrichtung gemäß 1 im ausgelenkten Zustand,
• 3 einen schematischen Schnitt durch eine als Greif-Vorrichtung ausgebildete zweite Ausführungsform der Erfindung in ihrem Grundzustand,
• 4 einen schematischen Schnitt durch die Greif-Vorrichtung gemäß 3 im ausgelenkten Zustand,
• 5 einen schematischen Schnitt durch eine als Präge-Vorrichtung ausgebildete dritte Ausführungsform der Erfindung in ihrem Grundzustand und
• 6 einen schematischen Schnitt durch die Präge-Vorrichtung gemäß 5 im ausgelenkten Zustand.

The invention is described and explained in more detail below with reference to the exemplary embodiments shown in the drawing. Show it:

• 1 a schematic section through a first embodiment of the invention designed as a gripping device in its basic state,
• 2 a schematic section through the gripping device according to 1 in the deflected state,
• 3 a schematic section through a second embodiment of the invention designed as a gripping device in its basic state,
• 4th a schematic section through the gripping device according to 3 in the deflected state,
• 5 a schematic section through a formed as a stamping device third embodiment of the invention in its basic state and
• 6th a schematic section through the embossing device according to 5 in the deflected state.

WAYS OF CARRYING OUT THE INVENTION

A first embodiment of the device according to the invention 10 is in the 1 and 2 shown schematically. The device 10 has a pressure chamber 20th with a bottom 22nd and a circumferential side wall 24 . The chamber 20th has a pressure connection 26th , which in the present example is in the ground 22nd the chamber 20th is available.

The top surface of the chamber 20th is made by an elastically deformable membrane 30th educated. In your in 1 shown basic state 32 is the membrane 30th present concave and thus slightly curved inwards. On the outside 34 the membrane 30th are two connecting elements in the present example 40 , 42 available. The two connecting elements 40 , 42 are symmetrical on the membrane in the present example 30th arranged. On the two connecting elements 40 , 42 is one tool each 44 , 46 releasably attached. In this example, the tools are 44 , 46 each designed as a gripper finger. Due to the concave design of the membrane 30th in their basic state 32 point the gripper fingers 44 , 46 in the basic state 32 slightly inwards and thus towards each other.

By creating an overpressure in the interior 28 the chamber can be the membrane 30th from their basic state 32 be deflected, so that this corresponds to the in 2 shown deflected state 36 occupies. In this deflected state 36 is the membrane 30th convex and thus slightly curved outwards. This causes the gripper fingers to move 44 , 46 away from each other so that a workpiece 12 that in the basic state 32 was held clamped between the two gripper fingers, is released. Once in the interior 28 the chamber 20th again the pressure of the ground state 32 is present, so will the membrane 30th back to their basic state 32 deformed so that the gripper fingers 44 , 46 close again.

A second embodiment of the device according to the invention 10.3 is in the 3 and 4th shown schematically. The device 10.3 has a first pressure chamber 20.3 and a second pressure chamber 20.3 ' . Both pressure chambers 20.3 , 20.3 ' each have a floor 22nd with a pressure connection 26th as well as a circumferential side wall 24 on. The top surface of the two chambers 20.3 , 20.3 ' is each made by an elastically deformable membrane 50 , 50 ' educated. In your in 3 shown basic state 52 is the membrane 50 , 50 ' each concave and therefore slightly curved inward. On the outside 54 the membrane 50 , 50 ' is only a single connecting element in the present example 60 , 60 ' available. The connecting element 60 , 60 ' is in the middle of the membrane 50 , 50 ' arranged. On the connecting element 60 , 60 ' is a gripper finger 62 trained tool 62 releasably attached. The two chambers 20.3 , 20.3 ' are with their membranes 50 , 50 ' directed towards each other so that the two gripper fingers 62 , 62 ' facing each other. In the basic state 52 the membrane 50 , 50 ' there is a certain distance between the gripper fingers 62 , 62 ' available.

By creating an overpressure in the interior 28 of the respective chambers 20.3 , 20.3 ' can the membrane 50 , 50 ' from their basic state 52 be deflected, so that this corresponds to the in 4th shown deflected state 56 occupies. In this deflected state 56 is the membrane 50 , 50 ' convex and thus slightly curved outwards. As a result, the opposing gripper fingers move 62 , 62 ' towards each other so that the distance between the gripper fingers 62 , 62 ' is reduced so far that a workpiece 12 between the two gripper fingers 62 , 62 ' can be held clamped (see 4th ). Once in the interior 28 the chamber 20.3 , 20.3 ' again the pressure of the ground state 52 is present, so will the membrane 50 , 50 ' back to the basic state 52 deformed so that the gripper fingers 62 , 62 ' to open again.

A third embodiment of the device according to the invention 10.5 is in the 5 and 6th shown schematically. The device 10.5 has a pressure chamber 20.3 with a bottom 22nd and a circumferential side wall 24 . The chamber 20.3 has a pressure connection 26th , which in the present example is in the ground 22nd the chamber 20.3 is available. The top surface of the chamber 20.3 is made by an elastically deformable membrane 50 educated. In your in 5 shown basic state 52 is the membrane 50 present concave and thus slightly curved inwards. On the outside 54 the membrane 50 is a single connecting element in the present example 60 arranged in the middle. On the connecting element 60 is used as an embossing tool 64 trained tool releasably attached. By creating an overpressure in the interior 28 the chamber 20.3 can the membrane 50 from their basic state 52 be deflected, so that this corresponds to the in 6th shown deflected state 56 occupies. In this deflected state 56 is the membrane 50 convex and thus slightly curved outwards. This causes the embossing tool to move 64 on a workpiece 14th to, so that this is embossed (see 6th ). Once in the interior 28 the chamber 20.3 again the pressure of the ground state 52 is present, so will the membrane 50 back to the basic state 52 deformed.

In contrast to the exemplary embodiments shown in the drawing, the pressure connection could 26th basically also in the circumferential side wall 24 to be available. It would also be possible to use the pressure connection 26th in the membrane 30th , 50 itself or in a connecting element 40 , 42 , 60 to be provided.

Claims (14)

Drive device (10, 10.3, 10.5), in particular drive device for at least one tool (44, 46, 62, 64), - with at least one pressure-tight chamber (20, 20.3), - With at least one elastically deformable membrane (30, 50), which is present as a cover surface of the pressure-tight chamber (20, 20.3), - wherein the elastically deformable membrane (30, 50) is curved inward in a first state (32, 52) and is therefore concave and in a second state (36, 56) is curved outward and is thus convex. Drive device according to Claim 1 - characterized in that - at least one pressure connection (26) is present on the chamber (20, 20.3), - a line is connected to the pressure connection (26) via which the chamber (20, 20.3) is exposed to a negative pressure and / or can be acted upon with an overpressure. Drive device according to Claim 2 - characterized in that - the pressure connection (26) is connected to at least one hydraulic line or to at least one pneumatic line. Drive device according to one of the Claims 1 to 3 - characterized in that - at least one tool (44, 46, 62, 64) is fastened or can be fastened to the elastically deformable membrane (30, 50). Drive device according to Claim 4 - characterized in that - several tools (44, 46) are fastened or can be fastened to a common membrane (30). Drive device according to Claim 5 - characterized in that - the multiple tools (44, 46) are attached off-center of the common membrane (30). Drive device according to Claim 4 - characterized in that - several tools (62) are present, - each tool (62) is attached to its own membrane (50). Drive device according to one of the Claims 4 to 7th - characterized in that - at least one connecting element (40, 42, 60) is fixedly arranged on the at least one membrane (30, 50), - the at least one tool (44, 46, 62, 64) is detachably attached to the connecting element ( 40, 42, 60) can be fastened. Drive device according to one of the Claims 4 to 8th - characterized in that - a first gripper finger (44, 62) is present as the first tool (44, 62), - a second gripper finger (46, 62) is present as the second tool (46, 62), - by means of the two Gripper fingers (44, 46, 62) a workpiece (12) can be gripped and held non-positively or positively. Drive device according to one of the Claims 4 to 8th - characterized in that - the tool (64) is designed as an embossing tool (64). Drive device according to one of the preceding claims, - characterized in that - a drive element, in particular a servo drive, a pneumatic cylinder or a electromagnetic drive for deforming the elastically deformable membrane (30, 50) is present. Drive device according to one of the preceding claims, characterized in that a restoring element, in particular a spring, is provided for restoring the elastically deformable membrane (30, 50) to its basic state (32, 52). Drive device according to one of the preceding claims, characterized in that a sensor for monitoring the state (32, 36, 52, 56) of the elastically deformable membrane (30, 50) is present. Drive device according to Claim 13 - characterized in that - the sensor is arranged in the interior (28) of the pressure chamber (20, 20.3).

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