DE20204667U1 - Parallel gripper has pairs of movable gripper elements supported by slide carriages having active wedge flanks and pressure members guided transversely to gripping direction - Google Patents

Parallel gripper has pairs of movable gripper elements supported by slide carriages having active wedge flanks and pressure members guided transversely to gripping direction

Info

Publication number
DE20204667U1
DE20204667U1 DE20204667U DE20204667U DE20204667U1 DE 20204667 U1 DE20204667 U1 DE 20204667U1 DE 20204667 U DE20204667 U DE 20204667U DE 20204667 U DE20204667 U DE 20204667U DE 20204667 U1 DE20204667 U1 DE 20204667U1
Authority
DE
Germany
Prior art keywords
parallel
piston
wedge
flanks
active
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
DE20204667U
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to DE20204667U priority Critical patent/DE20204667U1/en
Publication of DE20204667U1 publication Critical patent/DE20204667U1/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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams
    • 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
    • B23Q7/043—Construction of the grippers

Abstract

The gripper has pairs of movable gripper elements supported by slide carriages (80,90) attached through pistons to cam gearing. Each first cam gearing per movement direction consists of a sliding wedge moved by the relevant piston and a pressure member with an inclined area close to the piston . Each second cam gearing per direction of movement consists of the same pressure member with an inclined area remote from the piston and of a sliding wedge element mounted on the slide carriage. The pressure members are guided transversely to the gripping direction (9) in the housing and each slide carriage has two active sliding wedges whereby the one slide carriage has two active wedge flanks facing each other whilst the active wedge flanks of the other slide carriage face away from each other. The two pressure members bearing on the sliding wedge elements are supported on the one hand on the facing wedge flanks and at the same time on the active wedge flanks of the other slide carriage facing away from each other.

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 erfaßtThe description text was not recorded electronically

Claims (8)

1. Parallelgreifvorrichtung mit paarweise bewegliche Greifele­ mente tragenden Schlitten, wobei die Schlitten über mindestens eine in einem Gehäuse parallel zur Greifrichtung angeordneten Kolben-Zylindereinheit verschiebbar sind, dadurch gekennzeich­ net,
  • - dass die Schlitten (80, 90) über jeweils einen Kolben (43, 53) pro Bewegungsrichtung mit zwei hintereinander angeordneten Kurvengetrieben angelenkt sind, wobei beide Kolben (43, 53) in einer Bohrung (20) gelagert sind,
  • - dass ein jeweils erstes Kurvengetriebe pro Bewegungsrichtung aus einem vom jeweiligen Kolben (43, 53) bewegten Schiebekeil­ element (45, 55) und einem mit einer kolbennahen Anfasung oder Abschrägung (61, 71) anliegenden Druckstück (60, 70) besteht,
  • - dass ein jeweils zweites Kurvengetriebe pro Bewegungsrichtung aus demselben Druckstück (60, 70) mit einer kolbenfernen Anfa­ sung oder Abschrägung (62, 72) und einem am Schlitten (80, 90) angeordneten Schiebekeilelement (82, 83; 92, 93) besteht,
  • - dass die Druckstücke (60, 70) quer zur Greifrichtung (9) im Gehäuse (10) geführt sind,
  • - dass jeder der beiden Schlitten (80, 90) zwei aktive Schiebe­ keilelemente (82, 83; 92, 93) aufweist, wobei der eine Schlit­ ten (90) zwei aufeinander zuweisende aktive Keilflanken (96, 97) hat, während die aktiven Keilflanken (86, 87) des anderen Schlittens (80) voneinander wegweisen und
  • - dass die beiden an den Schiebkeilelementen (45, 55) der Kol­ ben (43, 53) anliegenden Druckstücke (60, 70) sich zum einen an den aufeinander zuweisenden Keilflanken (96, 97) des einen Schlittens (90) und zugleich an den aktiven voneinander weg­ weisenden Keilflanken (86, 87) des anderen Schlittens (80) ab­ stützen.
1. parallel gripping device with pairs of movable gripping elements carrying slides, the slides being displaceable over at least one piston-cylinder unit arranged in a housing parallel to the gripping direction, characterized in that
  • - The carriages ( 80 , 90 ) are articulated via one piston ( 43 , 53 ) in each direction of movement with two cam gears arranged one behind the other, both pistons ( 43 , 53 ) being mounted in a bore ( 20 ),
  • - that each first cam mechanism per direction of movement consists of a sliding wedge element ( 45 , 55 ) moved by the respective piston ( 43 , 53 ) and a thrust piece ( 60 , 70 ) bearing with a chamfer or chamfer ( 61 , 71 ) close to the piston,
  • - that a second cam mechanism in each direction of movement consists of the same pressure piece ( 60 , 70 ) with a chamfer or chamfer ( 62 , 72 ) remote from the piston and a sliding wedge element ( 82 , 83 ; 92 , 93 ) arranged on the slide ( 80 , 90 ),
  • - That the pressure pieces ( 60 , 70 ) are guided transversely to the gripping direction ( 9 ) in the housing ( 10 ),
  • - That each of the two carriages ( 80 , 90 ) has two active sliding wedge elements ( 82 , 83 ; 92 , 93 ), the one carriage ( 90 ) having two mutually facing active wedge flanks ( 96 , 97 ), while the active wedge flanks ( 86 , 87 ) of the other carriage ( 80 ) point away from one another and
  • - That the two on the sliding wedge elements ( 45 , 55 ) of the Kol ben ( 43 , 53 ) abutting pressure pieces ( 60 , 70 ) on the one hand on the facing wedge flanks ( 96 , 97 ) of a carriage ( 90 ) and at the same time Support active wedge flanks ( 86 , 87 ) of the other slide ( 80 ) pointing away from each other.
2. Parallelgreifvorrichtung gemäß Anspruch 1, dadurch gekenn­ zeichnet, dass beide Kolben (43, 53) zu einem Doppelschwimmkol­ ben (40) zusammengesetzt sind.2. Parallel gripping device according to claim 1, characterized in that both pistons ( 43 , 53 ) to a Doppelschwimmkol ben ( 40 ) are composed. 3. Parallelgreifvorrichtung gemäß Anspruch 1, dadurch gekenn­ zeichnet, dass jeder Schlitten (80, 90) als Backenträger mindes­ tens ein Greifelement (1, 2) als Greifbacken trägt.3. A parallel gripping device according to claim 1, characterized in that each carriage ( 80 , 90 ) carries at least one gripping element ( 1 , 2 ) as gripping jaws as the jaw carrier. 4. Parallelgreifvorrichtung gemäß Anspruch 1, dadurch gekenn­ zeichnet, dass die Schlitten (80, 90) mit Bereichen ihrer einan­ der zugewandten Seitenflächen (81, 91) aneinander entlangglei­ ten.4. A parallel gripping device according to claim 1, characterized in that the slides ( 80 , 90 ) with regions of their side faces facing one another ( 81 , 91 ) slide along one another. 5. Parallelgreifvorrichtung gemäß Anspruch 4, dadurch gekenn­ zeichnet, dass die über die Seitenflächen (81, 91) aneinander liegenden Schlitten (80, 90) im Gehäuse in einer im Wesentlichen rechteckigen Führungsnut (21) geführt sind, wobei in die Füh­ rungsnut (21) zwei einander gegenüberliegende Führungsstege (22, 23) hineinragen.5. A parallel gripping device according to claim 4, characterized in that the slides ( 80 , 90 ) lying against one another via the side surfaces ( 81 , 91 ) are guided in the housing in a substantially rectangular guide groove ( 21 ), wherein the guide groove ( 21 ) two mutually opposite guide webs ( 22 , 23 ) protrude. 6. Parallelgreifvorrichtung gemäß Anspruch 5, dadurch gekenn­ zeichnet, dass die Führungsstege (22, 23) jeweils einen kreis­ abschnittförmigen Querschnitt haben, wobei die Höhe dieses Kreisabschnittes 1/4 bis 1/3 des Kreisdurchmessers beträgt. 6. Parallel gripper according to claim 5, characterized in that the guide webs (22, 23) each have a part-circular cross-section, the height of this circuit section 1/4 to 1/3 of circular diameter. 7. Parallelgreifvorrichtung gemäß Anspruch 1, dadurch gekenn­ zeichnet, dass die Schlitten (80, 90) Kerben (84, 85; 94) haben, deren Keilflanken (86, 87; 96, 97) eben sind.7. Parallel gripping device according to claim 1, characterized in that the slides ( 80 , 90 ) have notches ( 84 , 85 ; 94 ), the wedge flanks ( 86 , 87 ; 96 , 97 ) are flat. 8. Parallelgreifvorrichtung gemäß Anspruch 2, dadurch gekenn­ zeichnet, dass mittig auf dem Doppelschwimmkolben (40) ein Ring­ magnet (47) angeordnet ist, dessen Magnetfeld mindestens von ei­ nem außen am Gehäuse (10) sitzenden Sensor (3, 4) erfasst wird.8. A parallel gripping device according to claim 2, characterized in that a ring magnet ( 47 ) is arranged centrally on the double floating piston ( 40 ), the magnetic field of which is detected by at least one sensor ( 3 , 4 ) located on the outside of the housing ( 10 ).
DE20204667U 2002-03-23 2002-03-23 Parallel gripper has pairs of movable gripper elements supported by slide carriages having active wedge flanks and pressure members guided transversely to gripping direction Expired - Lifetime DE20204667U1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE20204667U DE20204667U1 (en) 2002-03-23 2002-03-23 Parallel gripper has pairs of movable gripper elements supported by slide carriages having active wedge flanks and pressure members guided transversely to gripping direction

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE20204667U DE20204667U1 (en) 2002-03-23 2002-03-23 Parallel gripper has pairs of movable gripper elements supported by slide carriages having active wedge flanks and pressure members guided transversely to gripping direction

Publications (1)

Publication Number Publication Date
DE20204667U1 true DE20204667U1 (en) 2003-08-07

Family

ID=27740789

Family Applications (1)

Application Number Title Priority Date Filing Date
DE20204667U Expired - Lifetime DE20204667U1 (en) 2002-03-23 2002-03-23 Parallel gripper has pairs of movable gripper elements supported by slide carriages having active wedge flanks and pressure members guided transversely to gripping direction

Country Status (1)

Country Link
DE (1) DE20204667U1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103056710A (en) * 2012-12-28 2013-04-24 余姚市嘉力机械设备制造有限公司 Manipulator
CN104470831A (en) * 2012-08-31 2015-03-25 村田机械株式会社 Transferring apparatus
CN104743357A (en) * 2015-03-12 2015-07-01 苏州博众精工科技有限公司 Movable clamping mechanism
CN116460646A (en) * 2023-05-25 2023-07-21 南通辰同智能科技有限公司 Integrated clamping jaw mechanism

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104470831A (en) * 2012-08-31 2015-03-25 村田机械株式会社 Transferring apparatus
CN104470831B (en) * 2012-08-31 2016-08-24 村田机械株式会社 Shifting apparatus
CN103056710A (en) * 2012-12-28 2013-04-24 余姚市嘉力机械设备制造有限公司 Manipulator
CN104743357A (en) * 2015-03-12 2015-07-01 苏州博众精工科技有限公司 Movable clamping mechanism
CN104743357B (en) * 2015-03-12 2017-01-11 苏州博众精工科技有限公司 Movable clamping mechanism
CN116460646A (en) * 2023-05-25 2023-07-21 南通辰同智能科技有限公司 Integrated clamping jaw mechanism
CN116460646B (en) * 2023-05-25 2024-01-26 南通辰同智能科技有限公司 Integrated clamping jaw mechanism

Similar Documents

Publication Publication Date Title
DE102014110352B3 (en) Centric jig
CH680665A5 (en)
DE4010200A1 (en) DEVICE FOR HANDLING COMPONENTS WITH A GRIP DEVICE
EP0074565A3 (en) Palet for positioning and clamping workpieces
DE202011106409U1 (en) Clamping cassette with pull-down clamp
DE102013015525A1 (en) stop module
DE20204667U1 (en) Parallel gripper has pairs of movable gripper elements supported by slide carriages having active wedge flanks and pressure members guided transversely to gripping direction
DE7502826U (en)
DE4011723A1 (en) Storage unit for cylindrical workpieces - has spring-loaded opposed roller pairs forced apart by workpiece and locked in supporting position
DE3320830A1 (en) Step feed for follow-on tools, in particular on punching presses
EP0125367A1 (en) Gripper feeding device for presses or the like
DE10213127C1 (en) Parallel gripping device for gripping objects comprises carriages displaced by a piston/cylinder unit and hinged to cam drives arranged one after the other via one piston in each movement direction
DE2805860C2 (en) Chuck with clamping jaws moved radially outwards for clamping
EP0733882B1 (en) Position-measuring device
DE2208676A1 (en) Cable management device
DE20015569U1 (en) Positioning and / or coupling device between an extrusion tool and a downstream calibration tool
DE102013104975B4 (en) jig
DE19836242C2 (en) Mobile and adjustable drawing and marking device "Sign"
DE10052276A1 (en) Clamping device for plate-shaped work pieces for machine tools has carrier on drive and suction block, both with magnetic material
DE202006003377U1 (en) Quick clamping device with clamp has sliding element which is parallel to movable clamping element fixed to shaft which can be moved together with movable element by pressure key
DE4024277A1 (en) DEVICE FOR MOVING ROD-SHAPED GOODS TOWARDS ITS LENGTH AXIS
DE2740617A1 (en) Multiple stage matrix press - has interchangeable tools fixed on tool holder by hydraulically operated locking bolts inside tools
DE20010969U1 (en) Force limiting device for belt tensioner systems
DE7727899U1 (en) FORMING PRESS, IN PARTICULAR MULTI-STAGE PRESS
AT385692B (en) Supporting table on machines

Legal Events

Date Code Title Description
R207 Utility model specification

Effective date: 20030911

R150 Term of protection extended to 6 years

Effective date: 20050503

R151 Term of protection extended to 8 years

Effective date: 20080611

R152 Term of protection extended to 10 years

Effective date: 20100614

R071 Expiry of right
R071 Expiry of right