DE2126315C3

DE2126315C3 - Grapple

Info

Publication number: DE2126315C3
Application number: DE19712126315
Authority: DE
Inventors: Auf Nichtnennung Antrag
Original assignee: Union Siderurgique du Nord et de lEst de France SA USINOR
Current assignee: USINOR SA
Priority date: 1970-08-21
Filing date: 1971-05-27
Publication date: 1975-05-07
Also published as: FR2104713A1; DE2126315A1; DE2126315B2; FR2104713B1

Description

L Y L Y

sters führt zu dem auf der Platte 4 des Greifers angeordneten Addierwerk 60. Die Verbindung der Kabelzüge 27 mit dem Addierwerk erfolgt ebenfalls über Kopfstücke 28 zu den Kurbeln 30 auf den Achsen 31 des Addierwerkes (F i g. 2). Auf den in Lagern 33 drehbaren Achsen 31 sitzen Sonnenräder 32, die in die Planetenräder 34 eingreifen. Diese PIa^etenräder 34 und in einem Käfig 35 gelagert, der um die Achsen 31 drehbar ist. Auf der Außenfläche der Käfigseite 36 ist ein Auflaufnocken 37 ausgebildet, der bei Drehung des Käfigs einen Endschalter 38 eines Stromkreises (nicht gezeichnet) betätigt, um die Prüflampen 39 (F i g. 1), die an den Greifarmen in der Nähe der Steuerknöpfe 7 und 8 angeordnet sind, zum Aufleuchten zu bringen.sters leads to the adder 60 arranged on the plate 4 of the gripper. The connection of the cable pulls 27 with the adder also takes place via head pieces 28 to the cranks 30 on the axles 31 of the adder (Fig. 2). On the axles 31 rotatable in bearings 33 sit sun gears 32, which mesh with the planet gears 34. These plane wheels 34 and mounted in a cage 35 which is rotatable about the axes 31. On the outer surface of the On the cage side 36, a run-on cam 37 is formed which, when the cage rotates, a limit switch 38 of a circuit (not shown) operated to the test lamps 39 (F i g. 1), which on the gripper arms in are arranged near the control buttons 7 and 8 to light up.

Der in den F i g. 1 bis 3 dargestellte Greifer arbeitet wie folgt: Zum Aufnehmen eines auf dem Boden abgesetzten Stapels von Blechpaketen P betätigt eine Bedienungsperson den Steutrknopf7 zum Schließen der Greifarme 3. Diese Greifarme nähern sich einander so weit, bis der Stapel von den Tragklauen 10 Untergriffen ist. Hierbei kommt es zum Anschlag mit den Tastern 12, die dadurch um die Drehachsen 14 geschwenkt werden und den Kabelzug 27 in Pfeilrichtung A betätigen (F i g. 2). Auf diese Weise werden die beiden Sonnenräder 32 im Uhrzeigersinn in Richtung der Pfeile B gedreht. Dadurch kommt auch der Käfig 35 um die Achsen 31 in Richtung des Pfeiles C in Drehung und sein Auflaufnocken 37 betätigt den Schalter 38 für die Prüflampen 39. Nach dem Aufleuchten dieser Anzeigeeinrichtung kann die Bedienungsperson das Hubwerk zum Anheben des Greifers in Gang setzen.The in the F i g. 1 to 3 shown gripper works as follows: To pick up a stack of sheet metal stacks P placed on the floor, an operator presses the control button 7 to close the gripper arms 3. These gripper arms approach each other until the stack is gripped from below by the support claws 10. Here, the buttons 12 come to a stop, which are thereby pivoted about the axes of rotation 14 and actuate the cable pull 27 in the direction of arrow A (FIG. 2). In this way, the two sun gears 32 are rotated clockwise in the direction of the arrows B. This also causes the cage 35 to rotate about the axes 31 in the direction of the arrow C and its overrun cam 37 actuates the switch 38 for the test lamps 39. After this display device lights up, the operator can start the lifting mechanism to lift the gripper.

Das Addierwerk ist nun so ausgelegt, daß die Prüflampen nur dann aufleuchten, wenn die Summe der Abstände (a + b) zwischen den Wangen der Greifarme und dem untersten Blechpaket/· des Stapels unter einem vorher festgelegter. Wert liegt (F i g. 3). Diese Wert-Einstellung muß ferner berücksichtigen, daß ein vollständiges Zurückschieben eines einzigen Tasters allein nicht ausreichen kann, den Endschalter 38 zu betätigen. Die Prüflampen dürfen nur dann aufleuchten, wenn beide Tragklauen den anzuhebenden Stapel weit genug Untergriffen haben und ein sicheres Anheben des Stapels gewährleistet ist.The adding unit is now designed so that the test lamps only light up when the sum of the distances (a + b) between the cheeks of the gripping arms and the lowest laminated core / of the stack is below a predetermined one. Value lies (Fig. 3). This value setting must also take into account that a complete pushing back of a single button alone may not be sufficient to actuate the limit switch 38. The test lamps may only light up when both support claws have reached under the stack to be lifted far enough and a safe lifting of the stack is guaranteed.

ίο In Fig.4 ist ein elektrisches Addierwerk dargestellt. Dies wird von zwei hintereinandergeschalteten Potentiometern P₁ und P₂, einem Stromwächter RA und einem eichbaren Regelwiderstand P gebildet, wobei letztere mit den Läufern L₁ und L₂ der Poten-ίο In Fig. 4 an electrical adding unit is shown. This is formed by two potentiometers P ₁ and P _{2 connected in series} , a current monitor RA and a calibratable control resistor P, the latter with the rotors L ₁ and L _{2 of} the potential

tiometer P₁ und P₂ und einer Stromquelle SA (Gleichstrom) verbunden sind. Jeder der Läufer Z₁ und /_s ist über einen Kabelzug 27 mit einem Taster 12 der Greifarme 3 verbunden. In der Ruhestellung der Taster nehmen die Läufer/, und /₂ die Stellun-tiometer P ₁ and P ₂ and a power source SA (direct current) are connected. Each of the runners Z ₁ and / _s is connected to a button 12 of the gripping arms 3 via a cable 27. When the button is in the rest position, the sliders _{/, and / 2 take the position}

ao gen A 1 und A 2 ein. Die Spannung U zwischen den Läufern ist bei dieser Stellung Null. Eine Verlagerung der Läufer (die einem Zurückschieben der Taster entspricht), längs der Potentiometer P₁ und P₂ führt zu einer Erhöhung der Spannung U und wennao gen A 1 and A 2. The voltage U between the rotors is zero in this position. Moving the slider (which corresponds to pushing back the button) along the potentiometers P ₁ and P ₂ leads to an increase in voltage U and if

»5 die Taster weit genug eingefahren sind, erreicht die Spannung einen Wert, bei dem der Stromwächter RA erregt wird. Diese Erregung hat das Aufleuchten der Kontrollampen 39 zur Folge.»5 the buttons are retracted far enough, the voltage reaches a value at which the current monitor RA is excited. This excitation causes the control lamps 39 to light up.

In F i g. 1 ist noch eine zusätzliche Blockierein-In Fig. 1 is an additional blocking device

richtung 48 gegen unerwünschtes Einschalten des Antriebsmotors eingezeichnet. Diese steht über Kabelzüge 44 und Drehbolzen 43 mit die Druckknöpfe 7, 8 überdeckenden Handbügeln 41, die um Achsen 42 in den Gehäusen 40 schwenkbar sind, in Verbindung. Mit 57 sind weitere Kontrollampen bezeichnet. direction 48 shown against undesired switching on of the drive motor. This stands over cable pulls 44 and pivot pin 43 with the push buttons 7, 8 overlapping hand brackets 41, which around Axes 42 are pivotable in the housings 40, in connection. With 57 further control lamps are designated.

Hierzu 3 Blatt ZeichnungenFor this purpose 3 sheets of drawings

Claims

only overall a sufficient under-reach of the carrying patent claims: steal is present. To solve this task, a gripper is

1. Gripper, the mutually movable ax mentioned above according to the invention thereby Gripping pan reach under the load with support claws, S marked that the buttons of the two gripping arms especially for stacked sheet metal stacks or via an adding unit for the under-grip sections of the the same piece goods, with support claws of both gripping arms with the display unit on each gripper the lowest laminated core is connected to the pushbutton in the direction of the contact, and a device that responds to the push-button. Such an adder either registers

ment to indicate that the io is ready to lift mechanically or electrically are provided, thereby marked pushing movements of the two buttons and thus also draws that the button (12) of the two the undergrip distances of the support claws. Is the Gripping arm (3) via an adder (60) for the sum of these values within predetermined gripping distances the Tragklsuen (10) of both zen. then the adder releases the display device gripping arms (3) in contact with the display device, even if the pushbutton is strong as a result commitment. Relocation of the laminated cores back very unevenly.

2. Gripper according to claim 1, characterized thereby. The bottom package of one of these shows that the button (12) by means of the crank stack no longer needs to be centric to the gripping rod (19. 26) and cable pull (27) to be arranged with the wire arms. The inventive dieruerk (60) are connected. ao gripper thus saves a lot of inconvenience and

3. Gripper according to claim 1 or 2, thereby also Aibeitszeitverluste.

characterized in that the adder (60) consists of In a further development of the invention, the buttons

a differential gear with bevel gears (32). using a crank linkage and cable pull with the ad-

Planet gears (34) and a planet wheel frame connected. The adder consists in weimen (35). to trigger the display device »5 terer embodiment of the invention from a different

device is formed, exists. differential gear or from electrical potentiometers.

4. Gripper according to claim 1 or 2, characterized in the following description explained by hand characterized in that the adder (60) of a drawing shows an embodiment of a greielectric Potentiometers is formed. fers according to the invention. It shows.

30 Fig. 1 is a perspective view of the gripper, F i g. Figure 2 is a perspective view of a part

a partially cut gripper arm with

a button that is connected to the adder.

The invention relates to a gripper whose opposite 35 F i g. 3 is a view of the schematized gripper one and the other movable gripper arms carry the load with a stack of staggered sheet metal stacks and claws reach under, especially for stacked Fig. 4 a circuit diagram of an electrical adding

Sheet metal packages or the like piece goods, whereby at works.

attach each gripper arm to the bottom stack of laminations. The gripper consists of a frame 1 with two

gend; Button and a responsive to de button 40 crossbar 2 and the gripping arms 3. On the cross device for displaying the readiness for lifting bar 2 is a plate 4, which are provided with a support of the gripper. bracket 5 for engaging a load hook of a traveling crane

It is known in grippers of this type that grippers or the like are equipped. A gelaarnie on the plate to equip with tactile or sensing elements, the Gerter electric motor 6 manages the opening and when a predetermined stop pressure 45 closes the gripping arms 3. The electric motor is a signal or a mechanism for further loading by means of the push buttons 7 and 8 switched on trigger activation of the gripper. Since both buttons are attached to one foot of the gripper arms. The gripping arms Gripper on this stop pressure or one are usually stiffened by transverse rods 9. Below Correct undergrip distance, where each button is wide with support claws 10 to reach under one is pushed back enough, are set, the piece goods to be picked up, such as a laminated core Control or display device also only from the stack P, equipped.

solved when the item to be detected is approaching. On each gripper arm is a housing 11 with a

is centric to the gripping arms. However, buttons 12 should be provided. The lower end of the button Stacked sheet metal stacks or similar piece goods protrude from the support arm so that they can be lifted then this condition can come into contact with it as a result of the general cargo. That an unavoidable displacement of the upright end 13 of the probe is around an axis pelten packages are no longer fulfilled because the tab 14 can be swiveled. A return spring 16, the one hand ster are moved unevenly and it is in extreme cases on a pin 17 of the button and on the other hand len can even happen that one of the two tabs is attached to an angle iron 18 of the housing 11, ster is not touched at all. Although in a 60 is used to put the button in its in the F i g. 1 and 2 In such a case, the laminated cores can be traced back to the starting position shown below. One are, the control or display device is no connecting rod 19 connects the upper end of the button with the release sign and the gripper cannot pick up the axles 21 and 23 with the central part of a be practiced. other connecting rod 22. This connecting rod 22 is

It is therefore the object of the invention to provide a gripper that is attached to a journal 24 of a gripper to create, whose button also be; not th support 15 rotatably mounted. Your other end centrally located or stacked with an offset engages a head piece 26 via an axis 25 Piece goods the display device triggers as soon as a cable pull 27 on. This cable pull every day