EP0038037B1 - Gripping device for pipes - Google Patents

Gripping device for pipes Download PDF

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Publication number
EP0038037B1
EP0038037B1 EP81102717A EP81102717A EP0038037B1 EP 0038037 B1 EP0038037 B1 EP 0038037B1 EP 81102717 A EP81102717 A EP 81102717A EP 81102717 A EP81102717 A EP 81102717A EP 0038037 B1 EP0038037 B1 EP 0038037B1
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EP
European Patent Office
Prior art keywords
gripping
axis
swivelling
abutment
claw
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
Application number
EP81102717A
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German (de)
French (fr)
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EP0038037A2 (en
EP0038037A3 (en
Inventor
Josef Emunds
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EMUNDS, JOSEF
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to AT81102717T priority Critical patent/ATE13656T1/en
Publication of EP0038037A2 publication Critical patent/EP0038037A2/en
Publication of EP0038037A3 publication Critical patent/EP0038037A3/en
Application granted granted Critical
Publication of EP0038037B1 publication Critical patent/EP0038037B1/en
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/422—Gripping members engaging only the external or internal surfaces of the articles actuated by lifting force

Definitions

  • the invention relates to a gripping device for pipes with two scissor-like crossing arms that are pivotally hinged to one another, on the free ends of which two gripping rails are attached that run parallel to the swiveling axis of the gripping arms, each of which has at least two spaced-apart pipes to be lifted have laterally gripping jaws which are pivotally attached to the gripping rails about axes running parallel to the pivot axis of the gripping arms and are held in a gripping position by a spring which is supported against an abutment surface of the gripping jaw.
  • a gripping device of this type is known from brochures from Emunds & Staudinger GmbH & Co. KG.
  • the spring which presses the gripping jaw into the gripping position, in which, when unloaded, the lower gripping area protrudes further inwards towards the pipe to be received than the upper gripping area, has to absorb large loads with relatively small spring travel.
  • the object of the invention is to design the suspension of the gripping jaws so that it is reliable, takes up little space and has a strongly increasing spring stiffness under load.
  • the back of the gripping jaw is curved around at least one axis parallel to the pivot axis, the distance from a parallel to the pivot axis abutment surface is greater than the distance of the pivot axis from the abutment surface and that between this and the curved rear the gripping jaw is arranged in a strand-like, rubber-elastic, prestressed body.
  • the elastic body presses the gripper jaw into the gripping position. If the gripping device is brought over a pipe to be picked up and the gripping arms close, then the gripping area below the pivot axis of the gripping jaw first contacts the pipe wall. The gripping jaw is pivoted so far against the action of the resilient body that its upper gripping area also bears against the tube wall.
  • the curved rear of the gripping jaw presses against the strand-shaped, rubber-elastic body and at the same time takes it into the narrowing gap between the curved rear of the gripping jaw and the abutment surface. This compressing the rubber-elastic body increases its rigidity.
  • the gripping rail consists of a U-profile, in which the gripping jaws are mounted so that the abutment surface is formed by the inside of the web of the U-profile and the strand-shaped rubber-elastic body when the gripping jaw is not loaded is at an angle of U profile is located.
  • a downwardly projecting stop on the gripping jaw which serves as a resilient deflector and facilitates gripping over the gripping device.
  • the stop on the gripping jaws has the task of putting the pipe gripper over a pipe to be picked up without difficulty and thereby protecting the gripping elements, in particular the metallic gripping tips, against abrasion.
  • the gripping device for pipes shown in FIG. 1 has two gripping arms 1 and 2 which intersect like scissors and which are pivoted to one another about the axis 3. At the upper ends of the gripping arms 1 and 2, tabs 4 and 5 are articulated, which are articulated to an eyelet 6. The eyelet 6 is used to hang the gripping device on a rope or chain sling. Between the joint that connects the two brackets 4 and 5, and the pivot axis 3 of the gripping arms 1 and 2, a tension spring (not shown) is arranged on the one hand and on the other hand a locking device 7 which holds the two gripping arms 1 and 2 in the open position after a tube has been set down, until the gripping device with the adjustable stop 8 is placed on a new pipe to be picked up.
  • a tension spring (not shown) is arranged on the one hand and on the other hand a locking device 7 which holds the two gripping arms 1 and 2 in the open position after a tube has been set down, until the gripping device with the adjustable stop 8 is placed on a new pipe
  • gripping rails 9 and 10 are arranged, which run parallel to the pivot axis 3.
  • the gripping rails 9 and 10 are formed by U-profiles.
  • a gripping jaw 11 is arranged, which is relative to one another. Small angle is pivotally attached to an axis 12 extending parallel to the pivot axis 3 of the gripping arms 1 and 2.
  • the gripping jaws 11 are held by springs in a position corresponding approximately to the gripping position. In this position, the mutually facing surfaces of the opposing gripping jaws 11 diverge from below to above.
  • the outwardly resilient stop 16 has the effect that the gripping device slides over a pipe without difficulty, although when the gripping device is lowered the two gripping rails are not aligned parallel to the pipe to be received.
  • the stops 16 striking the pipe to be accommodated automatically bring the two parallel gripping rails 9 and 10 into a position in which they run parallel to the axis of the pipe to be accommodated.
  • the stops 16 also prevent the gripping teeth of the gripping jaws from being excessively worn.
  • the locking device 7 unlocks, so that the gripping arms 1, 2 can be closed and the gripping jaws 11 lie against the pipe wall below the pipe center.
  • the gripping jaws 11 are pivotally mounted in walls 27 which are welded into the gripping rails 9, 10 at right angles to the pivot axis 3 of the gripping jaws 1, 2.
  • the free edges of the flanges of the gripping rails 9, 10 formed from a U-profile serve as lower stops 13 and upper stops 24 of the gripping jaws 11.
  • the gripping jaws 11 are equipped with gripping elements 14, 15, which are each composed of a series of gripping teeth 17 which are incorporated into the gripping jaw 11.
  • Fig. 3 shows a view along the section line 111-111 in Fig. 2, but in which the gripping jaw 11 with its gripping elements 14, 15 bears against the dash-dotted wall 30 of a pipe to be received and the gripping jaw 11 is pivoted slightly downward.
  • the gripping jaw 11 is under the action of a rubber-elastic, resilient, strand-like body 25, which can have a round cross section and is arranged between an abutment surface 31 and the curved rear side 32 of the gripping jaw 11 and extends over the width of the gripping jaw 11.
  • the radius of curvature of the curvature of the rear side 32 is approximately twice as large as the distance between the pivot axis 12 and the abutment surface 31.
  • the starting position of the gripping jaw 11 and the rubber-elastic body 25 is also shown in dash-dot lines. In this unloaded position, the gripping jaw 11 is pressed by the resilient body 25 against the upper stop 24.
  • the cross section of the resilient body 25 is round.
  • This rubber body 25 is - as shown in dash-dotted lines - used with bias so that it is in the lower angle between the web and the lower flange of the U-shaped rail 10.
  • the elastic body 25 is carried along by the curved rear side 32 of the gripping jaw 11 and squeezed into the narrowing gap between the rear side 32 and the abutment surface 31.
  • the gripping jaw 11 which is made in one piece from cast steel, which is provided with two rows of gripping tips 17 in the lower gripping area 14 and with a row of gripping tips 17 in the upper gripping area 15, and the rear side 32 of which is curved, there is a wide range of widths the gripping jaw 11 extending downward projecting stop 16 is attached, which abuts a concrete pipe to be gripped before the gripping device with its gripping jaws 11 is in the correct gripping position. So that the gripping device can slide better over the pipe to be gripped, rollers 35 can be arranged at the free end of the stop 16 about an axis 34 running parallel to the pivot axis 12.
  • This arrangement of the stop 16 serving as a deflector on the gripping jaw 11 has the advantage that no special suspension is required for the stop 16 and that when a worn gripping jaw 11 is replaced, the stop 16, which is exposed to heavy wear, is also replaced.
  • the gripping jaw 11 has between the gripping teeth 17 of the upper gripping area 14 and the lower gripping area 15 a semi-cylindrical recess 36 into which an insert 37 made of rubber-elastic material, e.g. B. rubber, and can be fastened by means of screws 38.
  • the gripping jaws 11 of the pipe gripper are equipped with these inserts 37 when pipes with a smooth surface are to be gripped.
  • the insert 37 has an essentially planar lower gripping area 14 and an upper gripping area 15 which lies against the tube wall.
  • the planes of these gripping areas 14 and 15 are at an angle of, for example, 170 ° or 180 ° to one another.
  • the semi-cylindrical recess 36 is arranged in such a way that the tooth tips of the gripping teeth 17 are created with its help.
  • the lower row of tooth tips 17 holds a tube even if the inserts 37 made of elastic material should be badly worn.
  • each gripper jaw For easy and safe gripping of a pipe, it is advantageous if each gripper jaw
  • a gripper jaw 11 is divided into at least one plane perpendicular to the pivot axis 12. If a gripper jaw 11 is subdivided into two or three, then two or three elements can be pivoted independently about the axis 12, which elements can also properly fit against a pipe to be gripped when the pipe wall is inclined to the swivel axis 12 of the gripper jaw parts. When a tube lying at an angle or inclined is removed, the gripper jaw parts compress the strand-like, rubber-elastic body 25 to different degrees.
  • the pivot axis 12 in diameter considerably, for example 10-30%, smaller than the bore 40 surrounding the pivot axis 12 in the gripping jaw 11.
  • the bore 40 is arranged and the play between the pivot axis 12 and the bore 40 is so great that the gripping jaw 11 is supported with the curved rear side 32 against the abutment surface 31 and at the same time against the lower flange of the U-rail 10 when the gripping jaw 11 is loaded.
  • the gripping jaw 13 In the unloaded state, the gripping jaw 13, as shown, is pressed obliquely upwards against the pivot axis 12 by the prestressed, resilient body 25.
  • the gripping surface of the elastic insert 37 for forming the lower gripping area 14 and the upper gripping area 15 is composed of two planes inclined at a relatively small angle to one another.
  • the gripping surface of the elastic insert 37 can, however, also be flat overall, because when a pipe is gripped, the curved outer surface of which is pressed into the initially flat gripping surface of the elastic insert 37.
  • the rubber-elastic body 25 is arranged between the lower corner of the U-shaped gripping rail 10 and the curved rear side 32 of the gripping jaw 11.
  • a second rubber-elastic body 25 in the upper corner of the U-shaped gripping rail 10.
  • the described gripping device has the advantage that it can be assembled very easily and quickly. It is only necessary to pull out the pivot axis 12 in order to replace the gripping jaw 11 and its resilient body 25. Because the curved surface 32 rolls off the prestressed, strand-like elastic body 25 without sliding movement, the gripping jaw 11 is always returned to the same starting position by the resilient body 25.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Tyre Moulding (AREA)

Abstract

1. Gripping device for pipes with two scissorlike, intersecting gripping arms, hinged together and swivelling about one axis, to the free ends of which are attached two gripping bars running parallel to the swivelling axis of the gripping arms, these bars each having at least two gripping claws positioned at a distance from one another and gripping the pipes to be raised laterally from unterneath, which are attached to the gripping bars and held in a gripping position by a spring so that they swivel around axes running parallel to the swilling axis of the gripping, this spring being supported against a surface of abutment of the gripping bar, characterised in that the back (32) of the gripping claw (11) is arched about at least one axis running parallel to the swivelling axis, the distance of the former from a surface of abutment (31) running parallel to the swivelling axis (12) being greater than the distance of the swivelling axis (12) from the surface of abutment (31), and that between this and the arched back (32) of the gripping claw (11) is located a cord-like rubber-elastic pretensioned element (25) to act as a spring.

Description

Die Erfindung bezieht sich auf eine Greifvorrichtung für Rohre mit zwei scherenartig sich überkreuzenden und um eine Achse schwenkbar aneinandergelenkten Greifarmen, an deren freien Enden zwei parallel zur Schwenkachse der Greifarme verlaufende Greifschienen befestigt sind, die je mindestens zwei im Abstand voneinander angeordnete, die zu hebenden Rohre seitlich untergreifende Greifbacken aufweisen, welche um parallel zu der Schwenkachse der Greifarme verlaufende Achsen schwenkbar an den Greifschienen befestigt und von einer Feder in einer Greifposition gehalten sind, die sich gegen eine Widerlagerfläche der Greifschienne abstützt. Eine Greifvorrichtung dieser Art ist aus Prospekten der Firma Emunds & Staudinger GmbH & Co. KG bekannt.The invention relates to a gripping device for pipes with two scissor-like crossing arms that are pivotally hinged to one another, on the free ends of which two gripping rails are attached that run parallel to the swiveling axis of the gripping arms, each of which has at least two spaced-apart pipes to be lifted have laterally gripping jaws which are pivotally attached to the gripping rails about axes running parallel to the pivot axis of the gripping arms and are held in a gripping position by a spring which is supported against an abutment surface of the gripping jaw. A gripping device of this type is known from brochures from Emunds & Staudinger GmbH & Co. KG.

Die Feder, welche die Greifbacke in die Greifposition drückt, in welcher bei unbelastetem Zustand der untere Greifbereich weiter nach innen zum aufzunehmenden Rohr hin ragt als der obere Greifbereich, hat bei relativ kleinen Federwegen große Lasten aufzunehmen.The spring, which presses the gripping jaw into the gripping position, in which, when unloaded, the lower gripping area protrudes further inwards towards the pipe to be received than the upper gripping area, has to absorb large loads with relatively small spring travel.

Aufgabe der Erfindung ist es, die Federung der Greifbacken so zu gestalten, daß sie zuverlässig ist, geringen Raum beansprucht und eine unter Belastung stark zunehmende Federsteifigkeit besitzt.The object of the invention is to design the suspension of the gripping jaws so that it is reliable, takes up little space and has a strongly increasing spring stiffness under load.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, daß die Rückseite der Greifbacke um mindestens eine parallel zur Schwenkachse verlaufende Achse gewölbt ist, deren Abstand von einer parallel zur Schwenkachse verlaufenden Widerlagerfläche größer ist als der Abstand der Schwenkachse von der Widerlagerfläche und daß zwischen dieser und der gewölbten Rückseite der Greifbacke ein strangartiger, gummielastischer, unter Vorspannung stehender Körper angeordnet ist.This object is achieved in that the back of the gripping jaw is curved around at least one axis parallel to the pivot axis, the distance from a parallel to the pivot axis abutment surface is greater than the distance of the pivot axis from the abutment surface and that between this and the curved rear the gripping jaw is arranged in a strand-like, rubber-elastic, prestressed body.

Bei unbelasteter Greifbacke drückt der elastische Körper die Greifbacke in die Greifposition. Wird die Greifvorrichtung über ein aufzunehmendes Rohr gebracht und schließen sich die Greifarme, dann legt sich der unterhalb der Schwenkachse der Greifbacke befindliche Greifbereich zuerst an die Rohrwandung an. Dabei wird die Greifbacke gegen die Wirkung des federnden Körpers so weit verschwenkt, daß sich auch sein oberer Greifbereich gegen die Rohrwandung anlegt. Durch das Verschwenken der Greifbacke bei Aufnahme eines Rohres drückt die gewölbte Rückseite der Greifbacke gegen den strangförmigen, gummielastischen Körper und nimmt ihn gleichzeitig in den enger werdenden Spalt zwischen der gewölbten Rückseite der Greifbacke und der Widerlagerfläche mit. Bei diesem Zusammenpressen des gummielastischen Körpers erhöht sich dessen Steifigkeit.When the gripper jaw is not loaded, the elastic body presses the gripper jaw into the gripping position. If the gripping device is brought over a pipe to be picked up and the gripping arms close, then the gripping area below the pivot axis of the gripping jaw first contacts the pipe wall. The gripping jaw is pivoted so far against the action of the resilient body that its upper gripping area also bears against the tube wall. By swiveling the gripping jaw when a tube is received, the curved rear of the gripping jaw presses against the strand-shaped, rubber-elastic body and at the same time takes it into the narrowing gap between the curved rear of the gripping jaw and the abutment surface. This compressing the rubber-elastic body increases its rigidity.

Bei einem bevorzugten Ausführungsbeispiel der Erfindung besteht die Greifschiene aus einem U-Profil, in dem die Greifbacken so gelagert sind, daß die Widerlagerfläche von der Innenseite des Steges des U-Profils gebildet wird und der strangförmige gummielastische Körper bei unbelasteter Greifbacke sich in einem Winkel des U-Profils befindet.In a preferred embodiment of the invention, the gripping rail consists of a U-profile, in which the gripping jaws are mounted so that the abutment surface is formed by the inside of the web of the U-profile and the strand-shaped rubber-elastic body when the gripping jaw is not loaded is at an angle of U profile is located.

In weiterer Ausbildung der Erfindung wird vorgeschlagen, an der Greifbacke einen nach unten vorspringenden Anschlag vorzusehen, der als federnder Abweiser dient und das Übergreifen der Greifvorrichtung erleichtert. Der Anschlag an den Greifbacken hat die Aufgabe, den Rohrgreifer ohne Schwierigkeit über ein aufzunehmendes Rohr zu stülpen und dabei die Greifelemente, insbesondere die metallischen Greifspitzen, gegen Abrieb zu schützen.In a further embodiment of the invention it is proposed to provide a downwardly projecting stop on the gripping jaw, which serves as a resilient deflector and facilitates gripping over the gripping device. The stop on the gripping jaws has the task of putting the pipe gripper over a pipe to be picked up without difficulty and thereby protecting the gripping elements, in particular the metallic gripping tips, against abrasion.

Weitere Merkmale der Erfindung ergeben sich aus den Patentansprüchen.Further features of the invention emerge from the patent claims.

In der weiteren Beschreibung werden Ausführungsbeispiele unter Bezugnahme auf die Zeichnungen näher erläutert. Die Zeichnungen zeigen in

  • Figur 1 eine Seitenansicht eines Rohrgreifers,
  • Figur 2 eine Draufsicht auf eine Greifschiene des Rohrgreifers,
  • Figur 3 eine Ansicht nach der Schnittlinie III-III in Fig. 2 mit zusätzlichem Anschlag
  • Figur 4 eine Draufsicht auf die Greifbacke mit Anschlag,
  • Figur 5 eine Ansicht einer Greifbacke entsprechend Fig. 3 mit einem elastischen Einsatz zum Erfassen glatter Rohre.
In the further description, exemplary embodiments are explained in more detail with reference to the drawings. The drawings show in
  • FIG. 1 shows a side view of a pipe gripper,
  • FIG. 2 shows a plan view of a gripping rail of the pipe gripper,
  • Figure 3 is a view along the section line III-III in Fig. 2 with an additional stop
  • FIG. 4 shows a top view of the gripping jaw with a stop,
  • 5 shows a view of a gripping jaw corresponding to FIG. 3 with an elastic insert for gripping smooth tubes.

Die in Fig. 1 dargestellte Greifvorrichtung für Rohre weist zwei scherenartig sich überkreuzende Greifarme 1 und 2 auf, die um die Achse 3 schwenkbar aneinandergelenkt sind. An den oberen Enden der Greifarme 1 und 2 sind Laschen 4 und 5 angelenkt, die gelenkig mit einer Öse 6 verbunden sind. Die Öse 6 dient zum Aufhängen der Greifvorrichtung an ein Seil- oder Kettengehänge. Zwischen dem Gelenk, das die beiden Laschen 4 und 5 verbindet, und der Schwenkachse 3 der Greifarme 1 und 2 ist einerseits eine nicht dargestellte Zugfeder angeordnet und andererseits eine Arretiervorrichtung 7, die nach Absetzen eines Rohres die beiden Greifarme 1 und 2 in Öffnungsstellung hält, bis die Greifvorrichtung mit dem einstellbaren Anschlag 8 auf ein neues aufzunehmendes Rohr abgesetzt wird. An den freien Enden der Greifarme 1 und 2 sind Greifschienen 9 und 10 angeordnet, die parallel zur Schwenkachse 3 verlaufen. Im dargestellten Ausführungsbeispiel sind die Greifschienen 9 und 10 von U-profilen gebildet. In den beiden Endbereichen der Greifschienen 9 und 10 ist je eine Greifbacke 11 angeordnet, die um einen relativ . kleinen Winkel schwenkbar um eine parallel zur Schwenkachse 3 der Greifarme 1 und 2 verlaufende Achse 12 befestigt ist. Die Greifbacken 11 werden von Federn in einer, etwa der Greifposition entsprechenden Lage gehalten. In dieser Lage divergieren die einander zugewandten Flächen der einander gegenüberliegenden Greifbacken 11 von unter nach oben.The gripping device for pipes shown in FIG. 1 has two gripping arms 1 and 2 which intersect like scissors and which are pivoted to one another about the axis 3. At the upper ends of the gripping arms 1 and 2, tabs 4 and 5 are articulated, which are articulated to an eyelet 6. The eyelet 6 is used to hang the gripping device on a rope or chain sling. Between the joint that connects the two brackets 4 and 5, and the pivot axis 3 of the gripping arms 1 and 2, a tension spring (not shown) is arranged on the one hand and on the other hand a locking device 7 which holds the two gripping arms 1 and 2 in the open position after a tube has been set down, until the gripping device with the adjustable stop 8 is placed on a new pipe to be picked up. At the free ends of the gripping arms 1 and 2, gripping rails 9 and 10 are arranged, which run parallel to the pivot axis 3. In the illustrated embodiment, the gripping rails 9 and 10 are formed by U-profiles. In the two end regions of the gripping rails 9 and 10, a gripping jaw 11 is arranged, which is relative to one another. Small angle is pivotally attached to an axis 12 extending parallel to the pivot axis 3 of the gripping arms 1 and 2. The gripping jaws 11 are held by springs in a position corresponding approximately to the gripping position. In this position, the mutually facing surfaces of the opposing gripping jaws 11 diverge from below to above.

An den Greifbacken 11 sind nach unten vorspringende Anschläge 16 als Abweiser angeordnet, für die in Rahmen der vorliegenden Anmeldung kein Schutz beansprucht wird. Der nach außen federnde Anschlag 16 hat die Wirkung, daß die Greifvorrichtung ohne Schwierigkeiten über ein Rohr gleitet, obgleich beim Ablassen der Greifvorrichtung die beiden Greifschienen nicht parallel zu dem aufzunehmenden Rohr ausgerichtet sind. Die am aufzunehmenden Rohr anschlagenden Anschläge 16 bringen die beiden parallelen Greifschienen 9 und 10 automatisch in eine Stellung, in der sie parallel zur Achse des aufzunehmenden Rohres verlaufen. Die Anschläge 16 verhindern auch, daß die Greifzähne der Greifbacken zu stark abgenutzt werden. Sobalt die Greifvorrichtung mit dem verstellbaren Anschlag 8 im Scheitel des aufzunehmenden Rohres aufsetzt, entriegelt sich die Arretiervorrichtung 7, so daß die Greifarme 1, 2 geschlossen werden können und sich die Greifbacken 11 unterhalb der Rohrmitte an die Rohrwandung anlegen.On the gripping jaws 11 protruding downward stops 16 are arranged as a deflector net, for which no protection is claimed in the context of the present application. The outwardly resilient stop 16 has the effect that the gripping device slides over a pipe without difficulty, although when the gripping device is lowered the two gripping rails are not aligned parallel to the pipe to be received. The stops 16 striking the pipe to be accommodated automatically bring the two parallel gripping rails 9 and 10 into a position in which they run parallel to the axis of the pipe to be accommodated. The stops 16 also prevent the gripping teeth of the gripping jaws from being excessively worn. As soon as the gripping device with the adjustable stop 8 touches down in the apex of the pipe to be picked up, the locking device 7 unlocks, so that the gripping arms 1, 2 can be closed and the gripping jaws 11 lie against the pipe wall below the pipe center.

Wie die Fig. 2 zeigt, sind die Greifbacken 11 schwenkbar in Wände 27 gelagert, die rechtwinklig zur Schwenkachse 3 der Greifbacken 1, 2 in die Greifschienen 9, 10 eingeschweißt sind. Die freien Kanten der Flansche der aus einem U-Profil gebildeten Greifschienen 9, 10 dienen als untere Anschläge 13 und obere Anschläge 24 der Greifbacken 11.2 shows, the gripping jaws 11 are pivotally mounted in walls 27 which are welded into the gripping rails 9, 10 at right angles to the pivot axis 3 of the gripping jaws 1, 2. The free edges of the flanges of the gripping rails 9, 10 formed from a U-profile serve as lower stops 13 and upper stops 24 of the gripping jaws 11.

Bei einer Greifvorrichtung, die zum Aufnehmen von Betonrohren bestimmt ist, sind die Greifbacken 11 mit Greifelementen 14, 15 ausgerüstet, die sich jeweils aus einer Reihe von Greifzähnen 17 zusammensetzt, die in die Greifbacke 11 eingearbeitet sind.In the case of a gripping device which is intended for receiving concrete pipes, the gripping jaws 11 are equipped with gripping elements 14, 15, which are each composed of a series of gripping teeth 17 which are incorporated into the gripping jaw 11.

Fig. 3 zeigt eine Ansicht nach der Schnittlinie 111-111 in Fig. 2, bei der aber die Greifbacke 11 mit ihren Greifelementen 14, 15 an der strichpunktiert gezeichneten Wandung 30 eines aufzunehmenden Rohres anliegt und die Greifbacke 11 etwas nach unten verschwenkt ist. Die Greifbacke 11 steht unter der Wirkung eines gummielastischen, federnden, strangartigen Körpers 25, der einen runden Querschnitt haben kann und zwischen einer Widerlagerfläche 31 und der gewölbten Rückseite 32 der Greifbacke 11 angeordnet ist und sich über die Breite der Greifbacke 11 erstreckt. Der Krümmungsradius der Wölbung der Rückseite 32 ist etwa doppelt so groß wie der Abstand der Schwenkachse 12 von der Widerlagerfläche 31. Strichpunktiert ist auch die Ausgangsposition der Greifbacke 11 und des gummielastischen Körpers 25 eingezeichnet. In dieser unbelasteten Stellung wird die Greifbacke 11 von dem federnden Körper 25 gegen den oberen Anschlag 24 gedrückt.Fig. 3 shows a view along the section line 111-111 in Fig. 2, but in which the gripping jaw 11 with its gripping elements 14, 15 bears against the dash-dotted wall 30 of a pipe to be received and the gripping jaw 11 is pivoted slightly downward. The gripping jaw 11 is under the action of a rubber-elastic, resilient, strand-like body 25, which can have a round cross section and is arranged between an abutment surface 31 and the curved rear side 32 of the gripping jaw 11 and extends over the width of the gripping jaw 11. The radius of curvature of the curvature of the rear side 32 is approximately twice as large as the distance between the pivot axis 12 and the abutment surface 31. The starting position of the gripping jaw 11 and the rubber-elastic body 25 is also shown in dash-dot lines. In this unloaded position, the gripping jaw 11 is pressed by the resilient body 25 against the upper stop 24.

Dadurch, daß der federnde Körper 25 die Greifbacke 11 gegen den oberen Anschlag 24 drückt, sind im entlasteten Zustand die unteren Greifelemente 14 stärker nach innen geschwenkt als bei Belastungszustand. Dies hat zur Folge, daß beim Schließen der Greifvorrichtung die Greifbacken 11 zunächst mit den Anschlägen 16 und dann mit den unteren Greifelementen 14 zur Anlage an die Wandung 33 des aufzunehmenden Rohres kommen und danach erst mit den oberen Greifelementen 15. Dadurch ist sichergestellt, daß jede verschwenkbare Greifbacke 11 mit beiden Greifelementen 14, 15 an der Rohrwandung zur Anlage kommen. Würden die Greifbacken zuerst mit den oberen Greifelementen 15 ein aufzunehmendes Rohr erfassen, dann besteht die Gefahr, daß das aufgenommene Rohr nur von diesen oberen Greifelementen 15 gehalten wird, während die unteren Greifelemente 14 nicht mehr zur Anlage an das aufzunehmende Rohr gelangen.Characterized in that the resilient body 25 presses the gripping jaw 11 against the upper stop 24, the lower gripping elements 14 are pivoted more inwards in the relieved state than in the loaded state. The result of this is that when the gripping device is closed, the gripping jaws 11 come to rest against the wall 33 of the pipe to be received first with the stops 16 and then with the lower gripping elements 14 and only then with the upper gripping elements 15. This ensures that each pivotable gripping jaw 11 with both gripping elements 14, 15 come to rest on the pipe wall. If the gripping jaws first grasp a pipe to be received with the upper gripping elements 15, then there is a risk that the received pipe will only be held by these upper gripping elements 15, while the lower gripping elements 14 no longer come into contact with the pipe to be received.

In unbelastetem Zustand ist der Querschnitt des federnden Körpers 25 rund. Dieser Gummikörper 25 wird - wie strichpunktiert dargestellt - mit Vorspannung so eingesetzt, daß er sich in dem unteren Winkel zwischen Steg und unterem Flansch der U-Profilschiene 10 befindet.In the unloaded state, the cross section of the resilient body 25 is round. This rubber body 25 is - as shown in dash-dotted lines - used with bias so that it is in the lower angle between the web and the lower flange of the U-shaped rail 10.

Wird die Greifbacke 11 etwas nach unten geschwenkt, dann wird der elastische Körper 25 von der gewölbten Rückseite 32 der Greifbacke 11 mitgenommen und in den enger werdenden Spalt zwischen Rückseite 32 und Widerlagerfläche 31 gequetscht.If the gripping jaw 11 is pivoted slightly downward, the elastic body 25 is carried along by the curved rear side 32 of the gripping jaw 11 and squeezed into the narrowing gap between the rear side 32 and the abutment surface 31.

An der einstückig aus Stahlguß hergestellten Greifbacke 11, die im unteren Greifbereich 14 mit zwei Reihen von Greifspitzen 17 und im oberen Greifbereich 15 mit einer Reihe von Greifspitzen 17 versehen ist, und deren Rückseite 32 gewölbt ist, ist ein sich über einen großen Bereich der Breite der Greifbacke 11 erstreckender, nach unten vorragender Anschlag 16 angebracht, der an ein zu ergreifendes Betonrohr anschlägt, bevor die Greifvorrichtung sich mit ihren Greifbacken 11 in der richtigen Greifposition befindet. Damit die Greifvorrichtung besser über das zu erfassende Rohr gleiten kann, können am freien Ende des Anschlages 16 um eine parallel zur Schwenkachse 12 verlaufende Achse 34 drehbare Rollen 35 angeordnet sein. Diese Anordnung des als Absweiser dienenden Anschlages 16 an der Greifbacke 11 hat den Vorteil, daß für den Anschlag 16 keine besondere Federung erforderlich ist und daß bei Auswechseln einer verschlissenen Greifbacke 11 auch der einem starken Verschleiß ausgesetzte Anschlag 16 ausgewechselt wird.On the gripping jaw 11, which is made in one piece from cast steel, which is provided with two rows of gripping tips 17 in the lower gripping area 14 and with a row of gripping tips 17 in the upper gripping area 15, and the rear side 32 of which is curved, there is a wide range of widths the gripping jaw 11 extending downward projecting stop 16 is attached, which abuts a concrete pipe to be gripped before the gripping device with its gripping jaws 11 is in the correct gripping position. So that the gripping device can slide better over the pipe to be gripped, rollers 35 can be arranged at the free end of the stop 16 about an axis 34 running parallel to the pivot axis 12. This arrangement of the stop 16 serving as a deflector on the gripping jaw 11 has the advantage that no special suspension is required for the stop 16 and that when a worn gripping jaw 11 is replaced, the stop 16, which is exposed to heavy wear, is also replaced.

Die Greifbacke 11 nach Fig. 4 und 5 hat zwischen den Greifzähnen 17 des oberen Greifbereichs 14 und des unteren Greifbereichs 15 eine halbzylindrische Ausnehmung 36, in die ein Einsatz 37 aus gummielastischem Material, z. B. Kautschuk, eingesetzt und mittels Schrauben 38 befestigt werden kann. Mit diesen Einsatzen 37 werden die Greifbacken 11 des Rohrgreifers ausgerüstet, wenn Rohre mit glatter Oberfläche gegriffen werden sollen. Der Einsatz 37 hat einen sich an die Rohrwandung anlegenden, im wesentlichen ebenen unteren Greifbereich 14 und einen oberen Greifbereich 15. Die Ebenen dieser Greifbereiche 14 und 15 stehen in einem Winkel von beispielsweise 170° oder 180° zueinander. Die halbzylindrische Ausnehmung 36 ist so angeordnet, daß mit ihrer Hilfe die Zahnspitzen der Greifzähne 17 entstehen.The gripping jaw 11 according to FIGS. 4 and 5 has between the gripping teeth 17 of the upper gripping area 14 and the lower gripping area 15 a semi-cylindrical recess 36 into which an insert 37 made of rubber-elastic material, e.g. B. rubber, and can be fastened by means of screws 38. The gripping jaws 11 of the pipe gripper are equipped with these inserts 37 when pipes with a smooth surface are to be gripped. The insert 37 has an essentially planar lower gripping area 14 and an upper gripping area 15 which lies against the tube wall. The planes of these gripping areas 14 and 15 are at an angle of, for example, 170 ° or 180 ° to one another. The semi-cylindrical recess 36 is arranged in such a way that the tooth tips of the gripping teeth 17 are created with its help.

Die jeweils untere Reihe von Zahnspitzen 17 hält ein Rohr auch dann, wenn die aus elastischem Material bestehenden Einsätze 37 stark verschlissen sein sollten.The lower row of tooth tips 17 holds a tube even if the inserts 37 made of elastic material should be badly worn.

Für das leichte und sichere Erfassen eines Rohres ist es von Vorteil, wenn jede GreifbackeFor easy and safe gripping of a pipe, it is advantageous if each gripper jaw

11 in mindestens einer rechtwinklig zur Schwenkachse 12 verlaufenden Ebene unterteilt ist. Ist eine Greifbacke 11 einfach oder zweifach unterteilt, dann entstehen zwei oder drei unabhängig um die Achse 12 schwenkbare Elemente, die sich auch dann richtig an ein zu erfassendes Rohr anlegen können, wenn die Rohrwandung schräg zur Schwenkachse 12 der Greifbackenteile verläuft. Beim Ausnehmen eines schief oder geneigt liegenden Rohres drücken die Greifbackenteile den strangartigen, gummielastischen Körper 25 unterschiedlich stark zusammen.11 is divided into at least one plane perpendicular to the pivot axis 12. If a gripper jaw 11 is subdivided into two or three, then two or three elements can be pivoted independently about the axis 12, which elements can also properly fit against a pipe to be gripped when the pipe wall is inclined to the swivel axis 12 of the gripper jaw parts. When a tube lying at an angle or inclined is removed, the gripper jaw parts compress the strand-like, rubber-elastic body 25 to different degrees.

Wie Fig. 5 zeigt, ist. die Schwenkachse 12 im - Durchmesser erheblich, zum Beispiel 10-30%, kleiner als die die Schwenkachse 12 umgebende Bohrung 40 in der Greifbacke 11. Die Bohrung 40 ist so angeordnet, und das Spiel zwischen Schwenkachse 12 und Bohrung 40 ist so groß, daß die Greifbacke 11 in jeder Schwenkstellung sich mit der gewölbten Rückseite 32 gegen die Widerlagerfläche 31 und gleichzeitig gegen den unteren Flansch der U-Schiene 10 abstützt, wenn die Greifbacke 11 belastet wird. Im unbelasteten Zustand wird die Greifbacke 13, so wie dargestellt, von dem vorgespannten, federnden Körper 25 schräg nach oben gegen die Schwenkachse 12 gedrückt.5 shows. the pivot axis 12 in diameter considerably, for example 10-30%, smaller than the bore 40 surrounding the pivot axis 12 in the gripping jaw 11. The bore 40 is arranged and the play between the pivot axis 12 and the bore 40 is so great that the gripping jaw 11 is supported with the curved rear side 32 against the abutment surface 31 and at the same time against the lower flange of the U-rail 10 when the gripping jaw 11 is loaded. In the unloaded state, the gripping jaw 13, as shown, is pressed obliquely upwards against the pivot axis 12 by the prestressed, resilient body 25.

In Fig. 5 setzt sich die Greiffläche des elatischen Einsatzes 37 zur Bildung des unteren Greifbereiches 14 und des oberen Greifbereiches 15 aus zwei in relativ kleinem Winkel zueinander geneigten Ebenen zusammen. Die Greiffläche des elastischen Einsatzes 37 kann aber auch insgesamt eben sein, weil beim Erfassen eines Rohres, dessen gewölbte Außenfläche sich in die zunächst ebene Greiffläche des elastischen Einsatzes 37 eindrückt.5, the gripping surface of the elastic insert 37 for forming the lower gripping area 14 and the upper gripping area 15 is composed of two planes inclined at a relatively small angle to one another. The gripping surface of the elastic insert 37 can, however, also be flat overall, because when a pipe is gripped, the curved outer surface of which is pressed into the initially flat gripping surface of the elastic insert 37.

Wie sich aus Fig. 3 und 5 ergibt, ist der gummielastische Körper 25 zwischen der unteren Ecke der U-förmigen Greifschiene 10 und der gewölbten Rückseite 32 der Greifbacke 11 angeordnet. Um eine höhere Steifigkeit zu erzielen, kann es vorteilhaft sein, in der oberen Ecke der U-förmigen Greifschiene 10 einen zweiten gummielastischen Körper 25 anzuordnen. Die beschriebne Greifvorrichtung hat den Vorteil, daß sie sehr leicht und schnell montiert werden kann. Es braucht nur die Schwenkachse 12 herausgezogen zu werden, um die Greifbacke 11 und deren federnden Körper 25 auszuwechseln. Weil die gewölbte Fläche 32 ohne Gleitbewegung den vorgespannten, strangartigen elastischen Körper 25 abrollt, wird die Greifbacke 11 von dem federnden Körper 25 stets in die gleiche Ausgangsstellung zurückgeführt.3 and 5, the rubber-elastic body 25 is arranged between the lower corner of the U-shaped gripping rail 10 and the curved rear side 32 of the gripping jaw 11. In order to achieve a higher rigidity, it can be advantageous to arrange a second rubber-elastic body 25 in the upper corner of the U-shaped gripping rail 10. The described gripping device has the advantage that it can be assembled very easily and quickly. It is only necessary to pull out the pivot axis 12 in order to replace the gripping jaw 11 and its resilient body 25. Because the curved surface 32 rolls off the prestressed, strand-like elastic body 25 without sliding movement, the gripping jaw 11 is always returned to the same starting position by the resilient body 25.

Claims (8)

1. Gripping device for pipes with two scissor- like, intersecting gripping arms, hinged together and swivelling about one axis, to the free ends of which are attached two gripping bars running parallel to the swivelling axis of the gripping arms, these bars each having at least two gripping claws positioned at a distance from one another and gripping the pipes to be raised laterally from unterneath, which are attached to the gripping bars and held in a gripping position by a spring so that they swivel around axes running parallel to the swilling axis of the gripping, this spring being supported against a surface of abutment of the gripping bar, characterised in that the back (32) of the gripping claw (11) is arched about at least one axis running parallel to the swivelling axis, the distance of the former from a surface of abutment (31) running parallel to the swivelling axis (12) being greater than the distance of the swivelling axis (12) from the surface of abutment (31), and that between this and the arched back (32) of the gripping claw (11) is located a cord-like rubber-elastic pretensioned element (25) to act as a spring.
2. Gripping device according to claim 1, characterised in that the gripping bars (9, 10) are U-shaped sections, inside which the gripping claws (11) find swivelling support such that the inner side of the web of the U-shaped section serves as surface of abutment of the spring element (25).
3. Gripping device according to claim 1 or 2, characterised in that the radius of curvature of the arched back (32) is roughly twice as large as the distance of the swivelling axis (12) from the surface of abutment (31).
4. Gripping device according to claim 3, characterised in that the hole (40) in the gripping claw (11) surrounding the swivelling axis (12) encloses the swivelling axis (12) allowing such a degree of play that the gripping claw (11) when loaded can lean against the surface of abutment (31) and the bottom flange of the gripping bar (10) in all swivelling positions.
5. Gripping device according to one claims 1 to 4, characterised in that the spring element (25) is of a circular cross-section and essentially extends over the width of the gripping claw (11).
6. Gripping device according to one claims 1 to 5, characterised in that the gripping claw (11) is provided with top and bottom gripping elements (14, 15) designed as gripping teeth (17) and is of integral cast-steel construction.
7. Gripping device according to claim 6, characterised in that a roughly semi-cylindrical recess (36) is made between the gripping teeth (17) of the top and bottom gripping elements (14, 15) to accomodate an insert (37) of rubber-elastic material for grasping smooth pipes.
8. Gripping device according to one of claims 1 to 7 characterised in that the gripping claw (11) is divided on at least one plane running at right angles to the swivelling axis (12).
EP81102717A 1980-04-12 1981-04-10 Gripping device for pipes Expired EP0038037B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT81102717T ATE13656T1 (en) 1980-04-12 1981-04-10 GRIPPER FOR PIPES.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3014146 1980-04-12
DE19803014146 DE3014146A1 (en) 1980-04-12 1980-04-12 GRIP DEVICE FOR TUBES

Publications (3)

Publication Number Publication Date
EP0038037A2 EP0038037A2 (en) 1981-10-21
EP0038037A3 EP0038037A3 (en) 1982-01-13
EP0038037B1 true EP0038037B1 (en) 1985-06-05

Family

ID=6099877

Family Applications (1)

Application Number Title Priority Date Filing Date
EP81102717A Expired EP0038037B1 (en) 1980-04-12 1981-04-10 Gripping device for pipes

Country Status (3)

Country Link
EP (1) EP0038037B1 (en)
AT (1) ATE13656T1 (en)
DE (2) DE3014146A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58144577U (en) * 1982-03-19 1983-09-29 新和機械工業株式会社 tube gripping machine
GB2175038A (en) * 1985-02-27 1986-11-19 Drg Uk Ltd Coupling means
IT1211602B (en) * 1987-12-15 1989-11-03 Prima Ind Spa ROBOTIC MANIPULATOR DEVICE PARTICULARLY FOR SHEETS WITH AUTOMATIC MECHANISM FOR GETTING INTERCHANGEABLE
JP3075248B2 (en) 1998-01-19 2000-08-14 日本電気株式会社 Asynchronous transfer mode switch

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2927704A (en) * 1960-03-08 Hydraulic device
GB100550A (en) * 1911-05-24 1916-06-08 Saint Gobain Improvements in Gripping Appliances Suitable for Lifting Cylindrical Articles.
FR433383A (en) * 1911-08-18 1912-01-05 The Yale & Towne Manufacturing C Improvements to grapples
FR552139A (en) * 1921-10-04 1923-04-24 Jaws for automatic gripper
US2497600A (en) * 1945-05-21 1950-02-14 William M Grigsby Hoist device
DE1117280B (en) * 1959-02-05 1961-11-16 Peter Moskopf Multiple grippers for stacking, arking and loading ceiling stones, slabs or the like
FR1218128A (en) * 1959-02-28 1960-05-09 Roller clamp
US3061357A (en) * 1959-06-05 1962-10-30 Nat Steel Corp Lifting apparatus
DE1921959B2 (en) * 1969-04-30 1974-04-18 Fried. Krupp Gmbh, 4300 Essen Truss crockery for transporting slabs or the like
DE1937281A1 (en) * 1969-07-23 1971-02-04 Hermann Steinweg Kg Baumaschin One-sided crane gripper for stone packages in the building industry
DE2722689C2 (en) * 1977-05-18 1983-02-03 Alfred Ing.(grad.) 8160 Miesbach Kinshofer Clamshell grab that cannot be fitted with a gripper
DE2901808A1 (en) * 1979-01-18 1980-07-31 Oldenburger Betonsteinwerke Plaster panel laying grab - has eccentric rollers in jaws gripping panel surface
DE2936990A1 (en) * 1979-09-13 1981-04-02 Josef Ing.(grad.) 5142 Hückelhoven Emunds Pipe gripping device with curved scissor arms - has tilting jaw at tip of each arm with pointed studs projecting from surface

Also Published As

Publication number Publication date
EP0038037A2 (en) 1981-10-21
ATE13656T1 (en) 1985-06-15
DE3170815D1 (en) 1985-07-11
EP0038037A3 (en) 1982-01-13
DE3014146A1 (en) 1981-10-15

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