EP0503747A2 - Device for gripping, moving and/or turning axially symmetrical articles - Google Patents

Device for gripping, moving and/or turning axially symmetrical articles Download PDF

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Publication number
EP0503747A2
EP0503747A2 EP92250054A EP92250054A EP0503747A2 EP 0503747 A2 EP0503747 A2 EP 0503747A2 EP 92250054 A EP92250054 A EP 92250054A EP 92250054 A EP92250054 A EP 92250054A EP 0503747 A2 EP0503747 A2 EP 0503747A2
Authority
EP
European Patent Office
Prior art keywords
planet
gear
gripper
gripper elements
planet gears
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.)
Granted
Application number
EP92250054A
Other languages
German (de)
French (fr)
Other versions
EP0503747B1 (en
EP0503747A3 (en
Inventor
Albert Bönig
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.)
Vodafone GmbH
Original Assignee
Mannesmann AG
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Filing date
Publication date
Application filed by Mannesmann AG filed Critical Mannesmann AG
Publication of EP0503747A2 publication Critical patent/EP0503747A2/en
Publication of EP0503747A3 publication Critical patent/EP0503747A3/en
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Publication of EP0503747B1 publication Critical patent/EP0503747B1/en
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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
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • B66C1/54—Internally-expanding grippers for handling hollow articles
    • B66C1/56—Internally-expanding grippers for handling hollow articles for handling tubes
    • 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
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • B66C1/445—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated
    • B66C1/447—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces motor actuated by hydraulic or pneumatic motors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T279/00—Chucks or sockets
    • Y10T279/17—Socket type
    • Y10T279/17213—Transversely oscillating jaws

Definitions

  • the invention relates to a device for detecting, moving and / or rotating axially symmetrical, preferably round and / or tubular objects according to the preamble of the main claim.
  • DE 29 51 094 discloses a gripper for gripping, moving and / or transporting preferably round and / or tubular objects.
  • This gripper has a plurality of gripper elements which grip the object on the inside and / or outside and are rotatably mounted on a frame via outer levers.
  • the journals of the outer levers are connected in a rotationally fixed manner to an inner lever which is connected in a geared manner to an actuator connected to a drive unit in such a way that all the gripper elements are either ring-shaped in the same direction and at the same time concentric to the center of the gripper or can also be moved outwards.
  • a ring heated to the forging temperature can be gripped and transported in several places inside or outside. It is essential that in With regard to the deformation rigidity of the workpiece to be gripped, the number of gripper elements is as large as possible.
  • a disadvantage of this device is that the attachment point of the device is located off-center on the body to be gripped, so that a secure gripping of the body is not ensured at the same time by all gripper elements, since an inclined position of the device cannot be ruled out. In addition, the gripped object cannot be rotated with this gripper.
  • the object of the invention is to provide a device for the safe detection and movement of axially symmetrical, preferably round and / or tubular objects, which additionally enables the detected object to be rotated when it is detected centrally.
  • the proposed device has the advantage that, in addition to the known prior art, the detected object can also be rotated with a central detection.
  • the respective gripper element is fastened in the outer edge region of a planet gear of at least two planet gears and a planet gear having a sun gear. After the gripper elements have been placed on the surface of the object to be moved, the detected object is rotated by turning the sun gear further. The gripper elements are moved concentrically by the rotation of the planet gears, so that, on the one hand, a positive or positive connection between the object and the gripper elements and, on the other hand, the bridging of large dimensions is ensured.
  • the central arrangement of the Sun gear and the planet gear holding frame on a shaft piece, which is fastened together with the drive unit to a holding frame, enables the exact parallel axial displacement of the device. A misalignment of the device with respect to the axis of the object to be detected is thus avoided.
  • the range of dimensions to be bridged by the gripper elements depends on the diameter of the planet gear and the distance of the retaining bolt for the gripper element from the pivot point of the planet gear and on the pivoting range of the gripper elements.
  • the pivoting range can be increased if the part of the frame facing the gripper elements has angled arms instead of straight arms.
  • the swivel range is a maximum of 180 degrees if the angle of the arms is selected so that the stop surface of the arm, which limits the swivel range of the retaining bolt and thus also the gripper element, with respect to the connecting line between the fulcrum / planet gear and fulcrum / sun gear is a distance of half Has diameter of the retaining bolt.
  • the closing movement and thus the clamping direction of the gripper elements is opposite to the direction of rotation of the sun gear and the object to be rotated.
  • the proposed arrangement can cause the gripper elements to slide on the surface of the detected object after the closing movement, so that the object is not rotated. This is primarily dependent on the direction of the frictional torque in relation to the direction of the closing movement. If the condition is met that the outer diameter of the object to be detected is equal to twice the distance of the fulcrum / sun gear to the fulcrum planetary gear, then the frictional torque supports the clamping effect of the gripper elements.
  • the device according to the invention In order to be able to optimally use the device according to the invention also for other diameter ranges, it is further developed to arrange an intermediate wheel changing the direction of rotation of the planet wheel between the sun wheel and the planet wheel carrying the gripper elements.
  • the direction of rotation of the driving sun gear is the same as the direction of rotation of the planet gears and thus also the closing movement of the gripper elements.
  • the direction of the frictional torque supporting the clamping action coincides with the closing movement if the condition is met that the outer diameter of the object to be rotated is equal to the distance from the pivot point / sun gear to the pivot point / planet gear. This consideration also applies to both external and internal clamping and is independent of the direction of rotation of the sun gear.
  • the clamping effect is supported when the gripper elements are mounted eccentrically and rotatably on the retaining bolt are.
  • the increasing distance between the fulcrum and the point of application exerts pressure on the object to be rotated and the clamping effect is increased accordingly.
  • the arms of the frame carrying the planet wheels must be straight so that the gripper elements can be turned to the right or left.
  • the scope of application is somewhat limited but since the maximum pivoting range of the gripper elements is then o is less 180th
  • the arms must be angled so that the retaining bolt can pivot into the resulting recess.
  • the direction of rotation for the gripper element is fixed and a change in direction of rotation is only possible by replacing this frame part.
  • a hydraulic motor is preferably used as the drive unit, which is easy to regulate and can be more easily protected against overload.
  • a flexible coupling is arranged between the drive unit and the planetary gear.
  • the device according to the invention can be used for various purposes, be it to rotate objects on a shelf in order to bring them into the appropriate processing position, whether to turn objects to be cooled or to screw the parts closing or enveloping the end region of the object onto or onto the object to solve.
  • threaded pipes to screw a protective cap onto the threaded areas at the pipe ends so that the threaded area is not removed during further transport is damaged.
  • These are usually screwed on by hand, which, depending on the cycle time, requires appropriate personnel whose wrists are subjected to heavy loads due to the recurring movement sequence. Since the device is designed for capturing the object from the inside or from the outside, corresponding protective parts can also be screwed or unscrewed into an internal thread.
  • the hydraulic motor In order to limit the rotary movement of the sun gear after the protective part has been screwed on, the hydraulic motor is set to a predetermined end load value. When this end value is reached, the motor switches off automatically. Of course, this can also be achieved with an electric motor and corresponding signal generators. Alternatively, it is also proposed to connect the drive to a timer and to switch it off after a predetermined time cycle.
  • the gripper elements are released in the simplest manner by reversing the direction of rotation of the hydraulic motor and moving the gripper elements back into the end position.
  • the axial displacement of the device is limited in such a way that the side of the frame part facing the gripper elements facing the object is designed as a stop surface. Since the stop surface is distributed symmetrically over the circumference, tilting and thus uneven detection of the object is prevented. In addition, the stop surface is required so that the internal friction of the planetary gear is overcome by the normal force acting on the end face of the object at the beginning of the rotation of the sun gear and the gripper elements are moved in the clamping direction.
  • the details of the gripping device 7 are shown in FIG. 2 on an enlarged scale in a section along the line AB in FIG. 3.
  • the gripping device 7 has a planetary gear consisting of a sun gear 10 and three planet gears 11, 12, 13, which is held between two frame parts 14, 15.
  • the frame parts 14, 15 and the planetary gear are supported on a multiply stepped shaft piece 16, which is fastened on the fly with its threaded pin 17 in the flexible coupling 8 (see FIG. 1).
  • a gripper element 18-20 is fixedly arranged on a holding bolt 21-23.
  • the connection of the gripper elements 18-20 with the retaining bolts 21-23 can, for. B. done by gluing.
  • the gripper elements 18 are - 20 fully ascended while the dashed representation of a gripper element 19 in Figure 2, the end position by a pivot 180 displays' o.
  • the side of the one frame part 14 facing the object to be rotated is designed as a stop surface 24. This is necessary so that with a corresponding force on the end face of the object to be gripped and rotated, a frictional engagement is achieved which is greater than the internal friction of the planetary gear.
  • a spring 25 which can be tensioned in the tensioning direction is arranged on the rear side of the frame part 15 facing away from the object.
  • One end 26 of the spring is attached to the shaft piece 16 and the other end 27 to one of the planet gears 13.
  • the direction of rotation of the drive unit 6 can also be changed in order to be able to open the gripper elements 18-20 again.
  • FIG. 3 shows a view of the gripping device 7 in the direction Z in FIG. 2.
  • This part 14 has a central part and arms 28-30 which are angled from it and at the ends of which the planet gears 11-13 are mounted by means of a bolt 31-33.
  • the arrow 34 indicates one of the possible directions of rotation of the sun gear 10, while the arrows 35, 35 ', 35''indicate the direction of rotation of the planet gears 11-13.
  • dotted lines is the end position 19 'shown on a gripping member 19 according to a pivot of 180 o.
  • FIG. 4 Another embodiment of the gripping device 7 is shown in FIG. 4 in the same view as FIG. 3.
  • the same reference numerals have been used for the same parts.
  • This too Embodiment has a sun gear 10 and three planet gears 11-13, in the outer edge region of which the gripper elements 18-20 are arranged.
  • intermediate gears 36-38 are arranged between sun gear 10 and planet gears 11-13 to change the direction of rotation.
  • the frame part 39 facing the object to be gripped has also been structurally modified in comparison to the embodiment according to FIG. The possibility of pivoting the gripper elements up to a maximum of 180 o was maintained, however, as can be seen from the gripper element 19 ′ shown in dashed lines.
  • Figure 5 shows in a partial cross section along the line A-B in Figure 4, the embodiment previously described.
  • the arrangement of the intermediate wheel 38 between the two frame parts 15, 39 can be clearly seen in this illustration.
  • FIG. 1-5 Another embodiment of the gripper elements is shown in FIG.
  • the gripper elements 41 (only one gripper element is shown here by way of example) are mounted eccentrically and rotatably on the holding bolt 42. With dash-dotted lines, the end position 41 'of this gripper element 41 is shown by a pivoting of 180 o.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Retarders (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

A device for the grasping, moving and/or turning of articles having axial symmetry, preferably round and/or tubular articles, consisting of a drive unit and a plurality of gripper elements connected with it which are each arranged on a pivotally movable part the parts being movable together with the gripper elements either annularly in the same direction and simultaneously concentrically towards the center or in likewise manner towards the outside. In order to provide a device for the dependable grasping and moving of articles having axial symmetry, preferably round and/or tubular articles, which, upon central grasping, makes possible also the turning of the article grasped, the gripper element (18, 19, 20, 41) is fastened in the outer edge region of a planet wheel (11, 12, 13) of a planet gearing mechanism which has at least two planet wheels and one sun wheel (10) and that the planet wheels (11, 12, 13) and the sun wheel (10) and frame are arranged on a shaft (16) which is connected to the drive unit (6).

Description

Die Erfindung betrifft eine Vorrichtung zum Erfassen, Bewegen und/oder Drehen achssymmtrischer vorzugsweise runder und/oder rohrförmiger Gegenstände gemäß dem Gattungsbegriff des Hauptanspruches.The invention relates to a device for detecting, moving and / or rotating axially symmetrical, preferably round and / or tubular objects according to the preamble of the main claim.

Aus der DE 29 51 094 ist ein Greifer zum Erfassen, Bewegen und/oder Transportieren von vorzugsweise runden und/oder rohrförmigen Gegenständen bekannt. Dieser Greifer weist mehrere Greiferelemente auf, die den Gegenstand innen und/oder außen ergreifen und über äußere Hebel drehbeweglich an einem Rahmen gelagert sind. Die Lagerzapfen der äußeren Hebel sind drehfest mit einem inneren Hebel verbunden, der getrieblich an ein mit einem Antriebsaggregat verbundenes Stellglied so angeschlossen ist, daß sämtliche Greiferelemente entweder ringförmig gleichsinnig und gleichzeitig konzentrisch zur Greifermitte oder ebenso nach außen bewegbar sind. Mit diesem Greifer kann zum Beispiel ein auf Schmiedetemperatur erwärmter Ring innen oder außen an mehreren Stellen ergriffen und transportiert werden. Dabei ist wesentlich, daß im Hinblick auf die Deformationssteifigkeit des zu ergreifenden Werkstückes die Anzahl der Greiferelemente möglichst groß ist.DE 29 51 094 discloses a gripper for gripping, moving and / or transporting preferably round and / or tubular objects. This gripper has a plurality of gripper elements which grip the object on the inside and / or outside and are rotatably mounted on a frame via outer levers. The journals of the outer levers are connected in a rotationally fixed manner to an inner lever which is connected in a geared manner to an actuator connected to a drive unit in such a way that all the gripper elements are either ring-shaped in the same direction and at the same time concentric to the center of the gripper or can also be moved outwards. With this gripper, for example, a ring heated to the forging temperature can be gripped and transported in several places inside or outside. It is essential that in With regard to the deformation rigidity of the workpiece to be gripped, the number of gripper elements is as large as possible.

Nachteilig bei dieser Vorrichtung ist, daß die Anschlagstelle der Vorrichtung am zu erfassenden Körper außermittig liegt, so daß ein sicheres Erfassen des Körpers gleichzeitig durch alle Greiferelemente nicht sichergestellt ist, da eine Schiefstellung der Vorrichtung nicht ausgeschlossen ist. Außerdem kann mit diesem Greifer der erfaßte Gegenstand nicht gedreht werden.A disadvantage of this device is that the attachment point of the device is located off-center on the body to be gripped, so that a secure gripping of the body is not ensured at the same time by all gripper elements, since an inclined position of the device cannot be ruled out. In addition, the gripped object cannot be rotated with this gripper.

Aufgabe der Erfindung ist es, eine Vorrichtung zum sicheren Erfassen und Bewegen achssymmetrischer vorzugsweise runder und/oder rohrförmiger Gegenstände anzugeben, die bei mittiger Erfassung zusätzlich ein Drehen des erfaßten Gegenstandes ermöglicht.The object of the invention is to provide a device for the safe detection and movement of axially symmetrical, preferably round and / or tubular objects, which additionally enables the detected object to be rotated when it is detected centrally.

Diese Aufgabe wird mit den im kennzeichnenden Teil des Hauptanspruches angegebenen Merkmalen gelöst. Vorteilhafte Weiterbildungen sind Bestandteil von Unteransprüchen.This object is achieved with the features specified in the characterizing part of the main claim. Advantageous further developments are part of subclaims.

Die vorgeschlagene Vorrichtung hat den Vorteil, daß über den bekannten Stand der Technik hinausgehend der erfaßte Gegenstand bei mittiger Erfassung auch gedreht werden kann. Erfindungsgemäß ist dazu im äußeren Randbereich eines Planetenrades eines mindestens zwei Planetenräder und ein Sonnenrad aufweisenden Planetengetriebes das jeweilige Greiferelement befestigt. Nach Anlage der Greiferelemente auf der Oberfläche des zu bewegenden Gegenstandes wird durch Weiterdrehen des Sonnenrades der erfaßte Gegenstand gedreht. Durch die Drehung der Planetenräder werden die Greiferelemente konzentrisch bewegt, so daß einerseits ein Kraftschluß bzw. Formschluß zwischen dem Gegenstand und den Greiferelementen und andererseits die Überbrückung großer Abmessungen sichergestellt ist. Die zentrische Anordnung des das Sonnenrad und die Planetenräder haltenden Rahmens auf einem Wellenstück, das zusammen mit dem Antriebsaggregat an einem Haltegestell befestigt ist, ermöglicht die genaue parallele axiale Verschiebung der Vorrichtung. Eine Schiefstellung der Vorrichtung in bezug auf die Achse des zu erfassenden Gegenstandes wird damit vermieden. Der durch die Greiferelemente zu überbrückende Abmessungsbereich ist abhängig vom Durchmesser des Planetenrades und vom Abstand des Haltebolzens für das Greiferelement vom Drehpunkt des Planetenrades sowie vom Schwenkbereich der Greiferelemente. Der Schwenkbereich kann vergrößert werden, wenn der den Greiferelementen zugewandte Teil des Rahmens statt gerader Arme abgewinkelte Arme aufweist. Der Schwenkbereich beträgt maximal 180 Grad, wenn die Abwinklung der Arme so gewählt wird, daß die den Schwenkbereich des Haltebolzens und damit auch des Greiferelementes begrenzende Anschlagfläche des Armes in bezug auf die Verbindungslinie zwischen Drehpunkt/Planetenrad und Drehpunkt/Sonnenrad ein Abstand im Betrag des halben Durchmessers des Haltebolzens aufweist.The proposed device has the advantage that, in addition to the known prior art, the detected object can also be rotated with a central detection. According to the invention, the respective gripper element is fastened in the outer edge region of a planet gear of at least two planet gears and a planet gear having a sun gear. After the gripper elements have been placed on the surface of the object to be moved, the detected object is rotated by turning the sun gear further. The gripper elements are moved concentrically by the rotation of the planet gears, so that, on the one hand, a positive or positive connection between the object and the gripper elements and, on the other hand, the bridging of large dimensions is ensured. The central arrangement of the Sun gear and the planet gear holding frame on a shaft piece, which is fastened together with the drive unit to a holding frame, enables the exact parallel axial displacement of the device. A misalignment of the device with respect to the axis of the object to be detected is thus avoided. The range of dimensions to be bridged by the gripper elements depends on the diameter of the planet gear and the distance of the retaining bolt for the gripper element from the pivot point of the planet gear and on the pivoting range of the gripper elements. The pivoting range can be increased if the part of the frame facing the gripper elements has angled arms instead of straight arms. The swivel range is a maximum of 180 degrees if the angle of the arms is selected so that the stop surface of the arm, which limits the swivel range of the retaining bolt and thus also the gripper element, with respect to the connecting line between the fulcrum / planet gear and fulcrum / sun gear is a distance of half Has diameter of the retaining bolt.

Bei der vorgeschlagenen Anordnung ist die Schließbewegung und damit die Spannrichtung der Greiferelemente entgegengesetzt der Drehrichtung des Sonnenrades und des zu drehenden Gegenstandes. Bei bestimmten Abmessungen des zu drehenden Gegenstandes in bezug auf das Überbrückungsmaß der Vorrichtung kann es bei der vorgeschlagenen Anordnung nach der Schließbewegung zu einem Rutschen der Greiferelemente auf der Oberfläche des erfaßten Gegenstandes kommen, so daß dieser nicht gedreht wird. Dies ist in erster Linie abhängig von der Richtung des Reibmomentes in bezug auf die Richtung der Schließbewegung. Wenn die Bedingung erfüllt ist, daß der äußere Durchmesser des zu erfassenden Gegenstandes gleich größer dem zweimaligen Abstand des Drehpunktes/Sonnenrad zum Drehpunkt Planetenrad ist, dann unterstützt das Reibmoment die Klemmwirkung der Greiferelemente. Bei einem Gegenstand mit einem äußeren Durchmesser kleiner dem genannten Abstand, ändert sich die Richtung des Reibmomentes, so daß diese der Klemmwirkung entgegensteht. Diese Überlegung gilt sowohl für das Außen- wie für das Innenspannen und ist unabhängig von der Drehrichtung des Sonnenrades. Es hat zur Konsequenz, daß bei Erzeugung eines die Klemmwirkung unterstützenden Reibmomentes der zu überbrückende Abmessungsbereich gering wird, da nur der Abstand vom Drehpunkt/Planetenrad bis zum innenliegenden auf der Durchmesserachse sich befindende Oberflächenpunkt des Greiferelementes zur Verfügung steht. Dieser Abstand wird dann besonders groß, wenn der Durchmesser des Sonnenrades sehr klein ist und damit der Durchmesser des Planetenrades bei unveränderten Drehpunktabständen sehr groß wird und der Haltebolzen ganz außen auf dem Planetenrad angeordnet und der Durchmesser des Greiferelementes gering ist.In the proposed arrangement, the closing movement and thus the clamping direction of the gripper elements is opposite to the direction of rotation of the sun gear and the object to be rotated. With certain dimensions of the object to be rotated with respect to the bridging dimension of the device, the proposed arrangement can cause the gripper elements to slide on the surface of the detected object after the closing movement, so that the object is not rotated. This is primarily dependent on the direction of the frictional torque in relation to the direction of the closing movement. If the condition is met that the outer diameter of the object to be detected is equal to twice the distance of the fulcrum / sun gear to the fulcrum planetary gear, then the frictional torque supports the clamping effect of the gripper elements. In the case of an object with an outer diameter smaller than the stated distance, changes the direction of the friction torque, so that this opposes the clamping effect. This consideration applies to both external and internal clamping and is independent of the direction of rotation of the sun gear. The consequence of this is that when generating a frictional torque that supports the clamping effect, the dimensional range to be bridged becomes small, since only the distance from the fulcrum / planet gear to the inner surface point of the gripper element located on the diameter axis is available. This distance becomes particularly large when the diameter of the sun gear is very small and thus the diameter of the planet gear becomes very large with unchanged pivot point distances and the retaining bolt is arranged on the outside of the planet gear and the diameter of the gripper element is small.

Um die erfindungsgemäße Vorrichtung auch für andere Durchmesserbereiche optimal einsetzen zu können, wird weiterbildend vorgeschlagen, zwischen dem Sonnenrad und den die Greiferelemente tragenden Planetenrad je ein die Drehrichtung des Planetenrades änderndes Zwischenrad anzuordnen. In diesem Falle ist die Drehrichtung des antreibenden Sonnenrades gleich der Drehrichtung der Planetenräder und damit auch der Schließbewegung der Greiferelemente. Bei dieser Anordnung fällt die Richtung des die Klemmwirkung unterstützenden Reibmomentes mit der Schließbewegung dann zusammen, wenn die Bedingung erfüllt ist, daß der äußere Durchmesser des zu drehenden Gegenstandes gleich kleiner dem Abstand vom Drehpunkt/Sonnenrad zum Drehpunkt/Planetenrad ist. Auch diese Überlegung gilt sowohl für das Außen- wie für das Innenspannen und ist unabhängig von der Drehrichtung des Sonnenrades.In order to be able to optimally use the device according to the invention also for other diameter ranges, it is further developed to arrange an intermediate wheel changing the direction of rotation of the planet wheel between the sun wheel and the planet wheel carrying the gripper elements. In this case, the direction of rotation of the driving sun gear is the same as the direction of rotation of the planet gears and thus also the closing movement of the gripper elements. In this arrangement, the direction of the frictional torque supporting the clamping action coincides with the closing movement if the condition is met that the outer diameter of the object to be rotated is equal to the distance from the pivot point / sun gear to the pivot point / planet gear. This consideration also applies to both external and internal clamping and is independent of the direction of rotation of the sun gear.

Unabhängig von der Art der Ausführung der Vorrichtung, d. h. ob mit oder ohne Zwischenräder wird die Klemmwirkung unterstützt, wenn die Greiferelemente exzentrisch und drehbar auf dem Haltebolzen gelagert sind. Bei einer solchen Anordnung wird durch den ansteigenden Abstand zwischen Drehpunkt und Angriffspunkt Druck auf den zu drehenden Gegenstand ausgeübt und die Klemmwirkung dementsprechend erhöht.Regardless of the type of design of the device, ie whether with or without intermediate wheels, the clamping effect is supported when the gripper elements are mounted eccentrically and rotatably on the retaining bolt are. In such an arrangement, the increasing distance between the fulcrum and the point of application exerts pressure on the object to be rotated and the clamping effect is increased accordingly.

Bei möglichst universeller Verwendung der beiden erläuterten Ausführungsarten müssen die die Planetenräder tragenden Arme des Rahmens gerade sein, damit eine Rechts- oder Linksdrehung der Greiferelemente möglich ist. Dadurch wird der Anwendungsbereich aber etwas eingeschränkt, da der maximale Schwenkbereich der Greiferelemente dann kleiner 180o ist. Soll dieser Schwenkbereich aber voll ausgeschöpft werden, müssen die Arme eine Abwinklung aufweisen, damit der Haltebolzen in die dadurch entstehende Ausnehmung einschwenken kann. Dadurch ist aber die Drehrichtung für das Greiferelement festgelegt und eine Drehrichtungsänderung nur durch Auswechseln dieses Rahmenteiles möglich.If the two types of embodiment explained are used as universally as possible, the arms of the frame carrying the planet wheels must be straight so that the gripper elements can be turned to the right or left. Thereby, the scope of application is somewhat limited but since the maximum pivoting range of the gripper elements is then o is less 180th However, if this swivel range is to be fully exploited, the arms must be angled so that the retaining bolt can pivot into the resulting recess. As a result, however, the direction of rotation for the gripper element is fixed and a change in direction of rotation is only possible by replacing this frame part.

Als Antriebsaggregat wird vorzugsweise ein Hydraulikmotor verwendet, der gut regelbar ist und leichter vor Überlastung geschützt werden kann. Zum besseren Ausgleich möglicher Winkelungenauigkeiten der Achse des Planetengetriebes und des Drehgegenstandes wird zwischen dem Antriebsaggregat und dem Planetengetriebe eine flexible Kupplung angeordnet.A hydraulic motor is preferably used as the drive unit, which is easy to regulate and can be more easily protected against overload. To better compensate for possible angular inaccuracies of the axis of the planetary gear and the rotating object, a flexible coupling is arranged between the drive unit and the planetary gear.

Die erfindungsgemäße Vorrichtung kann für verschiedene Zwecke verwendet werden, sei es Gegenstände auf einer Ablage zu drehen, um sie in die passende Bearbeitungsposition zu bringen, sei es abzukühlende Gegenstände zu wenden oder die den Endbereich des Gegenstandes verschließende oder umhüllende Teile auf den Gegenstand aufzuschrauben oder zu lösen. So ist es zum Beispiel übliche Praxis bei Gewinderohren auf die Gewindebereiche an den Rohrenden eine Schutzkappe aufzuschrauben, damit beim weiteren Transport der Gewindebereich nicht beschädigt wird. Diese werden üblicherweise von Hand aufgeschraubt, wofür je nach Taktzeit entsprechendes Personal erforderlich ist, deren Handgelenke wegen des immer wiederkehrenden Bewegungsablaufes stark belastet werden. Da die Vorrichtung für das Erfassen des Gegenstandes von innen oder von außen ausgelegt ist, können auch entsprechende Schutzteile in ein Innengewinde eingeschraubt oder ausgeschraubt werden. Um die Drehbewegung des Sonnenrades nach Aufschrauben des Schutzteiles zu begrenzen, wird der Hydraulikmotor auf einen vorgegebenen Belastungsendwert eingestellt. Bei Erreichen dieses Endwertes schaltet der Motor automatisch ab. Dies kann selbstverständlich auch mit einem Elektromotor und entsprechenden Signalgebern erreicht werden. Alternativ wird auch vorgeschlagen, den Antrieb mit einer Zeitschaltuhr zu verbinden und diesen nach einem vorgegebenen Zeittakt abzuschalten. Das Lösen der Greiferelemente erfolgt in einfachster Weise dadurch, daß die Drehrichtung des Hydraulikmotors umgekehrt wird und die Greiferelemente wieder in die Endstellung gefahren werden. Alternativ gibt es auch die Möglichkeit, das Ende einer in Drehrichtung spannbaren Feder mit einem der Planetenräder zu verbinden, so daß nach Abschalten des Motors die gespannte Feder eine Rückwärtsdrehung auslöst und damit die Greiferelemente vom Gegenstand abheben.The device according to the invention can be used for various purposes, be it to rotate objects on a shelf in order to bring them into the appropriate processing position, whether to turn objects to be cooled or to screw the parts closing or enveloping the end region of the object onto or onto the object to solve. For example, it is common practice for threaded pipes to screw a protective cap onto the threaded areas at the pipe ends so that the threaded area is not removed during further transport is damaged. These are usually screwed on by hand, which, depending on the cycle time, requires appropriate personnel whose wrists are subjected to heavy loads due to the recurring movement sequence. Since the device is designed for capturing the object from the inside or from the outside, corresponding protective parts can also be screwed or unscrewed into an internal thread. In order to limit the rotary movement of the sun gear after the protective part has been screwed on, the hydraulic motor is set to a predetermined end load value. When this end value is reached, the motor switches off automatically. Of course, this can also be achieved with an electric motor and corresponding signal generators. Alternatively, it is also proposed to connect the drive to a timer and to switch it off after a predetermined time cycle. The gripper elements are released in the simplest manner by reversing the direction of rotation of the hydraulic motor and moving the gripper elements back into the end position. Alternatively, there is also the possibility of connecting the end of a spring that can be tensioned in the direction of rotation to one of the planet gears, so that after the motor is switched off, the tensioned spring triggers a reverse rotation and thus the gripper elements lift off the object.

Bei der Erläuterung des möglichen Anwendungsbereiches für die erfindungsgemäße Vorrichtung ist aber bisher immer nur von im Querschnitt runden Gegenständen die Rede gewesen. Es können aber ebensogut auch einen quadratischen oder rechteckigen Querschnitt aufweisende Gegenstände erfaßt und gedreht werden, solange die Bedingung der Achssymmetrie erfüllt und die Anzahl der Greiferelemente dem angepaßt ist. So bietet es sich z. B. an, bei einem quadratischen Querschnitt zwei oder vier Greiferelemente zu verwenden. Eine sehr viel größere Anzahl von Greiferelementen wird als nicht vorteilhaft angesehen, da das Planetengetriebe sehr aufwendig wird und die Ausmaße der Vorrichtung entsprechend ansteigen.
Die gesamte Vorrichtung kann zu verschiedenen Einsatzbereichen transportiert werden, da das den Antriebsmotor und das Planetengetriebe einschließlich der Kupplung tragende Haltegestell axial verschiebbar auf einer Bodenplatte angeordnet ist. Mittels entsprechender Führung wird sichergestellt, daß die Verschiebung der Greiferelemente genau parallel zur Achse des Gegenstandes erfolgt. Weiterbildend wird außerdem vorgeschlagen, das Haltegestell auf einem Tisch anzuordnen, der zusätzlich in der Höhe verstellbar ist, so daß eine achsparallele Einstellung der Vorrichtung zum Gegenstand möglich ist.In the explanation of the possible field of application for the device according to the invention, however, so far there has only been talk of objects which are round in cross section. However, objects with a square or rectangular cross section can also be gripped and rotated as long as the condition of axis symmetry is met and the number of gripper elements is adapted to this. So it offers z. B. to use two or four gripper elements with a square cross section. A much larger number of gripper elements is not considered advantageous because the planetary gear is very complex and the dimensions rise according to the device.
The entire device can be transported to various fields of application, since the holding frame which carries the drive motor and the planetary gear including the clutch is arranged on a base plate so as to be axially displaceable. Appropriate guidance ensures that the displacement of the gripper elements takes place exactly parallel to the axis of the object. In a further development, it is also proposed to arrange the holding frame on a table, which is additionally adjustable in height, so that an axis-parallel adjustment of the device to the object is possible.

Die axiale Verschiebung der Vorrichtung wird in der Weise begrenzt, daß die in Richtung des Gegenstandes liegende Seite des den Greiferelementen zugewandten Rahmenteiles als Anschlagfläche ausgebildet ist. Da die Anschlagfläche symmetrisch über den Umfang verteilt ist, wird ein Verkanten und damit ein ungleichmäßiges Erfassen des Gegenstandes verhindert. Außerdem ist die Anschlagfläche erforderlich, damit durch die auf die Stirnfläche des Gegenstandes wirkende Normalkraft zu Beginn des Drehens des Sonnenrades die innere Reibung des Planetengetriebes überwunden wird und die Greiferelemente in Spannrichtung bewegt werden.The axial displacement of the device is limited in such a way that the side of the frame part facing the gripper elements facing the object is designed as a stop surface. Since the stop surface is distributed symmetrically over the circumference, tilting and thus uneven detection of the object is prevented. In addition, the stop surface is required so that the internal friction of the planetary gear is overcome by the normal force acting on the end face of the object at the beginning of the rotation of the sun gear and the gripper elements are moved in the clamping direction.

In der Zeichnung wird die erfindungsgemäße Vorrichtung näher erläutert.
Es zeigen:

Figur 1
im Längsschnitt die erfindungsgemäße Einrichtung
Figur 2
im vergrößerten Maßstab die eigentliche Greifvorrichtung im Schnitt entlang der Linie A-B in Figur 3
Figur 3
eine Ansicht in Richtung Z in Figur 2
Figur 4
eine Ansicht einer anderen Ausführungsform in Richtung Z in Figur 5
Figur 5
einen Schnitt entlang der Linie A-B in Fig. 4
Figur 6
im Schnitt eine andere Ausführungsform des Greiferelementes
Die erfindungsgemäße Einrichtung besteht aus einem auf einer Grundplatte 2 angeordnetem Haltegestell 1, das mittels einer Kolben-Zylindereinheit 3 axial entlang einer Bodenplatte 4 verschiebbar ist. Die axiale Verschiebung ist durch den Pfeil 5.1 und die vertikale Verschiebemöglichkeit durch den Pfeil 5.2 gekennzeichnet. Am rückseitig geschlossenen Ende des Haltegestells 1 ist das Antriebsaggregat 6, in diesem Ausführungsbeispiel ein regelbarer Hydraulikmotor, angeflanscht. Die Verbindung zwischen Antriebsaggregat 6 und eigentlicher Greifvorrichtung 7 wird über eine flexible Kupplung 8 hergestellt, um damit eine mögliche Winkelabweichung in den Achslagen zwischen Greifvorrichtung 7 und Drehgegenstand ausgleichen zu können.The device according to the invention is explained in more detail in the drawing.
Show it:
Figure 1
in longitudinal section the device according to the invention
Figure 2
on an enlarged scale, the actual gripping device in section along the line AB in FIG. 3
Figure 3
a view in the direction Z in Figure 2
Figure 4
a view of another embodiment in the direction Z in Figure 5
Figure 5
a section along the line AB in Fig. 4th
Figure 6
on average another embodiment of the gripper element
The device according to the invention consists of a holding frame 1 arranged on a base plate 2, which can be displaced axially along a base plate 4 by means of a piston-cylinder unit 3. The axial displacement is indicated by arrow 5.1 and the vertical displacement option by arrow 5.2. The drive unit 6, in this exemplary embodiment a controllable hydraulic motor, is flanged to the rear end of the holding frame 1. The connection between the drive unit 6 and the actual gripping device 7 is established via a flexible coupling 8, in order to be able to compensate for a possible angular deviation in the axial positions between the gripping device 7 and the rotating object.

Die Einzelheiten der Greifvorrichtung 7 sind in Figur 2 in einem vergrößerten Maßstab in einem Schnitt entlang der Linie A-B in Figur 3 dargestellt. Die Greifvorrichtung 7 weist ein aus einem Sonnenrad 10 und drei Planetenrädern 11, 12, 13 bestehendes Planetengetriebe auf, das zwischen zwei Rahmenteilen 14, 15 gehalten wird. Die Rahmenteile 14, 15 und das Planetengetriebe stützen sich auf einem mehrfach abgesetzten Wellenstück 16 ab, das mit seinem Gewindezapfen 17 in der flexiblen Kupplung 8 (siehe Figur 1) fliegend befestigt ist. In den äußeren Bereichen der Planetenräder 11 - 13 ist je ein Greiferelement 18 - 20 fest an einem Haltebolzen 21 - 23 angeordnet. Die Verbindung der Greiferelemente 18 - 20 mit den Haltebolzen 21 - 23 kann z. B. durch Kleben erfolgen. In der in Figur 2 und 3 dargestellten Lage sind die Greiferelemente 18 - 20 voll aufgefahren, während die gestrichelte Darstellung des einen Greiferelementes 19' in Figur 2 die Endstellung nach einem Schwenk um 180o zeigt.The details of the gripping device 7 are shown in FIG. 2 on an enlarged scale in a section along the line AB in FIG. 3. The gripping device 7 has a planetary gear consisting of a sun gear 10 and three planet gears 11, 12, 13, which is held between two frame parts 14, 15. The frame parts 14, 15 and the planetary gear are supported on a multiply stepped shaft piece 16, which is fastened on the fly with its threaded pin 17 in the flexible coupling 8 (see FIG. 1). In the outer regions of the planet gears 11-13, a gripper element 18-20 is fixedly arranged on a holding bolt 21-23. The connection of the gripper elements 18-20 with the retaining bolts 21-23 can, for. B. done by gluing. In the embodiment illustrated in Figure 2 and 3 position, the gripper elements 18 are - 20 fully ascended while the dashed representation of a gripper element 19 in Figure 2, the end position by a pivot 180 displays' o.

Die dem zu drehenden Gegenstand zugewandte Seite des einen Rahmenteiles 14 ist als Anschlagfläche 24 ausgebildet. Diese ist erforderlich, damit mit einer entsprechenden Kraft auf die Stirnfläche des zu greifenden und zu drehenden Gegenstandes ein Reibungsschluß erreicht wird, der größer ist als die innere Reibung des Planetengetriebes.The side of the one frame part 14 facing the object to be rotated is designed as a stop surface 24. This is necessary so that with a corresponding force on the end face of the object to be gripped and rotated, a frictional engagement is achieved which is greater than the internal friction of the planetary gear.

Um nach dem Wenden oder Drehen des ergriffenen Gegenstandes die Greiferelemente 18 - 20 wieder auffahren zu können, ist auf der Rückseite des dem Gegenstand abgewandten Rahmenteiles 15 eine in Spannrichtung spannbare Feder 25 angeordnet. Das eine Ende 26 der Feder ist am Wellenstück 16 und das andere Ende 27 an einem der Planetenräder 13 befestigt. Alternativ zur Feder 25 kann auch die Drehrichtung des Antriebaggregates 6 geändert werden, um die Greiferelemente 18 - 20 wieder auffahren zu können.In order to be able to open the gripper elements 18-20 again after turning or rotating the gripped object, a spring 25 which can be tensioned in the tensioning direction is arranged on the rear side of the frame part 15 facing away from the object. One end 26 of the spring is attached to the shaft piece 16 and the other end 27 to one of the planet gears 13. As an alternative to the spring 25, the direction of rotation of the drive unit 6 can also be changed in order to be able to open the gripper elements 18-20 again.

Figur 3 zeigt eine Ansicht der Greifvorrichtung 7 in Richtung Z in Figur 2. In dieser Darstellung kann man gut die Ausbildung des den Greiferelementen 18 - 20 zugewandten Teiles 14 des Rahmens erkennen. Dieser Teil 14 weist ein Mittelteil und davon ausgehend abgewinkelte Arme 28 - 30 auf, an deren Enden mittels eines Bolzens 31 - 33 die Planetenräder 11 - 13 gelagert sind. Mit dem Pfeil 34 ist eine der möglichen Drehrichtungen des Sonnenrades 10 gekennzeichnet, während die Pfeile 35,35',35'' die Drehrichtung der Planetenräder 11 - 13 anzeigen. In gleicher Drehrichtung folgt auch die Schließbewegung der Greiferelemente 18 - 20. Gestrichelt ist für ein Greiferelement 19 die Endstellung 19' nach einem Schwenk von 180o dargestellt.FIG. 3 shows a view of the gripping device 7 in the direction Z in FIG. 2. In this illustration, the design of the part 14 of the frame facing the gripper elements 18-20 can be clearly seen. This part 14 has a central part and arms 28-30 which are angled from it and at the ends of which the planet gears 11-13 are mounted by means of a bolt 31-33. The arrow 34 indicates one of the possible directions of rotation of the sun gear 10, while the arrows 35, 35 ', 35''indicate the direction of rotation of the planet gears 11-13. In the same direction and the closing movement is followed by the gripper elements 18 - 20, dotted lines is the end position 19 'shown on a gripping member 19 according to a pivot of 180 o.

In Figur 4 ist in der gleichen Ansicht wie Figur 3 eine andere Ausführungsform der Greifvorrichtung 7 dargestellt. Dabei wurden für gleiche Teile gleiche Bezugszeichen verwendet. Auch diese Ausführungsform weist ein Sonnenrad 10 und drei Planetenräder 11 - 13 auf, in deren äußeren Randbereich die Greiferelemente 18 - 20 angeordnet sind. Im Unterschied zu Figur 3 sind aber zwischen Sonnenrad 10 und Planetenräder 11 - 13 zur Änderung der Drehrichtung Zwischenräder 36 - 38 angeordnet. Zur Lagerung dieser Zwischenräder 36-38 wurde auch das dem zu greifenden Gegenstand zugewandte Rahmenteil 39 konstruktiv im Vergleich zur Ausführungsform gemäß Figur 3 geändert. Die Schwenkmöglichkeit der Greiferelemente bis maximal 180o wurde dabei aber aufrechterhalten, wie man an dem gestrichtelt dargestellten Greiferelement 19' erkennen kann. Ein weiterer, aber nicht wesentlicher Unterschied zur Darstellung gemäß Figur 3 besteht darin, daß das Ende 27 der Feder 25 an einem anderen Planetenrad 11 befestigt ist. Die eingetragenen Pfeile 34,35,35',35'' verdeutlichen, daß bei dieser Ausführungsform die Drehrichtung des Sonnenrades 10 gleich der Drehrichtung der Planetenräder 11 - 13 und damit auch der Greiferelemente 18 - 20 ist.Another embodiment of the gripping device 7 is shown in FIG. 4 in the same view as FIG. 3. The same reference numerals have been used for the same parts. This too Embodiment has a sun gear 10 and three planet gears 11-13, in the outer edge region of which the gripper elements 18-20 are arranged. In contrast to FIG. 3, intermediate gears 36-38 are arranged between sun gear 10 and planet gears 11-13 to change the direction of rotation. To support these intermediate wheels 36-38, the frame part 39 facing the object to be gripped has also been structurally modified in comparison to the embodiment according to FIG. The possibility of pivoting the gripper elements up to a maximum of 180 o was maintained, however, as can be seen from the gripper element 19 ′ shown in dashed lines. Another, but not essential, difference from the illustration according to FIG. 3 is that the end 27 of the spring 25 is attached to another planet gear 11. The entered arrows 34, 35, 35 ', 35''clarify that in this embodiment the direction of rotation of the sun gear 10 is the same as the direction of rotation of the planet gears 11 - 13 and thus also of the gripper elements 18 - 20.

Figur 5 zeigt in einem Teilquerschnitt entlang der Linie A-B in Figur 4 die bereits zuvor beschriebene Ausführungsform. Gut zu erkennen in dieser Darstellung ist die Anordnung des Zwischenrades 38 zwischen den beiden Rahmenteilen 15,39.Figure 5 shows in a partial cross section along the line A-B in Figure 4, the embodiment previously described. The arrangement of the intermediate wheel 38 between the two frame parts 15, 39 can be clearly seen in this illustration.

In Figur 6 ist eine andere Ausführungsform der Greiferelemente dargestellt. Im Unterschied zu den Figuren 1 - 5 sind die Greiferelemente 41 (hier ist beispielhaft nur ein Greiferelement abgebildet) exzentrisch und drehbar auf den Haltebolzen 42 gelagert. Mit strichpunktierten Linien ist die Endstellung 41' dieses Greiferelementes 41 nach einem Schwenk von 180o dargestellt.Another embodiment of the gripper elements is shown in FIG. In contrast to FIGS. 1-5, the gripper elements 41 (only one gripper element is shown here by way of example) are mounted eccentrically and rotatably on the holding bolt 42. With dash-dotted lines, the end position 41 'of this gripper element 41 is shown by a pivoting of 180 o.

Claims (12)

Vorrichtung zum Erfassen, Bewegen und/oder Drehen achssymmetrischer, vorzugsweise runder und/oder rohrförmiger Gegenstände, bestehend aus einem Antriebsaggregat und mehreren mit diesem verbundenen Greiferelementen, die ja an einem schwenkbaren Teil angeordnet sind, wobei die Teile mitsamt den Greiferelementen entweder ringförmig gleichsinnig und gleichzeitig konzentrisch zur Mitte oder ebenso nach außen bewegbar sind,
dadurch gekennzeichnet,
daß das Greiferelement 18-20, 41) jeweils im äußeren Randbereich eines Planetenrades (11-13) eines mindestens zwei Planetenräder und ein Sonnenrad (10) aufweisenden Planetengetriebes befestigt ist und Planetenräder (11-13) und Sonnenrad (10) in einem Rahmen drehbar gehalten werden und Sonnenrad (10) und Rahmen auf einem Wellenstück (16) angeordnet sind, das mit dem Antriebsaggregat (6) verbunden ist.Device for detecting, moving and / or rotating axially symmetrical, preferably round and / or tubular objects, consisting of a drive unit and several gripper elements connected to it, which are arranged on a pivotable part, the parts together with the gripper elements either ring-like in the same direction and simultaneously can be moved concentrically to the center or outwards,
characterized by
that the gripper element 18-20, 41) is fixed in each case in the outer edge region of a planet gear (11-13) of a planetary gear having at least two planet gears and a sun gear (10) and planet gears (11-13) and sun gear (10) can be rotated in a frame are held and the sun gear (10) and frame are arranged on a shaft piece (16) which is connected to the drive unit (6). Vorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß der den Greiferelementen (18-20, 41) zugewandte Teil (14, 39) des Rahmens ein Mittelteil und davon ausgehend mindestens zwei Arme (28-30) aufweist, in deren Endbereich das jeweilige Planetenrad (11-13) gelagert ist.Device according to claim 1,
characterized by
that the part (14, 39) of the frame facing the gripper elements (18-20, 41) has a central part and, starting therefrom, at least two arms (28-30), in the end region of which the respective planet gear (11-13) is mounted. Vorrichtung nach Anspruch 2,
dadurch gekennzeichnet,
daß die Arme abgewinkelt sind und die Abwinklung der Arme (28-30) so gestaltet ist, daß der Schwenkbereich der Greiferelemente (18-20, 41) maximal 180 Grad beträgt.Device according to claim 2,
characterized by
that the arms are angled and the angle of the arms (28-30) is designed so that the swivel range of the gripper elements (18-20, 41) is a maximum of 180 degrees. Vorrichtung nach den Ansprüchen 1 bis 3,
dadurch gekennzeichnet,
daß das Planetengetriebe drei oder mehr Planetenräder (11-13) aufweist.Device according to claims 1 to 3,
characterized by
that the planetary gear has three or more planet gears (11-13). Vorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß das Greiferelement (18-20) fest mit einem auf dem Planetenrad (11-13) angeordneten Haltebolzen (21-23) verbunden ist.Device according to claim 1,
characterized by
that the gripper element (18-20) is fixedly connected to a holding pin (21-23) arranged on the planet gear (11-13). Vorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß das Greiferelement (41) drehbar und exzentrisch auf einem am Planetenrad (11-13) befestigten Haltebolzen (42) gelagert ist.Device according to claim 1,
characterized by
that the gripper element (41) is rotatably and eccentrically mounted on a holding pin (42) attached to the planet gear (11-13). Vorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß zwischen dem Sonnenrad (10) und den die Greiferelemente (18-20,41) tragenden Planetenrädern (11-13) je ein die Drehrichtung der Planetenräder (11-13) änderndes Zwischenrad (36-38) angeordnet ist.Device according to claim 1,
characterized by
that between the sun gear (10) and the gripper elements (18-20, 41) carrying planet gears (11-13) an intermediate gear (36-38) is arranged which changes the direction of rotation of the planet gears (11-13). Vorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß das Antriebsaggregat ein in der Drehrichtung umschaltbarer Hydraulikmotor (6) oder Elektromotor ist.Device according to claim 1,
characterized by
that the drive unit is a hydraulic motor (6) or electric motor that can be switched in the direction of rotation. Vorrichtung nach Anspruch 1 und 7,
dadurch gekennzeichnet,
daß zwischen Hydraulikmotor (6) und Planetengetriebe eine flexible Kupplung (8) angeordnet ist.Device according to claims 1 and 7,
characterized by
that a flexible coupling (8) is arranged between the hydraulic motor (6) and the planetary gear. Vorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
daß eines der Planetenräder (11-13) mit dem Ende (27) einer in Spannrichtung spannbaren Feder (25) verbunden ist.Device according to claim 1,
characterized by
that one of the planet gears (11-13) is connected to the end (27) of a spring (25) which can be tensioned in the tensioning direction. Vorrichtung nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet,
daß das Antriebsaggregat (6) an einem Haltegestell (1) angeflanscht ist, das axial (5.1) verschiebbar auf einer Bodenplatte (2) angeordnet ist.Device according to one of the preceding claims,
characterized by
that the drive unit (6) is flanged to a holding frame (1) which is axially (5.1) slidably arranged on a base plate (2). Vorrichtung nach Anspruch 11,
dadurch gekennzeichnet,
daß das Haltegestell (1) auf einem mit der Bodenplatte (2) verbundenen, axial (5.1) verschiebbaren und in der Höhe (5.2) verstellbaren Tisch angeordnet ist.Device according to claim 11,
characterized by
that the holding frame (1) is arranged on a table connected to the base plate (2), axially (5.1) displaceable and adjustable in height (5.2).
EP92250054A 1991-03-08 1992-03-06 Device for gripping, moving and/or turning axially symmetrical articles Expired - Lifetime EP0503747B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4107931 1991-03-08
DE4107931A DE4107931C1 (en) 1991-03-08 1991-03-08

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EP0503747A3 EP0503747A3 (en) 1993-03-10
EP0503747B1 EP0503747B1 (en) 1995-02-15

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EP (1) EP0503747B1 (en)
JP (1) JPH071374A (en)
CN (1) CN1028507C (en)
AT (1) ATE118458T1 (en)
CS (1) CS69792A3 (en)
DE (1) DE4107931C1 (en)

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Also Published As

Publication number Publication date
CN1069464A (en) 1993-03-03
US5215507A (en) 1993-06-01
DE4107931C1 (en) 1992-02-27
EP0503747B1 (en) 1995-02-15
EP0503747A3 (en) 1993-03-10
CS69792A3 (en) 1992-10-14
ATE118458T1 (en) 1995-03-15
JPH071374A (en) 1995-01-06
CN1028507C (en) 1995-05-24

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