EP0503747B1 - Vorrichtung zum Erfassen, Bewegen und/oder Drehen achssymmetrischer Gegenstände - Google Patents

Vorrichtung zum Erfassen, Bewegen und/oder Drehen achssymmetrischer Gegenstände Download PDF

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Publication number
EP0503747B1
EP0503747B1 EP92250054A EP92250054A EP0503747B1 EP 0503747 B1 EP0503747 B1 EP 0503747B1 EP 92250054 A EP92250054 A EP 92250054A EP 92250054 A EP92250054 A EP 92250054A EP 0503747 B1 EP0503747 B1 EP 0503747B1
Authority
EP
European Patent Office
Prior art keywords
gripper
planet
gripper elements
wheel
drive unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP92250054A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0503747A3 (en
EP0503747A2 (de
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
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mannesmann AG filed Critical Mannesmann AG
Publication of EP0503747A2 publication Critical patent/EP0503747A2/de
Publication of EP0503747A3 publication Critical patent/EP0503747A3/de
Application granted granted Critical
Publication of EP0503747B1 publication Critical patent/EP0503747B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B66C1/44—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.
  • a gripper for gripping, moving and / or transporting preferably round and / or tubular objects is known.
  • 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 stop point of the device on the body to be gripped is off-center, so that a secure gripping of the body is not ensured by all gripper elements at the same time, since an inclined position of the device is not excluded. In addition, the gripped object cannot be rotated with this gripper.
  • the object of the invention is to provide a device for the secure 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 rotation of the planet gears moves the gripper elements concentrically, 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 on 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 pivot point / planet gear and pivot point / 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 latter is not rotated. This depends primarily 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 pivot point / sun gear to the planet gear pivot point, then the frictional torque supports the clamping action of the gripper elements.
  • the device according to the invention In order to be able to optimally use the device according to the invention for other diameter ranges as well, it is further developed to arrange an intermediate gear that changes the direction of rotation of the planet gear between the sun gear and the planet gear carrying the gripper elements.
  • the direction of rotation of the driving sun gear is equal to 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 if 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.
  • the arms of the frame that support the planet gears must be straight so that the gripper elements can be turned to the right or left.
  • 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 changing 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 or close the parts closing or enveloping the end region of 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 requires appropriate staff, depending on the cycle time, whose wrists are subjected to heavy loads due to the recurring movement sequence. Since the device is designed for detecting 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 rotational 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 transmitters. 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 necessary 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 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.
  • 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 offset shaft piece 16, which is fastened on the fly with its threaded pin 17 in the flexible coupling 8 (see FIG. 1).
  • one gripper element 18-20 each 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 18-20 are fully opened, while the dashed illustration of the one gripper element 19 'in FIG. 2 shows the end position after pivoting through 180 °.
  • 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 a corresponding force is achieved on the end face of the object to be gripped and rotated, 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 back 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 therefrom and on whose ends 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.
  • the closing movement of the gripper elements 18 - 20 also follows in the same direction of rotation.
  • the end position 19 'for a gripper element 19 is shown in broken lines after a swivel of 180 °.
  • 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 ° 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.
  • the dashed lines show the end position 41 'of this gripper element 41 after a swivel of 180 °.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Retarders (AREA)
  • Specific Conveyance Elements (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
EP92250054A 1991-03-08 1992-03-06 Vorrichtung zum Erfassen, Bewegen und/oder Drehen achssymmetrischer Gegenstände Expired - Lifetime EP0503747B1 (de)

Applications Claiming Priority (2)

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

Publications (3)

Publication Number Publication Date
EP0503747A2 EP0503747A2 (de) 1992-09-16
EP0503747A3 EP0503747A3 (en) 1993-03-10
EP0503747B1 true EP0503747B1 (de) 1995-02-15

Family

ID=6427071

Family Applications (1)

Application Number Title Priority Date Filing Date
EP92250054A Expired - Lifetime EP0503747B1 (de) 1991-03-08 1992-03-06 Vorrichtung zum Erfassen, Bewegen und/oder Drehen achssymmetrischer Gegenstände

Country Status (7)

Country Link
US (1) US5215507A (ja)
EP (1) EP0503747B1 (ja)
JP (1) JPH071374A (ja)
CN (1) CN1028507C (ja)
AT (1) ATE118458T1 (ja)
CS (1) CS69792A3 (ja)
DE (1) DE4107931C1 (ja)

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CN103963067A (zh) * 2014-05-06 2014-08-06 东华大学 用于抓取筒纱的柔性抓手及其工作方法
EP3199307B1 (en) 2016-01-28 2020-07-01 PHD, Inc. Synchronizing mechanism for gripper jaws
CN105697741B (zh) * 2016-04-14 2017-12-01 重庆齿轮箱有限责任公司 一种行星齿轮装配工装
CN105800459A (zh) * 2016-05-11 2016-07-27 无锡常欣科技股份有限公司 立式工字轮吊具
DE102016208331B3 (de) * 2016-05-13 2017-07-06 Kuka Roboter Gmbh Robotergreifer mit einer Antriebsvorrichtung
CN105883601B (zh) * 2016-06-13 2018-05-18 西南交通大学 起重机用内扣式抓具
CN108115434B (zh) * 2016-11-29 2020-03-06 沈阳新松机器人自动化股份有限公司 行星轮系夹紧机构
CN106586876B (zh) * 2016-12-21 2018-11-02 唐山光跃商贸有限公司 一种可同时抓取多个产品的抓取机构
CN108453726A (zh) * 2018-06-29 2018-08-28 罗琴 一种工业机器人用转向机构
CN109500807B (zh) * 2018-11-14 2022-05-24 苏州诚拓机械设备有限公司 一种智能六爪抓手机构
CN109483578B (zh) * 2018-12-18 2021-11-05 深圳市光和精密自动化有限公司 一种仿形产品提取机构及模芯
JP2020189342A (ja) * 2019-05-17 2020-11-26 株式会社東芝 保持機構、及び、保持機構アッセンブリ
JP7242510B2 (ja) * 2019-11-07 2023-03-20 オリエンタルモーター株式会社 直動機構
CN111360865B (zh) * 2020-04-03 2021-04-20 江南大学 指根软轴传递转动又偏心转位的快换手指变掌机械手
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Also Published As

Publication number Publication date
EP0503747A3 (en) 1993-03-10
CS69792A3 (en) 1992-10-14
EP0503747A2 (de) 1992-09-16
US5215507A (en) 1993-06-01
DE4107931C1 (ja) 1992-02-27
JPH071374A (ja) 1995-01-06
CN1028507C (zh) 1995-05-24
CN1069464A (zh) 1993-03-03
ATE118458T1 (de) 1995-03-15

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