EP0853061A1 - Universal drive for a gripper - Google Patents

Universal drive for a gripper Download PDF

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Publication number
EP0853061A1
EP0853061A1 EP98100099A EP98100099A EP0853061A1 EP 0853061 A1 EP0853061 A1 EP 0853061A1 EP 98100099 A EP98100099 A EP 98100099A EP 98100099 A EP98100099 A EP 98100099A EP 0853061 A1 EP0853061 A1 EP 0853061A1
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EP
European Patent Office
Prior art keywords
drive
gripper
drive shaft
central
pot sleeve
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Granted
Application number
EP98100099A
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German (de)
French (fr)
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EP0853061B1 (en
Inventor
Josef Büter
Dieter Uhlendorf
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Buemach Engineering International BV
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Buemach Engineering International BV
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Publication of EP0853061A1 publication Critical patent/EP0853061A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/04—Tine grabs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/14—Grabs opened or closed by driving motors thereon
    • B66C3/16—Grabs opened or closed by driving motors thereon by fluid motors

Definitions

  • the invention relates to a universal drive for grippers, which is preferably used in gripper technology is to be used.
  • Electromechanical or electrohydraulic drive systems are known, the electromechanical motor grippers being primarily designed as clamshell grabs and the shell movement being carried out via a spindle drive, while the electrohydraulic polyp grippers open and close the shells or tines via hydraulic linear motors. It is characteristic here that the movement of the polyparms is carried out by a separate drive.
  • the polyparms are articulated on the polyparm carrier and are moved by means of the hydraulic pressure energy via the linear motors, which are pivotably mounted on the one hand on the polyparm carrier and on the other hand on the polyparm itself.
  • the rotary movement of the gripper is carried out by rotary motors limited in angle of rotation or endless hydraulic motors, which enable the rotation of the gripper either directly or via an intermediate gear.
  • Grippers that are equipped with hydraulic hoses to supply the linear motors only guarantee a limited rotational movement.
  • grippers have been developed according to document DE 24 28 566 A1, which are provided with a distributor head arranged in the axis of rotation.
  • the endless rotation is given here, but here too hydraulic lines are required which lead to the linear motors actuating the polyparms. None of the grippers listed can be converted to another type of gripper without changing the drive technology.
  • the structural design determines the area of application. It can be assumed that the drive technology of the two-neck gripper is fundamentally different from that of a polyp gripper.
  • Grippers are listed in which the shells are suspended from the upper of the two cross members, whereby it is disadvantageous that the rods present between the cross members are relieved and the lifting cylinders are loaded by the gripper weight and bulk material. This design results in a reduction in the closing forces on the shell cutting edges. This disadvantage is avoided by the solution described in DE 31 51 519 A1, according to which the gripper is suspended from the lower crossmember in order to increase the gripper closing force in this way.
  • clamshell grabs are designed, on the legs of which the shells are mounted about their mutually parallel pivot axes, which are fully operated by a transverse hydraulic linear motor via articulated actuating levers.
  • Grippers of this type are built relatively high because the linear motors for actuating the polyparms are arranged at an angle. The overall height is additionally increased because the rotary motor is arranged above the polyparm carrier, so that the vertical range of action of such a hoist is restricted or requires highly projecting carrier objects.
  • the present central drive of the gripper according to the invention characterizes the essentially new aspect of the inventive solution with the associated advantages of convertibility, reduction in overall height and shielded joint technology.
  • the object of the invention is to develop a universal drive for grippers that does the work required on grippers Swiveling movement of the blades or the polyparms as well as the rotation of the gripper itself, independently of one another, made possible by a centrally located drive the otherwise separate drive units in the form of hydraulic linear and Exclude rotary motors.
  • a central unit 1 lying in the vertical axis of the gripper has a drive shaft 2 which can be displaced in the vertical axis and rotated about the same.
  • This drive shaft 2 carries a positively coupled pot bushing 3, which is slidably mounted on the upper outer casing 4 of the central drive 1.
  • the form-fitting coupling takes place via the square 5 of the drive shaft 2.
  • the pot sleeve 3 executes all movements which are transmitted from the central drive 1 to the drive shaft 2.
  • the pot sleeve 3 is formed on the upper outer casing 4 over the width of a toothed sector 6 as a rack body 7 and is able to move due to the tooth engagement of the pivotably mounted toothed sector 6.
  • the tooth sector 6 is supported in a bearing 8 via a bolt 9 which is fastened by screws 10 in a bearing plate 11.
  • the tooth sector 6 is the carrier of a polyparm 12 which is detachably coupled to the same via screws 13.
  • the central drive 1 is surrounded by a three-part housing, which disintegrates into individual parts: protective cap 14, polyparm carrier 15 and rotor bearing 16.
  • the number n of polyparms 12 is identical to the number of tooth sectors 6. It lies in the border areas 1 ⁇ n ⁇ 12.
  • the central drive 1 is mounted in the rotor bearing 16 via a flange 17 in an axial bearing 18.
  • the rotor bearing 16 is connected to the polyparm carrier 15 by screws 19 and in this way transmits the loads to the axial bearing 18.
  • the protective cap 14 is connected to the polyparm carrier 15 by screws 20 and thus encapsulates the joints of the drive system with respect to the material to be gripped.
  • the gripper is provided with six poly arms 12 which are connected to the poly arm sector 21 by screws 13.
  • the central drive 1 consists of a rotor 22 and a linear motor 23, which are supplied with the pressure medium via supply lines 24 and 25 or execution lines 26 and 27. The connections of the supply lines are made on the fixed outer housing of the rotor 22.
  • the pressure medium is supplied or discharged via an end flange surface 28 to supply the linear motor 23.
  • the pressure medium is passed through bores 29 into the respective piston chambers of the linear motor 23.
  • the gripper is connected to a rotor housing 30 via the bore 31 to the respective carrier device.
  • FIG. 6 is through the half section through the central drive of the gripper with additional cylinder the expansion by an additional cylinder installed in the protective cap 14 32 and its function and interaction with the linear motor 23.
  • a form-fitting outer cylinder jacket 33 is fitted, which is fastened to a floor 35 with screws 34.
  • the pot sleeve 3 is formed in the lower region as a piston 36 and receives grooving for receiving guides 37 and a piston seal 38.
  • the pressure medium supply to the additional cylinder 32 takes place via a bore 39 which is connected to the feed bores which connect the pistons of the linear motor 23 move and in this way ensure the rectified movement of the piston 36 of the additional cylinder 32.
  • the pressure medium emerging from the bore 39 is passed into a chamber space 40 which is sealed off from the outside atmosphere by an inner piston 41. Guides 43 and an associated piston seal 44 thus slide over an outer jacket 42 of the linear motor 23.
  • the pressure medium passes from the chamber space 40 through a bore 45 into a pressure chamber 46 and thus, in the event of the application of pressure medium, provides for an additional force which the rack body 7 and toothed sector 6 is effective on the gripper.
  • the pressure chamber 46 is emptied when the drive shaft 2 of the linear motor 23 is moved vertically downward and in this way, due to the action of the piston 36, the pressure medium located in the pressure chamber 46 via the bores 45 and 39 into the drain-oriented channel of the linear motor 23 presses.
  • the function of the universal drive for grippers is characterized by that a central drive 1 arranged in the vertical axis of the gripper is provided, which has a drive shaft 2 which is displaceable and rotatable coaxially to the central axis.
  • the translational and rotational movement of the same can be controlled independently of one another.
  • a pot sleeve 3 is positively but releasably coupled to this drive shaft 2, so that the movements of the drive shaft 2 are transmitted to the pot sleeve 3 in this way.
  • the outer contour of the pot sleeve 3 carries racks, the number of which corresponds to the number of polyparms 12 to be moved by the gripper.
  • the toothed racks can be part of the pot sleeve 3 or are detachably connected to the pot sleeve 3 in the form of rack elements.
  • the pot sleeve 3 as a coupling member to the tooth sector 6 transmits the vertical movement applied by the central drive 1 to the tooth sectors 6, which in turn carry out, as a result of the mounting of a pivot, which is transmitted to the polyparms 12 fastened to the tooth sector 6.
  • the form-fitting coupling of the elements of this drive chain also ensures that the gripper can rotate.
  • the rotation and displacement of the drive shaft 2 is the crucial prerequisite for the design of the gripper according to the invention.
  • the central drive 1 arranged in the central axis of the gripper concentrates all of the Movement required joints around this central axis, making it possible to do the same good protection against external influences. This requirement makes it easy Disassembly of the Polyparme 12 and thus the convertibility of the gripper. That's the way it is easily possible to increase, reduce the number of gripper arms or against others Polyparm gripper to replace.
  • the key requirement to this type of To enable practical use is the design of the pots 3, whose Division number determines the possible range of variation, z. B. is a number of polyparms between 1 and 12 possible.
  • the central drive 1 is supported on a three-part polyparm carrier 14; 15; 16.
  • the middle Polyparmarme 15 is the number of the maximum existing polyparms 12 divided into sectors and becomes detachable with the monolytic upper and lower carrier connected as a rotor bearing 16 as a protective cap 14.
  • Everyone Polyparm 12 is coupled via screws 13 to the tooth sector 6, which is in the end shields 11 of the middle Polyparm carrier 15 is pivotally mounted.
  • the upper polyparm carrier as rotor bearing 16 is designed as an axial bearing. The is stored in it Flange 17 of the central drive 1, which transfers the central loads and at the same time allows the gripper to rotate.
  • the lower polyparm carrier as a protective cap 14 encapsulates the central drive 1 from the material to be gripped, so that the central drive 1 is protected against external influences.
  • a particularly advantageous variant is the use of the central drive 1 for a clamshell bucket that is operated without tooth sectors 6.
  • the cup wheel 3 is provided with claw arms which engage directly in the link-like guides of the bowl side walls and thus open or close the bowls of the gripper.
  • the shells are advantageously mounted in a common swivel axis, which enables a space-saving design.
  • the central drive 1 is supplied with pressure medium via supply lines 24; 25, which are securely connected to the fixed part of the housing.
  • the pressure medium reaches the corresponding chambers of the consumers via bores (rotor 22 and linear motor 23 of the central drive 1). Two pressure flows which can be controlled independently of one another are supplied in order to control the two main movements of the central drive 1 in this way.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The central drive (1) mechanism in the grab`s vertical axis has a drive shaft (2) which is turned coaxially with the central axle. The translational and rotary movements of the drive shaft are controlled separately. A bushing (3) is detachably and positively connected to the drive shaft so that the movements of the drive shaft are transferred to the bushing. The exterior of the bushing has toothed racks. The bushing, as connection with a toothed sector (6), transfers the vertical movements from the central drive to the toothed sectors which, in turn, perform a swivel motion which is transferred to the grappling arms (12) fixed to the toothed sector.

Description

Die Erfindung betrifft einen Universalantrieb für Greifer, welcher bevorzugt in der Greifertechnik einzusetzen ist.The invention relates to a universal drive for grippers, which is preferably used in gripper technology is to be used.

Bei allen bisher bekannten Greifern werden für die Öffnung und Schließung der Greiferarme bzw. für die Rotation des Greifers jeweils gesonderte Antriebsaggregate erforderlich.
Hierbei sind elektromechanische oder auch elektrohydraulische Antriebssysteme bekannt, wobei die elektromechanischen Motorgreifer vornehmlich als Zweischalengreifer ausgebildet sind und die Schalenbewegung über einen Spindeltrieb erfolgt, wahrend die elektrohydraulischen Polypgreifer die Öffnung und Schließung der Schalen oder auch Zinken über hydraulische Linearmotoren vornehmen.
Charakteristisch ist hierbei, daß die Bewegung der Polyparme durch einen jeweils gesonderten Antrieb erfolgt. Die Polyparme sind hierbei auf dem Polyparmträger gelenkig gelagert und werden mittels der hydraulischen Druckenergie über die Linearmotoren bewegt, die zu dem Zwecke einerseits am Polyparmträger und zum anderen am Polyparm selbst schwenkbar gelagert sind. Die Drehbewegung des Greifers wird durch drehwinkelbegrenzte Drehmotoren oder endlos arbeitende Hydraulikmotoren vorgenommen, die entweder direkt oder über ein zwischengeschaltetes Getriebe die Drehung des Greifers ermöglichen.
Greifer, die mit Hydraulikschläuchen zur Versorgung der Linearmotoren ausgerüstet sind, gewährleisten hierbei nur eine begrenzte Drehbewegung.
Um diese Nachteile zu beseitigen, hat man Greifer nach der Druckschrift DE 24 28 566 A1 entwickelt, die mit einem in der Drehachse angeordneten Verteilerkopf versehen sind. Hierbei ist zwar die endlose Drehung gegeben, aber auch hier sind Hydraulikleitungen erforderlich, die zu den die Polyparme betätigenden Linearmotoren führen.
Bei keinem der aufgeführten Greifer ist eine Umrüstung zu einem anderen Typ Greifer möglich, ohne die Antriebstechnik zu ändern. Die konstruktive Auslegung bestimmt das Anwendungsgebiet. Hierbei kann man davon ausgehen, daß die Antriebstechnik des Zweisehalengreifers grundsätzlich anderer Art ist als für einen Polypgreifer. In all previously known grippers, separate drive units are required in each case for the opening and closing of the gripper arms or for the rotation of the gripper.
Electromechanical or electrohydraulic drive systems are known, the electromechanical motor grippers being primarily designed as clamshell grabs and the shell movement being carried out via a spindle drive, while the electrohydraulic polyp grippers open and close the shells or tines via hydraulic linear motors.
It is characteristic here that the movement of the polyparms is carried out by a separate drive. The polyparms are articulated on the polyparm carrier and are moved by means of the hydraulic pressure energy via the linear motors, which are pivotably mounted on the one hand on the polyparm carrier and on the other hand on the polyparm itself. The rotary movement of the gripper is carried out by rotary motors limited in angle of rotation or endless hydraulic motors, which enable the rotation of the gripper either directly or via an intermediate gear.
Grippers that are equipped with hydraulic hoses to supply the linear motors only guarantee a limited rotational movement.
In order to eliminate these disadvantages, grippers have been developed according to document DE 24 28 566 A1, which are provided with a distributor head arranged in the axis of rotation. The endless rotation is given here, but here too hydraulic lines are required which lead to the linear motors actuating the polyparms.
None of the grippers listed can be converted to another type of gripper without changing the drive technology. The structural design determines the area of application. It can be assumed that the drive technology of the two-neck gripper is fundamentally different from that of a polyp gripper.

Auch die bekannten Motorzweischalengreifer sind hiervon nicht ausgenommen.
Aufgeführt sind Greifer, bei denen die Aufhängung der Schalen an der oberen der beiden Traversen erfolgt, wobei nachteilig ist, daß die zwischen den Traversen vorhandenen Stangen entlastet und die Hubzylinder durch das Greifergewicht und Schüttgut belastet werden. Diese Ausführung hat eine Reduzierung der Schließkräfte an den Schalenschneiden zur Folge.
Man umgeht diesen Nachteil durch die in der Druckschrift DE 31 51 519 A1 dargelegte Lösung, wonach die Aufhängung des Greifers an der unteren Traverse erfolgt, um auf diese Weise die Greiferschließkraft zu erhöhen.
Nach Druckschrift DE 41 22 713 A1 sind Zweischalengreifer ausgeführt, an dessen Schenkel die Schalen um ihre zueinander parallelen Schwenkachsen gelagert sind, die voll einem quer liegenden hydraulischen Linearmotor über angelenkte Betätigungshebel funktionell betrieben werden.The known motor clamshell buckets are not excluded from this.
Grippers are listed in which the shells are suspended from the upper of the two cross members, whereby it is disadvantageous that the rods present between the cross members are relieved and the lifting cylinders are loaded by the gripper weight and bulk material. This design results in a reduction in the closing forces on the shell cutting edges.
This disadvantage is avoided by the solution described in DE 31 51 519 A1, according to which the gripper is suspended from the lower crossmember in order to increase the gripper closing force in this way.
According to document DE 41 22 713 A1, clamshell grabs are designed, on the legs of which the shells are mounted about their mutually parallel pivot axes, which are fully operated by a transverse hydraulic linear motor via articulated actuating levers.

Nachteilig ist für alle aufgeführten Greifertypen die aufwendige Versorgungstechnik, die Gefahr der Zerstörung der Hydraulikleitungen, die an der Schwenkung beteiligt sind, und die jeweils getrennte Antriebstechnik für die Polyparm- bzw. Schaufelbewegung. Greifer dieser Art sind relativ hoch gebaut, weil die Linearmotoren zur Betätigung der Polyparme geneigt angeordnet sind. Die Bauhöhe wird zusätzlich dadurch vergrößert, weil der Drehmotor oberhalb des Polyparmträgers angeordnet ist, so daß der senkrechte Aktionsbereich eines solchen Hebezeuges eingeschränkt ist bzw. hochausladende Trägerobjekte erforderlich macht.
Der vorliegende erfindungsgemäße Mittelantrieb des Greifers, mit der jeweils gesondert steuerbaren Bewegung der Antriebswelle zum Zwecke der Drehung bzw. Polyparmbetätigung am Greifer, kennzeichnet das wesentlich Neue der erfinderischen Lösung mit den daran gebundenen Vorteilen der Umrüstbarkeit, Verringerung der Bauhöhe und abgeschirmten Gelenktechnik.Disadvantages for all gripper types listed are the complex supply technology, the risk of destroying the hydraulic lines that are involved in the pivoting, and the separate drive technology for the polyparm or bucket movement. Grippers of this type are built relatively high because the linear motors for actuating the polyparms are arranged at an angle. The overall height is additionally increased because the rotary motor is arranged above the polyparm carrier, so that the vertical range of action of such a hoist is restricted or requires highly projecting carrier objects.
The present central drive of the gripper according to the invention, with the separately controllable movement of the drive shaft for the purpose of rotation or polyparm actuation on the gripper, characterizes the essentially new aspect of the inventive solution with the associated advantages of convertibility, reduction in overall height and shielded joint technology.

Um die Nachteile des Standes der Technik zu beseitigen, ist es Aufgabe der Erfindung, einen Universalantrieb für Greifer zu entwickeln, der die an Greifern erforderliche Schwenkbewegung der Schaufeln bzw. der Polyparme sowie die Drehung des Greifers selbst, unabhängig voneinander, durch einen zentral gelagerten Antrieb ermöglicht, um die sonst gesonderten Antriebseinheiten in Form von hydraulischen Linear- und Drehmotoren auszuschließen.In order to eliminate the disadvantages of the prior art, the object of the invention is to develop a universal drive for grippers that does the work required on grippers Swiveling movement of the blades or the polyparms as well as the rotation of the gripper itself, independently of one another, made possible by a centrally located drive the otherwise separate drive units in the form of hydraulic linear and Exclude rotary motors.

Erfindungsgemäß wird die Aufgabe durch die im Patentanspruch 1 angegebenen Merkmale gelöst. Die vorteilhaften Weiterbildungen der Erfindung ergeben sich aus den Unteransprüchen.
Die Vorteile der Erfindung bestehen darin,

  • daß mittels eines Antriebes alle erforderlichen Bewegungsabläufe des Greifers vollzogen werden,
  • daß die Greiferarme austauschbar sind, ohne die Antriebstechnik zu wechseln,
  • daß der Greifer mit 1 bis 12 Polyparmen bestückt werden kann und
  • daß alle Gelenkpunkte im dreigeteilten Schutzgehäuse angeordnet sind, womit sperriges, toxisches und korrosionsförderndes Greifgut erfaßt werden kann, ohne daß der Antrieb mit diesem in Verbindung tritt.
According to the invention the object is achieved by the features specified in claim 1. The advantageous developments of the invention result from the subclaims.
The advantages of the invention are
  • that all necessary movements of the gripper are carried out by means of a drive,
  • that the gripper arms can be replaced without changing the drive technology,
  • that the gripper can be equipped with 1 to 12 poly arms and
  • that all articulation points are arranged in the three-part protective housing, with which bulky, toxic and corrosion-promoting material can be gripped without the drive coming into contact with it.

Die Erfindung wird nachstehend

  • mit Figur 1 als Vorderansicht des mit Zinken ausgerüsteten Polypgreifers,
  • mit Figur 2 als Draufsicht des mit Zinken ausgerüsteten Polygreifers,
  • mit Figur3 als Halbschnittdarstellung des Polypgreifers,
  • mit Figur 4 als Halbschnittdarstellung des Polyparmantriebes,
  • mit Figur 5 als Draufsicht der Lagerung des Zahnsektors,
    als ein Ausführungsbeispiel eines Polypgreifers ohne Zusatzzylinder, und
  • mit Figur 6 als ein Ausführungsbeispiel eines Polypgreifers mit Zusatzzylinder.
The invention is as follows
  • 1 shows a front view of the polyp gripper equipped with prongs,
  • 2 shows a top view of the poly gripper equipped with tines,
  • with Figure 3 as a half-sectional view of the polyp gripper,
  • 4 as a half-sectional view of the polyparm drive,
  • 5 shows a top view of the bearing of the tooth sector,
    as an embodiment of a polyp gripper without an additional cylinder, and
  • with Figure 6 as an embodiment of a polyp gripper with additional cylinder.

Nach dem Ausführungsbeispiel des Polypgreifers ohne Zusatzzylinder besitzt eine in der Vertikalachse des Greifers liegende Zentraleinheit 1 eine Antriebswelle 2, die in der Vertikalachse verschiebbar und um dieselbe drehbar ist.
Diese Antriebswelle 2 trägt eine formschlüssig gekoppelte Topfbüchse 3, die am oberen Außenmantel 4 des Zentralantriebes 1 verschiebbar gelagert ist. Die formschlüssige Kopplung erfolgt über den Vierkant 5 der Antriebswelle 2. Auf diese Weise vollzieht die Topfbüchse 3 alle Bewegungen, die vom Zentralantrieb 1 auf die Antriebswelle 2 übertragen werden. Die Topfbüchse 3 ist am oberen Außenmantel 4 über die Breite eines Zahnsektors 6 als Zahnstangenkörper 7 ausgebildet und vermag sich durch den Zahneingriff des schwenkbar gelagerten Zahnsektor 6 zu bewegen. Die Lagerung des Zahnsektors 6 erfolgt in einem Lager 8 über einen Bolzen 9, welcher durch Schrauben 10 in einem Lagerschild 11 befestigt ist.
Der Zahnsektor 6 ist Träger eines Polyparmes 12, der lösbar über Schrauben 13 mit denselben gekoppelt ist. Der Zentralantrieb 1 wird von einem dreiteiligen Gehäuse umgeben, welches in Einzelteile: Schutzkappe 14, Polyparmträger 15 und Rotorlagerung 16 zerfällt. Die Anzahl n der Polyparme 12 ist identisch mit der Anzahl der Zahnsektoren 6. Sie liegt in den Grenzbereichen 1<n<12. In der Rotorlagerung 16 wird der Zentralantrieb 1 über einen Flansch 17 in einem Axiallager 18 gelagert. Die Rotorlagerung 16 ist über Schrauben 19 mit dem Polyparmträger 15 verbunden und überträgt auf diese Weise die Lasten auf das Axiallager 18. Die Schutzkappe 14 wird über Schrauben 20 mit dem Polyparmträger 15 verbunden und kapselt so die Gelenke des Antriebssystems gegenüber dem Greifgut ab.
In diesem Ausführungsbeispiel ist der Greifer mit sechs Polyparmen 12 versehen, die über Schrauben 13 mit dem Polyparmsektor 21 verbunden werden. Der Zentralantrieb 1 besteht aus einem Rotor 22 und einem Linearmotor 23, die über Zuführungsleitungen 24 und 25 bzw. Ausführungsleitungen 26 und 27 mit dem Druckmittel versorgt werden. Die Anschlüsse der Versorgungsleitungen werden am feststehenden Außengehäuse des Rotors 22 vorgenommen.
Über eine Stirnflanschfläche 28 wird das Druckmittel zu- bzw. abgeführt, uni den Linearmotor 23 zu versorgen. Durch Bohrungen 29 wird das Druckmittel in die jeweiligen Kolbenräume des Linearmotors 23 geleitet. Der Greifer wird an einem Rotorgehäuse 30 über die Bohrung 31 an das jeweilige Trägergerät angeschlossen.According to the embodiment of the polyp gripper without an additional cylinder, a central unit 1 lying in the vertical axis of the gripper has a drive shaft 2 which can be displaced in the vertical axis and rotated about the same.
This drive shaft 2 carries a positively coupled pot bushing 3, which is slidably mounted on the upper outer casing 4 of the central drive 1. The form-fitting coupling takes place via the square 5 of the drive shaft 2. In this way, the pot sleeve 3 executes all movements which are transmitted from the central drive 1 to the drive shaft 2. The pot sleeve 3 is formed on the upper outer casing 4 over the width of a toothed sector 6 as a rack body 7 and is able to move due to the tooth engagement of the pivotably mounted toothed sector 6. The tooth sector 6 is supported in a bearing 8 via a bolt 9 which is fastened by screws 10 in a bearing plate 11.
The tooth sector 6 is the carrier of a polyparm 12 which is detachably coupled to the same via screws 13. The central drive 1 is surrounded by a three-part housing, which disintegrates into individual parts: protective cap 14, polyparm carrier 15 and rotor bearing 16. The number n of polyparms 12 is identical to the number of tooth sectors 6. It lies in the border areas 1 <n <12. The central drive 1 is mounted in the rotor bearing 16 via a flange 17 in an axial bearing 18. The rotor bearing 16 is connected to the polyparm carrier 15 by screws 19 and in this way transmits the loads to the axial bearing 18. The protective cap 14 is connected to the polyparm carrier 15 by screws 20 and thus encapsulates the joints of the drive system with respect to the material to be gripped.
In this exemplary embodiment, the gripper is provided with six poly arms 12 which are connected to the poly arm sector 21 by screws 13. The central drive 1 consists of a rotor 22 and a linear motor 23, which are supplied with the pressure medium via supply lines 24 and 25 or execution lines 26 and 27. The connections of the supply lines are made on the fixed outer housing of the rotor 22.
The pressure medium is supplied or discharged via an end flange surface 28 to supply the linear motor 23. The pressure medium is passed through bores 29 into the respective piston chambers of the linear motor 23. The gripper is connected to a rotor housing 30 via the bore 31 to the respective carrier device.

Nach Figur 6 ist durch den Halbschnitt durch den Zentralantrieb des Greifers mit Zusatzzylinder die Erweiterung durch einen in der Schutzkappe 14 installierten Zusatzzylinder 32 und dessen Funktion und Zusammenspiel mit dem Linearmotor 23 dargelegt. According to Figure 6 is through the half section through the central drive of the gripper with additional cylinder the expansion by an additional cylinder installed in the protective cap 14 32 and its function and interaction with the linear motor 23.

Ins Innere der Schutzkappe 14 wird ein formschlüssiger Zylinderaußenmantel 33 eingepaßt, der mit Schrauben 34 an einem Boden 35 befestigt wird.
Die Topfbüchse 3 ist im unteren Bereich als ein Kolben 36 ausgebildet und erhält Nutung für die Aufnahme von Führungen 37 und einer Kolbendichtung 38. Die Druckmittelversorgung des Zusatzzylinders 32 erfolgt über eine Bohrung 39, die mit den Zuführungsbohrungen in Verbindung steht, die den Kolben des Linearmotors 23 bewegen und auf diese Weise für die gleichgerichtete Bewegung des Kolben 36 des Zusatzzylinders 32 sorgen.
Das aus der Bohrung 39 austretende Druckmittel wird in einen Kammerraum 40 geleitet, der gegenüber der Außenatmosphäre durch einen Innenkolben 41 abgedichtet ist. Über einen Außenmantel 42 des Linearmotors 23 gleiten somit Führungen 43 und eine zugehörigen Kolbendichtung 44. Das Druckmittel gelangt aus dem Kammerraum 40 über eine Bohrung 45 in eine Druckkammer 46 und sorgt so, im Falle der Beaufschlagung mit Druckmittel, für eine zusätzliche Kraft, die über den Zahnstangenkörper 7 und Zahnsektor 6 am Greifer wirksam wird. Die Druckkammer 46 wird entleert, wenn die Antriebswelle 2 des Linearmotors 23 vertikal nach unten gefahren wird und auf diese Weise, infolge der Einwirkung des Kolbens 36, das in der Druckkammer 46 befindliche Druckmittel über die Bohrungen 45 und 39 in den ablauforientierten Kanal des Linearmotors 23 drückt.Inside the protective cap 14, a form-fitting outer cylinder jacket 33 is fitted, which is fastened to a floor 35 with screws 34.
The pot sleeve 3 is formed in the lower region as a piston 36 and receives grooving for receiving guides 37 and a piston seal 38. The pressure medium supply to the additional cylinder 32 takes place via a bore 39 which is connected to the feed bores which connect the pistons of the linear motor 23 move and in this way ensure the rectified movement of the piston 36 of the additional cylinder 32.
The pressure medium emerging from the bore 39 is passed into a chamber space 40 which is sealed off from the outside atmosphere by an inner piston 41. Guides 43 and an associated piston seal 44 thus slide over an outer jacket 42 of the linear motor 23. The pressure medium passes from the chamber space 40 through a bore 45 into a pressure chamber 46 and thus, in the event of the application of pressure medium, provides for an additional force which the rack body 7 and toothed sector 6 is effective on the gripper. The pressure chamber 46 is emptied when the drive shaft 2 of the linear motor 23 is moved vertically downward and in this way, due to the action of the piston 36, the pressure medium located in the pressure chamber 46 via the bores 45 and 39 into the drain-oriented channel of the linear motor 23 presses.

Die Funktion des Universalantriebs für Greifer ist dadurch gekennzeichnet,
daß ein in der Vertikalachse des Greifers angeordneter Zentralantrieb 1 vorgesehen ist, der eine Antriebswelle 2 aufweist, die koaxial zur Zentralachse verschiebbar und drehbar ist.
Die translatorische und rotatorische Bewegung derselben ist unabhängig voneinander steuerbar. An diese Antriebswelle 2 wird eine Topfbüchse 3 formschlüssig aber lösbar angekoppelt, so daß auf diese Weise die Bewegungen der Antriebswelle 2 auf die Topfbüchse 3 übertragen werden.
Die Außenkontur der Topfbüchse 3 trägt Zahnstangen, deren Anzahl der Anzahl der zu bewegenden Polyparme 12 des Greifers entspricht. Die Zahnstangen können Bestandteil der Topfbüchse 3 sein oder werden in Form von Zahnstangenelementen lösbar mit der Topfbüchse 3 verbunden. Die Topfbüchse 3 als Kopplungsglied zum Zahnsektor 6 überträgt die vom Zentralantrieb 1 aufgebrachte Vertikalbewegung auf die Zahnsektoren 6, die ihrerseits, infolge der Lagerung eines Schwenkung vollziehen, die sich auf die am Zahnsektor 6 befestigten Polyparme 12 überträgt. Durch die formschlüssige Kopplung der Elemente dieser Antriebskette ist zugleich dafür gesorgt, daß die Drehung des Greifers möglich ist. Die Drehung und Schiebung der Antriebswelle 2 ist die entscheidende Voraussetzung für die erfindungsgemäße Gestaltung des Greifers.The function of the universal drive for grippers is characterized by
that a central drive 1 arranged in the vertical axis of the gripper is provided, which has a drive shaft 2 which is displaceable and rotatable coaxially to the central axis.
The translational and rotational movement of the same can be controlled independently of one another. A pot sleeve 3 is positively but releasably coupled to this drive shaft 2, so that the movements of the drive shaft 2 are transmitted to the pot sleeve 3 in this way.
The outer contour of the pot sleeve 3 carries racks, the number of which corresponds to the number of polyparms 12 to be moved by the gripper. The toothed racks can be part of the pot sleeve 3 or are detachably connected to the pot sleeve 3 in the form of rack elements. The pot sleeve 3 as a coupling member to the tooth sector 6 transmits the vertical movement applied by the central drive 1 to the tooth sectors 6, which in turn carry out, as a result of the mounting of a pivot, which is transmitted to the polyparms 12 fastened to the tooth sector 6. The form-fitting coupling of the elements of this drive chain also ensures that the gripper can rotate. The rotation and displacement of the drive shaft 2 is the crucial prerequisite for the design of the gripper according to the invention.

Der in der Mittelachse des Greifers angeordnete Zentralantrieb 1 konzentriert alle zur Bewegung erforderlichen Gelenke um diese Mittelachse, wodurch es möglich ist, dieselben gut gegen äußere Einwirkungen zu schützen. Diese Anforderung ermöglicht die einfache Demontage der Polyparme 12 und damit die Umrüstbarkeit des Greifers. So ist es problemlos möglich, die Greiferarmanzahl zu erhöhen, zu reduzieren oder gegen andere Polyparmgreifer auszutauschen. Die entscheidende Voraussetzung, um diese Art des praktischen Gebrauches zu ermöglichen, ist die Gestaltung der Topfbüchsen 3, deren Teilungszahl die mögliche Variationsbreite bestimmt, z. B. ist eine Polyparmanzahl zwischen 1 und 12 möglich. Der Zentralantrieb 1 lagert auf einem dreigeteilten Polyparmträger 14; 15; 16. Der mittlere Polyparmträger 15 ist im Maße der Anzahl der maximalen vorhandenen Polyparme 12 in Sektoren geteilt und wird lösbar mit dem monolythischen oberen und unteren Träger als Rotorlagerung 16 als Schutzkappe 14 verbunden. Jeder Polyparm 12 ist über Schrauben 13 mit dem Zahnsektor 6 gekoppelt, der in den Lagerschildern 11 des mittleren Polyparmträgers 15 schwenkbar gelagert ist. Der obere Polyparmträger als Rotorlagerung 16 ist als Axiallager ausgebildet. In ihm lagert der Flansch 17 des Zentralantriebes 1, der die zentralen Lasten überträgt und zugleich auch die Drehung des Greifers ermöglicht. Der untere Polyparmträger als Schutzkappe 14 kapselt dem Zentralantrieb 1 gegenüber dem Greifgut ab, so daß der Zentralantrieb 1 gegenüber äußeren Einflüssen geschützt ist. Im unteren Polyparmträger als Schutzkappe 14 kann zur Erhöhung der Schließkräfte des Greifers ein Zusatzzylinder 32 vorgesehen werden, der hinsichtlich der Fluidversorgung mit dem Linearmotor 23 des Zentralantriebes 1 in Verbindung steht und im Takte der Bewegung mitgeführt wird. Der Austausch des mittleren Polyparmträgers 15 in Verbindung mit der Topfbüchse 3, die als Adaptionsteil zwischen Zahnsektor 6 und Antriebswelle 2 des Zentralantriebes 1 fungiert, ermöglicht die Gestaltungsvielfalt des Greifers.The central drive 1 arranged in the central axis of the gripper concentrates all of the Movement required joints around this central axis, making it possible to do the same good protection against external influences. This requirement makes it easy Disassembly of the Polyparme 12 and thus the convertibility of the gripper. That's the way it is easily possible to increase, reduce the number of gripper arms or against others Polyparm gripper to replace. The key requirement to this type of To enable practical use is the design of the pots 3, whose Division number determines the possible range of variation, z. B. is a number of polyparms between 1 and 12 possible. The central drive 1 is supported on a three-part polyparm carrier 14; 15; 16. The middle Polyparmträger 15 is the number of the maximum existing polyparms 12 divided into sectors and becomes detachable with the monolytic upper and lower carrier connected as a rotor bearing 16 as a protective cap 14. Everyone Polyparm 12 is coupled via screws 13 to the tooth sector 6, which is in the end shields 11 of the middle Polyparm carrier 15 is pivotally mounted. The upper polyparm carrier as rotor bearing 16 is designed as an axial bearing. The is stored in it Flange 17 of the central drive 1, which transfers the central loads and at the same time allows the gripper to rotate. The lower polyparm carrier as a protective cap 14 encapsulates the central drive 1 from the material to be gripped, so that the central drive 1 is protected against external influences. In the lower polyparm carrier as a protective cap 14 can be provided to increase the closing forces of the gripper an additional cylinder 32 be, with regard to the fluid supply with the linear motor 23 of the central drive 1 is connected and carried along in the rhythm of the movement. The exchange the middle Polyparmträger 15 in connection with the pot box 3, which as an adaptation part acts between tooth sector 6 and drive shaft 2 of the central drive 1, enables the design diversity of the gripper.

Eine besonders vorteilhafte Variante ist hierbei die Anwendung des Zentralantriebes 1 für einen Zweischalengreifer, der ohne Zahnsektoren 6 betrieben wird. Die Topfscheibe 3 ist zu dem Zwecke mit Krakarmen versehen, die direkt in die kulissenartigen Führungen der Schalenseitenwandungen eingreifen und somit die Schalen des Greifers öffnen oder schließen. Die Schalen werden hierbei vorteilhafterweise in einer gemeinsamen Schwenkachse gelagert, wodurch eine raumsparende Gestaltung möglich ist. Die Versorgung des Zentralantriebes 1 mit Druckmittel erfolgt über Zuführungsleitungen 24; 25, die dichtungssicher mit dem feststehenden Teil des Gehäuses verbunden werden.
Über Bohrungen gelangt das Druckmittel in die entsprechenden Kammern der Verbraucher (Rotor 22 und Linearmotor 23 des Zentralantriebes 1). Es werden zwei unabhängig voreinander steuerbare Druckströme zugeführt, um auf diese Weise die zwei Hauptbewegungen des Zentralantriebes 1 zu steuern. A particularly advantageous variant is the use of the central drive 1 for a clamshell bucket that is operated without tooth sectors 6. For this purpose, the cup wheel 3 is provided with claw arms which engage directly in the link-like guides of the bowl side walls and thus open or close the bowls of the gripper. The shells are advantageously mounted in a common swivel axis, which enables a space-saving design. The central drive 1 is supplied with pressure medium via supply lines 24; 25, which are securely connected to the fixed part of the housing.
The pressure medium reaches the corresponding chambers of the consumers via bores (rotor 22 and linear motor 23 of the central drive 1). Two pressure flows which can be controlled independently of one another are supplied in order to control the two main movements of the central drive 1 in this way.

Verwendete BezugszeichenReference symbols used

11
ZentralantriebCentral drive
22nd
Antriebswelledrive shaft
33rd
TopfbüchsePot can
44th
oberer Außenmantelupper outer jacket
55
VierkantSquare
66
ZahnsektorTooth sector
77
ZahnstangenkörperRack body
88th
Lagercamp
99
Bolzenbolt
1010th
Schraubescrew
1111
LagerschildEnd shield
1212th
PolyparmPolyparm
1313
Schraubescrew
1414
Schutzkappeprotective cap
1515
PolyparmträgerPolyparm carrier
1616
RotorlagerungRotor bearing
1717th
Flanschflange
1818th
AxiallagerThrust bearing
1919th
SchraubenScrews
2020th
SchraubenScrews
2121
PolyparmsektorPolyparm sector
2222
Rotorrotor
2323
LinearmotorLinear motor
2424th
ZuführungsleitungSupply line
2525th
ZuführungsleitungSupply line
2626
AbführungsleitungDischarge line
2727
AbführungsleitungDischarge line
2828
StirnflanschflächeFace flange surface
2929
Bohrung drilling
3030th
RotorgehäuseRotor housing
3131
Bohrungdrilling
3232
ZusatzzylinderAdditional cylinder
3333
ZylinderaußenmantelOuter cylinder jacket
3434
Schraubescrew
3535
Bodenground
3636
Kolbenpiston
3737
Führungguide
3838
KolbendichtungPiston seal
3939
Bohrungdrilling
4040
KammerraumChamber room
4141
InnenkolbenInner piston
4242
AußenmantelOuter jacket
4343
Führungguide
4444
KolbendichtungPiston seal
4545
Bohrungdrilling
4646
DruckkammerPressure chamber

Claims (3)

Universalantrieb für Greifer, dadurch gekennzeichnet,
daß ein in der Vertikalachse des Greifers liegender Zentralantrieb (1) eine Antriebswelle (2) besitzt, die koaxial zur Zentralachse verschoben und gedreht wird, wobei die translatorischen und rotatorischen Bewegungen der Antriebswelle (2) unabhängig voneinander gesteuert werden, indem an der Antriebswelle (2) eine Topfbüchse (3) formschlüssig und lösbar angekoppelt ist, so daß die Bewegungen der Antriebswelle (2) auf die Topfbüchse (3) übertragen werden, wobei die Außerkontur der Topfbüchse (3) Zahnstangen trägt und die Topfbüchse (3) als Kopplungsglied zu einem Zahnsektor (6) die vom Zentralantrieb (1) aufgebrachte Vertikalbewegung auf die Zahnsektoren (6) überträgt, die ihrerseits, infolge der Lagerung, eine Schwenkung vollziehen, die sich auf die am Zahnsektor (6) befestigten Polyparme (12) überträgt.Universal drive for grippers, characterized in
that a central drive (1) lying in the vertical axis of the gripper has a drive shaft (2) which is displaced and rotated coaxially to the central axis, the translational and rotary movements of the drive shaft (2) being controlled independently of one another by the drive shaft (2 ) a pot sleeve (3) is positively and detachably coupled, so that the movements of the drive shaft (2) are transferred to the pot sleeve (3), the outer contour of the pot sleeve (3) carrying racks and the pot sleeve (3) as a coupling member to one Tooth sector (6) transmits the vertical movement applied by the central drive (1) to the tooth sectors (6) which, in turn, as a result of the bearing, perform a swivel which is transmitted to the polyparms (12) attached to the tooth sector (6). Universalantrieb für Greifer nach Anspruch 1, dadurch gekennzeichnet,
daß die Anzahl der Zahnstangen der Anzahl der zu bewegenden Polyparme (12) des Greifers entspricht.Universal drive for grippers according to claim 1, characterized in
that the number of racks corresponds to the number of polyparms (12) of the gripper to be moved. Universalantrieb für Greifer nach Anspruch 1 und Anspruch 2, dadurch gekennzeichnet, daß die Zahnstangen Bestandteil der Topfbüchse (3) sein können oder in Form von Zahnstangenelementen lösbar mit der Topfbüchse (3) verbunden sind.Universal drive for grippers according to claim 1 and claim 2, characterized in that the racks can be part of the pot sleeve (3) or in the form of Rack elements are detachably connected to the pot sleeve (3).
EP98100099A 1997-01-14 1998-01-07 Universal drive for a gripper Expired - Lifetime EP0853061B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE29700491U 1997-01-14
DE29700491U DE29700491U1 (en) 1997-01-14 1997-01-14 Universal drive for grippers

Publications (2)

Publication Number Publication Date
EP0853061A1 true EP0853061A1 (en) 1998-07-15
EP0853061B1 EP0853061B1 (en) 2002-07-03

Family

ID=8034492

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98100099A Expired - Lifetime EP0853061B1 (en) 1997-01-14 1998-01-07 Universal drive for a gripper

Country Status (3)

Country Link
EP (1) EP0853061B1 (en)
AT (1) ATE220044T1 (en)
DE (2) DE29700491U1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113353785A (en) * 2021-06-25 2021-09-07 重庆市凌鹤科技有限公司 Conveying mechanism is used in spare part production in new energy automobile industry field

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB513700A (en) * 1938-04-13 1939-10-19 John Cosgrove Williams Improvements in grab dredgers
GB597630A (en) * 1943-10-09 1948-01-30 Edgar Enos Brosius Improvements in or relating to grab buckets
US3627372A (en) * 1969-12-08 1971-12-14 Hydraulic Machinery Co Inc Continuous rotation grapple
FR2139784A1 (en) * 1971-05-28 1973-01-12 Serma
FR2226353A1 (en) * 1973-04-18 1974-11-15 Poclain Sa
DE8704584U1 (en) * 1987-03-27 1987-05-14 Michaelis, Karl-Heinz, 2801 Grasberg Two- or multi-part hydraulic grab for civil engineering work or similar.

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1204692A (en) * 1958-06-09 1960-01-27 Improvement of clamshell buckets with hydraulic cylinders
FR2122294B1 (en) * 1971-01-18 1975-06-06 Poclain Sa
SE7904624L (en) * 1979-05-28 1980-11-29 Arcos Mek Ind Ab ROTATOR DEVICE

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB513700A (en) * 1938-04-13 1939-10-19 John Cosgrove Williams Improvements in grab dredgers
GB597630A (en) * 1943-10-09 1948-01-30 Edgar Enos Brosius Improvements in or relating to grab buckets
US3627372A (en) * 1969-12-08 1971-12-14 Hydraulic Machinery Co Inc Continuous rotation grapple
FR2139784A1 (en) * 1971-05-28 1973-01-12 Serma
FR2226353A1 (en) * 1973-04-18 1974-11-15 Poclain Sa
DE8704584U1 (en) * 1987-03-27 1987-05-14 Michaelis, Karl-Heinz, 2801 Grasberg Two- or multi-part hydraulic grab for civil engineering work or similar.

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113353785A (en) * 2021-06-25 2021-09-07 重庆市凌鹤科技有限公司 Conveying mechanism is used in spare part production in new energy automobile industry field

Also Published As

Publication number Publication date
DE59804612D1 (en) 2002-08-08
ATE220044T1 (en) 2002-07-15
DE29700491U1 (en) 1997-03-13
EP0853061B1 (en) 2002-07-03

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