EP2716585A2 - Needle gripper with electrodynamic positioning member - Google Patents

Abstract

The needle gripper comprises a housing (10,40) or frame extendible needles (2), where the needles are arranged individually or in groups at one or two oppositely movable needle carriages driven by an actuator over a gear unit. The longitudinal direction of the needles corresponds to the traverse path direction of the corresponding needle carriage. The actuator is an electrodynamic drive. The gear unit deflects the direction of the reciprocating movement of the movable components of the electrodynamic actuator in the traverse path direction of the corresponding needle carriage.

Description

The invention relates to a needle gripper with extendable from a housing or a frame needles, the needles individually or in groups on one or at least two counter-movable - are driven by at least one actuator via at least one gear - arranged needle carriage and wherein the longitudinal direction of the needles corresponds to respective travel direction of the corresponding needle carriage.

By means of a needle gripper, fabrics or workpieces of low Shore hardness and / or low density can be gripped or picked up. The fabrics are, for example, textiles or intermediates of composite material production. These intermediates are, for example, woven fabrics, knitted fabrics or scrims made of roving or yarns. The corresponding fibers may be glass fibers, carbon fibers, natural fibers or the like. The workpieces of low Shore hardness are, for example, foam rubber sheets. The workpieces of low density are, for example, polystyrene insulation boards.

From the DE 20 2012 100 849 U1 a needle gripper is known. Its actuator is a pneumatic cylinder-piston unit whose piston has a piston rod having at its end remote from the piston two opposing teeth. Both teeth mesh with lying next to the piston rod spur gears, which in turn intervene in each needle-carrying, counter-movable linearly toothed needle carriage.

The present invention is based on the problem to develop a needle gripper, which develops a large holding force despite a fast retraction and extension of the needle or needles in a small space and low energy consumption.

This problem is solved with the features of claim 1. For this purpose, the actuator is an electrodynamic drive. The gear deflects the direction of the lifting movement of the movable part of the electrodynamic actuator in the direction of the travel of the respective needle carriage.

The electrodynamic actuator driving the needle gripper is based on a plunger coil principle known from the speaker sector. An energizable immersion coil of a loudspeaker is guided linearly movable in the gap of a pot magnet. The pot magnet provides eg a constant, radial permanent magnetic field. An energizing of the plunger coil leads due to the inherent Lorenz force to a relative movement between the plunger coil and the pot magnet. The thrust of this actuator is a function of the current. The The direction of the thrust force is determined by the voltage polarity. The relative movement between the stationary and the movable part of the actuator is used to move the needles of the needle gripper with respect to the housing or frame.

In the exemplary embodiment, the plunger coil is fixedly attached to the device housing, while the pot magnet acts as a movable part on the corresponding needles or needle carriage. Of course, the pot magnet can be arranged stationary in the housing, while the plunger - as in the speaker - performs the driving relative movement.

The electrodynamic actuator, which may of course also be a conventional solenoid, is energized within the housing of the needle gripper both for extending and for retracting one or more needles.

In the embodiment, a planar gear is described, which moves two needle carriage. Of course, it is also possible to convert the planar gear in a spatial and thus to move three or more needle carriage. It is also conceivable to accommodate only one needle or one needle group per needle gripper and extendable. In this case, two or more needle grippers are used for receiving tissue, the needles in different directions, mainly with oppositely directed Wegfahrwegkomponenten, extendable. These needle grippers are then operated synchronously.

The double-slide transmission described can be equipped, at least for guiding the needle carriage with slide guides whose respective center point track is curved almost arbitrarily. Also, with the use of two or more needle carriages, each or some of the needle carriages may have differently curved midpoint paths have to change the extension direction and the exit speed of the needles targeted. Here, the included between two oppositely operating needles angle between 60 to 150 degrees varies.

Instead of the double slip operation can u.a. For coupling the respective needle carriage to the movable part of the actuator u.a. also a sliding wedge gear, a lever mechanism and a cam or crank gear can be used. Also, different types of gears can be arranged one behind the other.

Figur 1:

perspektivisch dargestellter Nadelgreifer mit ausgefahrenen Nadeln;

Figur 2:

wie Figur 1, jedoch von anderer Seite und verkleinert dargestellt;

Figur 3:

Teillängsschnitt zu Figur 1, jedoch mit eingefahrenen Nadeln;

Figur 4:

Teilseitenansicht bei offenem Gehäuse und bei eingefahrenen Nadeln;

Figur 5:

Teillängsschnitt zu Figur 1, jedoch mit ausgefahrenen Nadeln;

Figur 6:

Teilseitenansicht bei offenem Gehäuse und bei ausgefahrenen Nadeln;

Figur 7:

perspektivisch dargestellter Nadelgreifer mit im unteren Bereich teilgeschnittenem Gehäuse; die Glocke ist weggelassen;

Figur 8:

perspektivisch dargestellter Nadelgreifer ohne Gehäuse, wobei die Nadeln eingefahren sind;

Figur 9:

Längsschnitt zu Figur 1, jedoch mit eingefahrenen Nadeln;

Figur 10:

Diagramm.

Further details of the invention will become apparent from the dependent claims and the following description of a schematically illustrated embodiment.

FIG. 1:

perspective needle gripper with extended needles;

FIG. 2:

as FIG. 1 , but shown from the other side and downsized;

FIG. 3:

Partial longitudinal cut too FIG. 1 but with retracted needles;

FIG. 4:

Partial side view with the housing open and with retracted needles;

FIG. 5:

Partial longitudinal cut too FIG. 1 but with extended needles;

FIG. 6:

Partial view with the housing open and with the needles extended;

FIG. 7:

perspective shown needle gripper with partially cut in the lower part housing; the bell is omitted;

FIG. 8:

perspective needle gripper without housing, the needles are retracted;

FIG. 9:

Longitudinal section too FIG. 1 but with retracted needles;

FIG. 10:

Diagram.

The FIG. 1 shows a needle gripper with groupwise extended needles (2). In the upper region of the housing (10, 40), an electrodynamic actuator (110) is arranged, which is supplied with power via a device plug (127) and is driven. Its extension stroke can be variably limited via an adjustment slide (95). The actuator (110), it consists of a plunger coil (114) and a pot magnet (111, 112, 113), see. FIG. 5 , acts via a arranged in the lower region of the housing gear (60), see. FIG. 8 , on two needle carriages (81, 82) each receiving a group of needles (2) by means of a needle holder (1).

To FIG. 1 the housing (10, 40) consists essentially of an actuator housing (10) and a transmission housing (40). Both housing parts are made of an aluminum alloy. The entire housing (10, 40) is eg 110 mm high, 44 mm wide and 27 mm deep. Its surfaces are hard-coated or anodized.

The actuator housing (10) is a nearly cuboid body whose flat underside (11) serves as a mounting joint with respect to the transmission housing (40). In its lower side (11) and in its right-hand wall (13), inter alia, larger recesses (15; 33), cf. Figures 3 . 5 . 7 and 9 , The recess (15) machined into the bottom is a central stepped bore, which is divided into an upper (16), a large central (18) and a lower area (19). The upper area (16) is a two-level hole with a flat bottom whose smallest diameter is 17 mm, for example. The immersion coil (114) of the actuator (110) is centered on this floor via a central countersunk screw (117). The central region (18) is a precision machined cylindrical bore in which the pot magnet (111, 112, 113) is longitudinally guided. The diameter of the central region (18) is for example 22 mm with a length of 31 mm. The lower portion (19) has a height of 5.45 mm and a diameter of 23 mm.

The central region (18) is connected to the right wall (13) via a 7.1 mm long and 2.7 mm wide elongated hole (21) oriented in the longitudinal direction (5), cf. FIG. 1 , Into the slot (21), which reaches down to the lower area (19), a marking pin (104) projects into it.

The lower portion (19) of the stepped bore (15) is connected to the outer walls via two opposing slots (25) and a transverse bore (23). The latter is located in the wall (13) between the slot (21) and the bottom (11). The opposite slots (25) are e.g. 4 mm wide and 14 mm long. They serve the variable adjustability of the adjustment slide (95).

In the bottom (11) there is a slot-like guide groove (26) which extends radially from the bore (15) in the direction of the left wall (14). The guide groove (26), in which the anti-rotation pin (103) of the Verstellschlittens (95) is guided, is 3.2 mm wide and 12.5 mm deep. In the radial direction protrudes about 4.1 mm beyond the diameter of the lower area (19).

Four long countersunk holes (27) divided by 90 degrees are arranged around the recess (15) and connect the upper side (12) to the underside (11). The holes (27) have a diameter of 3.2 mm and have in the top (12) corresponding reductions, see. FIG. 2 , In the holes (27) stuck screws (28) which hold the housing parts (10, 40) under the interposition of a 2 mm thick trim plate (55). In addition, the underside (11) has two fitting bores for receiving dowel pins (29), cf. FIG. 7 to be able to center both housing parts (10, 40) against each other.

In the in FIG. 1 recognizable large side wall are located approximately centrally two countersunk holes (31). These serve to attach the needle gripper to the structure carrying it.

The recess located above and next to the recess (15), which is incorporated into the actuator housing (10) from the right wall (13), consists of a rectangular recess (32) with a large cross-section and shallow depth, and a deep recess adjoining it , also rectangular recess (33) with a smaller cross-section, see. FIG. 7 , In the deep recess (33), electronics for controlling the actuator (110) is housed on a lower, horizontal board (121), while in the large-area recess (32) a side board (125) sits on the ua a device plug ( 127), eg three light-emitting diodes (126), cf. FIG. 1 , and an attachment board (128) with a Hall sensor (131) are arranged. The eg perpendicularly placed boards (121, 125) are connected to each other via a flexible printed circuit board equipped with printed circuit boards (132). Possibly. become the boards (121, 125, 132) clamped between two opposite plastic moldings (133), cf. FIG. 8 , For this purpose, the plastic moldings (133) guide grooves, in which the boards are inserted about 0.5 mm deep.

The recess (32) is closed almost gas-tight by means of a housing cover (34), cf. FIG. 1 , On the housing cover (34), the board (125) with the interposition of a spacer sleeve (37) by means of a special screw (38) attached. At the same time, the housing cover (34) carries the device plug (127), cf. FIG. 6 , Between the board screw connection (38) and the appliance plug (127), there are, for example, three adjacent bores (36) into which the light-emitting diodes (126) protrude, cf. FIG. 1 ,

The stepped bore (15) and the deep recess (33) are connected to each other via three adjacent bores. The middle, smaller and in FIG. 3 visible bore is a threaded bore (18) in which the stationary part of the actuator (110) is screwed tight. In the two larger holes, they are in front of and behind the threaded hole (18), put insulating sleeves (129), see. FIG. 7 in which the electrical connections of the actuator (110) in the lower recess (33) are guided.

The gear housing (40) is essentially a cuboid body, in which the needle slides (81, 82) guided and the essential parts of the transmission (60) are housed. It has two large, penetrating recesses (42, 43). The recess (42) is incorporated from the top into the gear housing (40). It is a rectangular, longitudinal (5) oriented channel measuring 20mm x 14.5mm. The second recess, the side recess (43), is incorporated in the transmission case (40) from the right side wall. It is closed there by a centered gear cover (50), cf. FIGS. 1 and 9 ,

The side recess (43) consists of a ten-cornered inner area (44) and a pentagonal outer area (47). The outer region (47), whose cross-section is larger than that of the inner region (44), has a depth of, for example, 4.5 mm. It serves to receive the gear cover (50). The inner area (44) has a depth of, for example, 18 mm. Between its bottom (45) and the back (51) of the gear cover (50), the needle carriage (81, 82) are guided guided. For this purpose, the respective outer side surfaces of the needle slides (81, 82) on the bottom (45) or the back (51) over a large area. At the same time, the needle slides (81, 82) in the bottom (45) and in the back (51) of the gear cover (50) incorporated link guides (46, 52) are guided. The in the gear housing (40) point-symmetrically opposite each other with respect to the center point track link guides (46, 52) have, for example, a depth of 3.5 mm, a width of 4 mm and a length of 22.8 mm. The midpoint path consists of a straight section (53) and a curved section (54). The straight, 16.7 mm long section (53) of the midpoint path closes according to the embodiment of FIG. 3 with the vertical projection of the center line (5) an angle of 60 °. The curved portion (54) has a radius of 7 mm at an angle of 50 °. It joins at the upper end of the section (53) and points in the direction of actuator (110).

In the gear housing lower side (48), for example, four slots (49) are arranged through which the needles (2) are extended. The pairs of slots (49) have for example a length of 19.9 mm with a width of 1.5 mm. The long holes of a pair have a distance of eg 3.5 mm, while the nearest slots (49) of both pairs a distance of 2.5 mm. All elongated holes (49) open into the inner region (44). The transmission parts (75, 76, 81, 82) which are directly driven by the actuator (110) are positioned centrally in the transmission housing (40). The wall thickness of the gear housing (40) is in the range of these slots (49), for example, 1.5 mm.

The transmission housing (40) tapers in the upper region to the actuator housing (10) transversely to the longitudinal direction (5) and transverse to its depth by e.g. 4 mm. The taper is realized by a 45 ° bevel (41).

The in the actuator housing (10) built-in actuator (110) consists of a stationary and a linearly movable part, see. FIG. 5 and 9 , The stationary part is a plunger coil (114) consisting of a bobbin (115) and a winding (116). The bobbin (115) is screwed by means of a screw (117) at the bottom of the stepped bore (15) of the actuator housing (10). The bobbin (115) is made for example of plastic or an aluminum alloy.

The movable part of the actuator (110) is the pot magnet (111, 112, 113). It is a pot or bell (111) manufactured from a gas-nitrided case-hardened steel, in which a cylindrical magnetic core (112), for example a neodymium magnet, is embedded. The magnetic core (112) may also have the shape of a cylindrical tube. At the lower end of the magnetic core (112), a yoke plate (113) made of the material X90CrMoV18 is arranged. In this case, the upper side of the yoke plate (113), which may also have a central bore, terminates at least approximately with the upper edge of the bell (111). Here is the upper plane of the yoke plate (113), for example, 1.25 mm below the upper edge of the bell (111). In the If necessary, an undercut, which carries an O-ring serving as a stop buffer, is incorporated on the upper side of the yoke plate (113).

The magnetic core (112) and the yoke plate (113) have at least approximately the same outer diameter. Both parts (112, 113) are interconnected and opposite the bell (111) e.g. glued and / or screwed.

Between the composite of magnetic core (112) and yoke plate (113) and the radial inner contour of the bell (111) is an annular gap (118) into which the coil (114) - at least in retracted needles (2), see. FIG. 3 - Almost completely protrudes with little radial play.

The bell (111) has largely a cylindrical outer wall, with a small guide play, it is e.g. 0.02 mm, slidably mounted on the wall of the central region (18) of the recess (15).

In order to allow a pressure equalization between the top and the bottom of the bell (111) - during rapid retraction and extension of the gear carriage (61) - are located between the gap (118) and the lower bell end face four longitudinal bores (119) with each a diameter of eg 1.9 mm.

In the middle, the lower end face of the bell (111) has a depression (135) into which a support sleeve (66) protrudes. The support sleeve (66), its outer diameter is 6 mm, connects the pot magnet or the bell (111) with the gear carriage (61) via a long screw (72). The screw (72) sits in a central threaded bore (62) of the gear carriage (61). Also, the latter has a recess (64) for centered receiving the support sleeve (66), see. FIG. 8 ,

The gear slide (61) is essentially a cuboid transverse bar, which has on both sides of the threaded bore (62) each have a transverse bore (63) in which a pivot pin (67, 68) is pressed. The center line of the single pivot pin (67, 68) is away from the centerline of the bell (111), for example, 5.5 mm. To FIG. 8 the front pivot pin (68) protrudes to the rear, while the rear (67) protrudes forward over the gear slide (61). On both sides next to the central depression (64), two further depressions (65) are arranged, which in each case store a permanent magnet (69) as a holding magnet, eg glued on, cf. FIG. 5 , To the respective upper end of the single cylindrical magnet (69) is fixed by means of adhesive O-ring (71) arranged as a stop damper.

Possibly. Instead of the individual depressions (65) for the assembly of the permanent magnets (69) each have a stepped bore (73) is used, see. FIG. 3 , These stepped holes below the permanent magnets (69) each have a collar on which they are glued.

On the free ends of each pivot pin (67, 68) each coupling rods (75, 76) are mounted. The rod-shaped, in the central region waisted coupling rods (75, 76) carry at their ends in each case a transverse bore (77, 78) as a hinge part. The parallel transverse bores (77, 78) of a coupling rod (75, 76) are at a distance of e.g. 15.3 mm. The transverse bores (77, 78), for example, have a diameter of 4 mm.

To FIG. 8 are below the gear carriage (61) has two needle slides (81, 82) each having a needle holder (1). The single needle carriage (81, 82) has a cuboidal basic shape, in each of which three parallel bearing or pivot pins (86, 87, 88) are installed with transverse interference fit. The bolts (86, 87, 88) are aligned transversely to the longitudinal direction (5) and parallel to the pivot pins (67, 68). All bolts have eg a diameter of 4 mm. Each two identical bearing pins (87, 88) protrude on the respective outer side of the needle carriage (81, 82) as a guide pin to eg 3 mm. They engage in the respective slotted guide (46, 52) of the gear housing (40) or the gear cover (50). These bearing bolts (87, 88) have in the exemplary embodiment a distance of 12 mm. To FIG. 5 the center lines of the bearing pins (87, 88) lie on a straight line inclined at 60 degrees to the longitudinal median plane, the latter lying on the center line (5) of the actuator (110) and being aligned parallel to the pivot pins (67, 68) is.

In the area between the bearing pins (87, 88) is in each case a pivot pin (86) for the articulated mounting of the respective coupling rod (75, 76) on the needle carriage (81, 82). For this purpose, in the bottom of the needle carriage (81, 82) in the middle of a transversely penetrated by the pivot pin (86) bearing groove (84) is incorporated, see. FIG. 8 , The 3 mm wide bearing groove (84) has a depth of 8 mm.

The needle carriages (81, 82) have on their side surfaces around e.g. 0.2 mm raised sliding surfaces (83), with which they contact each other and against the inner side walls (45, 51) of the inner region (44). The sliding surfaces (83) extend around the bores receiving the bearing pins (87, 88) and between them as a e.g. 8 mm wide strip.

The described gearbox kinematically represents a skewed double sliding gear. Here moves per needle carriage (81, 82) a coupling rod (75, 76) simultaneously along two guides. The first guide is the central region (18) of the recess (15) in the actuator housing (10). The transmission slide side bearing of the coupling rod (75, 76) is straight over the bell (111) parallel to the longitudinal direction (5). The respective other bearing of the coupling rod (75, 76) is supported on the needle carriage (81, 82), which in turn in the slotted guide (46, 52) of the gear housing (40) is guided. Both guides (18, 46, 52) include, for example, an angle of φ = 120 °. This results in a constant stroke change .DELTA.x the bell (111) inevitably results in a non-constant Verfahrwegänderung .DELTA.w of the respective needle carriage (81, 82).

wobei "L" der Abstand der Gelenke der jeweiligen Koppelstange (75, 76) ist und "ϕ" der von der Stellgliedführung (18) und der Nadelschlittenführung (46, 52) eingeschlossene Winkel ist.The travel path "w" of the respective needle carriage (81, 82) follows in the straight section (53) of the center-point path of the link guide (46, 52) of the function $$\mathrm{w}=\mathrm{x}*\cos \left(\mathrm{\phi }\right)+\sqrt{{\mathrm{L}}^{\mathrm{2}}-{\mathrm{x}}^{\mathrm{2}}*\left(\mathrm{1}-{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="imgf0001.png,imgf0002.png"\; state="\{\{state\}\}">cos</figure-callout>}}^{\mathrm{2}}\left(\mathrm{\phi }\right)\right)}.$$

where "L" is the distance of the joints of the respective coupling rod (75, 76) and "φ" is the angle included by the actuator guide (18) and the needle carriage guide (46, 52).

This function ensures that with increasing stroke of the gear carriage (61) decreases the path change of the respective needle carriage (81, 82). In FIG. 10 a diagram is shown. On the abscissa, the stroke of the pot magnet or the gear carriage (61) is shown, while the ordinate represents the quotient of the path change and the stroke change dimensionless. Above Δw / Δx = 1, the travel path change is greater than the stroke change. Below Δw / Δx = 1 the situation is reversed. The deeper the needles (2) penetrate into the tissue to be picked up, the smaller the Nadelverfahrweg opposite the Topfmagnethub. In this way, with increasing tissue expansion increase the power reserves of the system.

These conditions are additionally reinforced by the rear outlet of the slide guide (46, 52). To FIG. 3 is located at stroke start of the pot magnet of the rear bearing pin (88) in the curved portion (54). As a result, the needle carriage (81, 82) after FIG. 3 relative to the horizontal line to the center line (5) tilted by 4 to 5 degrees backwards. However, during this tilting phase of the needle carriage (81, 82), the needles (2) are basically inside the gear housing (40), ie no needle tip protrudes from the housing (10, 40).

If, when the winding (116) is energized, the pot magnet (111, 112, 113) accelerates, the front bearing pin (87) slides in the slide guide (46, 52) with an angular deviation of 60 ° relative to the vertical to the right. However, the rear bearing pin (88) is located in the curved portion (54) of the midpoint track, so that there after FIG. 3 gives an angle of 31 degrees to the vertical. At full utilization of the slotted guide (46, 52), this angle can fall to 10 degrees.

As a result, the rear bearing pin (88) starts only with a small deviation in direction with respect to the direction of movement of the pot magnet or the gear carriage (61). Thus, it starts with a small coefficient of sliding friction in the slotted guide (46, 52). This facilitates the actuator (110) - in a forced pivotal movement of the individual needle carriage (81, 82) - in the starting phase, the acceleration. Only after a few millimeters stroke are both bearing pins (87, 88) of a needle carriage (81, 82) in the straight section (53) of the midpoint track. From At this time, each needle carriage (81, 82) - without any pivotal movement - only moved in parallel.

Each needle carriage (81, 82) carries on its rectangular front one with it e.g. screwed needle holder (1). The single needle holder (1) carries in the embodiment ten needles (2), which are arranged in two rows. The individual needles have a diameter of 0.68 mm and a point angle of 9 degrees with a length of 13 mm. The needles (2) inserted into the needle holder (1) project 8 mm beyond the front surface of the needle holder (1). Of course, it is also possible to install the needles (2) directly in the respective needle carriage (81, 82) or even to mold there.

In the area between the bell (111) of the actuator (110) and the gear carriage (61), the displacement slide (95) serving as an extension stop is mounted in a pivoting ring (91) by means of a fine thread (92), e.g. M17 x 1, stored. By means of the adjustment slide (95), the extension stroke of the actuator (110) can be adjusted e.g. in the range of 0 - 4 mm steplessly mechanically adjusted.

The pivot ring (91) sits with its radial outer surface with little play in the lower region (19) of the recess (15). He lies on the between the lower (19) and the central region (18) located waistband. About the bottom (11) of the actuator housing (10) he stands about 2 mm, where he has a smaller diameter in this area to use the trim plate (55) as an axial, overlapping stop can. The swivel ring (91) has in its radial outer surface, for example, eight equidistantly split radial bores (93). The radial bores (93) have a diameter at a depth of 3 mm of 2 mm. When the needle gripper is mounted, they lie exactly at the level of the housing-side slots (25).

Transverse to the swivel ring (91), a stepped bore (23) is arranged in the wall (13), cf. FIG. 3 in which a threaded pin (94) is screwed. By tightening the threaded pin (94), the swivel ring (91) can be fixed against rotation.

The adjustment slide (95) is a waisted rotary part with a central bore (96), which consists of three zones (97, 101, 107). The actuator (110) facing the zone (97) is the stop zone. It has a height of 3 mm and a diameter of 18 mm. It has at least four holes to the actuator (110), in each of which alternately a permanent magnet (98) and an impact-absorbing elastomer body is glued, for example, see. FIG. 9 , The elastomer bodies, not shown here, each have the shape of a cylinder and are in the direction of the actuator (110) to eg 0.2 to 0.5 mm on the actuator (110) facing the end face of the Verstellschlittens (95). Possibly. For example, the bores in which the elastomeric bodies are held can be equipped with a rear grip, so that the elastomeric bodies can fit positively in these bores. The after FIG. 9 opposite permanent magnets (98) - as well as the elastomeric body - a distance of eg 12 mm.

The stop zone (97) is followed by the center zone (101), which has a diameter of 15 mm at a height of 5.5 mm. In the area between the zones (97) and (101), cf. FIG. 3 , there is a stepped transverse bore (102) which intersects the central bore (96). In the left side of the transverse bore (102) of the guide pin (103) is pressed, which is guided in the housing-side guide groove (26). The guide pin (103) has a diameter of 3 mm. In the right side of the transverse bore (102) is the example of cylindrical marking pin (104). It has a diameter of 2.5 mm and is fixed by a threaded pin (105). The threaded pin (105) sits in a direction parallel to the central bore (96) stepped bore (108). The marker (104) has a straight line marking, such as a notch, with the help of which you can read the position of the Verstellschlittens (95) outside the housing (10) relative to a scale (22).

The third zone (107) is the threaded zone, which is screwed into the pivot ring (91). It has a height of e.g. 3 mm with an outer diameter engaging in the fine thread (92).

In order to change the extension stroke of the actuator (110), the threaded pin (94), see. FIG. 3 , solved. By one of the slots (25) of the swivel ring (91) via its radial bores (93), for example by means of a punch, so long pivoted until the adjusting slide (95) on the fine thread (92) the marking pen (104) in the desired position on the scale (22). Finally, screw the threaded pin (94) back in place.

To extend the needles (2), the actuator (110) is energized. Here, a short DC pulse is applied to the winding (116), whereby the magnetic core (112) is suddenly pushed down from the bobbin (115). The current surge lasts for example at a voltage of 24 V and a current of 5 A for about 20 msec. The with the magnetic core (112) coupled to the transmission carriage (61) extends, see. FIGS. 5 and 6 until the bell (111) is braked by its abutment on the adjustment slide (95). The energization can also be varied along the carriage stroke in a time- or path-controlled manner. For example, a current of 5 amps is used for about 5 msec to accelerate. This is then lowered for a Restbestromungszeit of about 15 msec to 3 A. The pure extension and retraction force of the electrodynamic actuator is - neglecting friction and inertial forces - at the beginning of acceleration here about 12 - 15 N.

In its local end position of the gear carriage (61) via the two permanent magnets (98) is held. The impact of the bell (111) on the adjustment slide (95) is e.g. damped by between the holding magnet (98) arranged elastomeric body. The holding force of this permanent-magnetic coupling in the illustrated embodiment is about 6 N. It is depending on the Nadelgreiferbaugröße, intended use and actuator design, for. set between 5 and 20 N, wherein the pure extension and retraction force of the actuator (110) is at least twice as large.

Possibly. the bell (111) is held in one or both end positions by a leakage current applied to the winding (116).

To retract the needles (2) again, the winding (116) is energized reversed polarity. The pot magnet (111, 112, 113) is moved upwards together with the gear carriage (61). In the retracted position, the permanent magnets (69) seated in the gear carriage (61) come close to the magnetic or magnetizable swivel ring (91). The seated on the magnet (69) O-rings (71) dampen the impact. Again, the permanent magnetic coupling ensures a secure holding the gear carriage (61), even with a vibration-loaded overhead position of the needle gripper.

The needle gripper also has position monitoring of the gear carriage (61). For this purpose sits on the board (128) a Hall sensor (131). This is thus below the Actuator (110) in the actuator housing (10). The Hall sensor (131) provides, for example, an amplified and temperature-compensated DC signal that varies in proportion to the magnetic flux density of the magnetic core (112) moving axially of the sensor. The matching to the Stellgliedendlagen DC signals are processed in an evaluation such that for the achievement of each end position, a separate LED is energized. The sensor (131) may also detect intermediate gear carriage positions, for example, to control a change in current of the drive.

The housing-side LEDs can thus visually display at least the transmission carriage positions "extended" and "retracted". Of course, these signals can also be passed through the device connector (127) to an external device control.

LIST OF REFERENCE NUMBERS

1

needle holder

2

needles

3

Longitudinal direction of the needles, centerline

4

screw

5

Guide longitudinal direction, center line of actuator longitudinal direction

9

Extension direction of the needle carriages (81, 82)

10

Actuator housing, housing parts

11

bottom

12

top

13

Wall, right

14

Wall, left

15

Stepped bore; recess

16

Area, above

17

threaded hole

18

Area, center, guidance, straight line

19

Area, below

21

Slot for marking pen

22

scale

23

Stepped bore for threaded pin, cross hole

25

Long holes, sideways

26

guide

27

Countersunk holes for housing mounting

28

screw

29

dowels

31

Countersunk holes for Nadergreiferbefestigung

32

Recess, large cross-section

33

Recess, small cross section

34

housing cover

36

Holes for LEDs

37

Stand Off

38

special screw

40

Transmission housing; housing parts

41

45 ° bevel

42

Recess, rectangular

43

side recess,

44

Interior, decagonal

45

ground

46

Slotted guide, needle slide guide

47

Outdoor area, pentagonal

48

Transmission housing bottom

49

slots

50

Gearbox cover, side; housing parts

51

back

52

Slotted guide, needle slide guide

53

straight section of the midpoint track

54

curved section of the midpoint track

55

decorative panel

60

Transmission, double-slide transmission

61

gear slide

62

threaded hole

63

cross hole

64

Depression, central

65

Depressions, outside for holding magnets

66

support sleeve

67, 68

Swing pin, front, rear

69

Permanent magnets, holding magnets

71

O-rings, stop rings

72

screw

73

drilling

75, 76

coupling rods

77, 78

cross holes

81, 82

needle carriage

83

Sliding surfaces, sublime

84

bearing groove

85

bearing bore

86

pivot pin

87, 88

bearing bolt

89

Bearing bolt holes

90

variator

91

swivel

92

fine thread

93

radial bores

94

Set screw

95

Adjustable slide

96

Bore, central

97

stop zone

98

Permanent magnet, holding magnet

101

Central zone

102

Cross hole, stepped

103

guide pin

104

marker

105

Set screw

107

threaded zone

108

Stepped bore with thread

110

actuator

111

Bell, pot; Part of the pot magnet

112

Magnetic core, permanent magnet; Part of the pot magnet

113

yoke plate; Part of the pot magnet

114

Coil, plunger coil

115

Bobbin, stationary; Kitchen sink

116

Winding, coil

117

screw

118

annular gap

119

Longitudinal bores for pressure compensation

120

control

121

Circuit board, horizontal

122

Attachment board, vertical

123

plug contacts

124

capacitor

125

Circuit board, vertical

126

LEDs, LEDs

127

connectors

128

Add-on board

129

Bushings

131

Hall sensor

132

Film board, flexible

133

Plastic moldings

135

Depression, central in (111)

Claims (10)

Needle gripper with needles (2) which can be moved out of a housing (10, 40) or a frame, wherein the needles (2) can be moved individually or in groups on one or at least two oppositely movable - by at least one actuator (110) via at least one gear (60 ) - are arranged needle carriages (81, 82) and wherein the longitudinal direction (3) of the needles (2) corresponds to the travel direction (9) of the corresponding needle carriage (81, 82),
characterized, - That the actuator (110) is an electrodynamic drive and - That the transmission (60) deflects the direction of the lifting movement of the movable part (111, 112, 113) of the electrodynamic actuator (110) in the direction of the travel of the respective needle carriage (81, 82). Needle gripper according to claim 1, characterized in that the electrodynamic actuator is a lifting magnet or a pot magnet (111, 112, 113) with a plunger coil (114). Needle gripper according to claim 1, characterized in that the gear (60) is a double-sliding gear, the two guides (18; 46, 52) occupying an angle of 105 to 150 degrees. Needle gripper according to claim 3, characterized in that the actuator (110) is coupled to a gear carriage (61) which drives a respective needle carriage (81, 82) via a respective coupling rod (75, 76), wherein this in a needle carriage guide (46 , 52) is stored and guided. A needle gripper according to claim 3, characterized in that the needle carriage guide (46, 52) extends in a straight line on a section (53) which guides the needles (2) projecting out of the housing (10, 40) or out of the frame. Needle gripper according to at least one of the preceding claims, characterized in that the travel path "w" of the respective needle carriage in the section (53) of the function $$\mathrm{w}=\mathrm{x}*\cos \left(\mathrm{\phi }\right)+\sqrt{{\mathrm{L}}^{\mathrm{2}}-{\mathrm{x}}^{\mathrm{2}}*\left(\mathrm{1}-{\cos }^{\mathrm{2}}\left(\mathrm{\phi }\right)\right)}$$

is followed, where "L" is the distance of the joints of the respective coupling rod (75, 76) and "φ" is the angle enclosed by the guide (18) of the actuator (110) and the needle carriage guide (46, 52). Needle gripper according to at least one of the preceding claims, characterized in that the electrodynamic actuator (110) consists of a permanent magnetic pot magnet (111, 112, 113) and a coil (116) equipped with a plunger coil (114). Needle gripper according to claim 7, characterized in that the pot magnet (111, 112, 113) is the movable part of the actuator (110). Needle gripper according to at least one of the preceding claims, characterized in that in the housing (10, 40) a stroke of the actuator (110) adjustably limiting adjustment (90) is arranged. Needle gripper according to claim 9, characterized in that the adjusting gear (90) is a helical gear, whose driven, serving as a stop member (95) carries a marking pin (104) whose free end for position detection in or in front of a recess of the housing (10, 40) or the frame is visible.

Images