Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/08—Gripping heads and other end effectors having finger members
  • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
• • 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

Definitions

• the invention relates to a handling device with at least one controllably deformable elastic element.
• Handling devices with a substantially cylindrical extension which are designed to be inserted into openings of hollow bodies such as bottles or the like and to make contact with the inner wall of the hollow body by controlled deformation of a preferably end side arranged on the handling device elastic element, are basically known in the art.
• a handling device which has an actuatable by pressurization of a fluid chamber thrust piston, which can move an end arranged on the handling device deformable element from a Elastomer controllable, said elastic element under Forming a bulge then related to the cylindrical main extension direction of the handling device while changing the distance from a central axis, for example, with the inner wall of a hollow body such as a bottle, in which the handling device has been introduced according to the prior art, can be brought into connection.
• Such conventional handling devices now have the disadvantage that they allow only an insufficient fine adjustment with respect to the position at which this bulge of the elastic element is formed.
• the insertion depth of the handling device into the corresponding cavity is often limited; but at the same time for stability reasons, a certain minimum insertion depth of the handling device is often not undershot, so as not to impair handling safety.
• the above-described conventional handling devices with at least one controllably deformable elastic element now only allow a controllable production of the bulge of the elastic element, without being able to influence their relative position with respect to the direction of expansion of the handling device. It is therefore the object of the present invention to develop a handling device of the above-mentioned type such that the handling properties and the positionability are improved.
• the object is achieved by a handling device having at least one controllably deformable elastic element, wherein the device along a longitudinal axis has a Hauptausdehnungsraum and wherein the controllably deformable elastic element disposed in an effective range of the device and is designed to by appropriate driving either a basic position or assume at least one deformation position.
• the position in the main expansion direction of a central region of the elastic element, which extends in the basic position substantially along the longitudinal axis and which protrudes in the at least one deformation position substantially transverse to the longitudinal axis, is controlled by the driving while changing the distance of this central region from the longitudinal axis Determined effective range.
• the center region of the elastic element is to be understood as meaning a limited region which, in relation to the main expansion direction, that is to say also with respect to the longitudinal axis of the handling device, is in the region of Level extends, which is pierced substantially perpendicularly from the longitudinal axis and which extends in longitudinal section through the center of the elastic element.
• Handling device equipped robotic arm even with different to be moved hollow bodies always with the same insertion depth in the home position be introduced into these differently shaped hollow body, wherein the subsequent activation of the elastic element to bring it from the basic position in its at least one deformation position, then depending on the position of the advantageous contact surface with the bulge is controlled.
• the automation effort and thus the costs can be considerably reduced.
• a transverse axis extending perpendicularly to the longitudinal axis through the center of the central region does not shift relative to a fastening point or fastening region of the handling device when the elastic element is transferred by actuation from its basic position into the at least one deformation position.
• the bulge is thus prevented from "migrating" during the transition from the basic position into the at least one deformation position relative to a fastening region of the handling device along the longitudinal axis, which is particularly advantageous when the desired contact region of the bulge forming with the inner wall of the Moving hollow body is spatially limited and should not be left, for example, due to a material-related sensitivity of the moving hollow body.
• the contact pressure of the formed bulge of the elastic element can be varied flexibly, without sacrificing the advantageous effect according to the invention of the controllably fixable position of the forming bulge in the effective range.
• components or the like with different mass, which require different contact pressures, while taking into account, for example, by the wall thicknesses of the cavities predetermined maximum contact pressures or the like can be securely fixed or moved.
• the elastic element abuts each end at least partially on each one movable along the longitudinal axis stop of the device and that the device is designed to move the stops within the effective range for driving the elastic element.
• the device for displacing the stops has a train connection operatively connected to one stop and a pushing device operatively connected to the other stop.
• the pulling device is hereby selectively movable by hydraulic or pneumatic Druckbeaufschlagu ng a first fluid chamber of the device; Accordingly, the thrust device is not selectively movable by hydraulic or pneumatic pressurization of a second fluid chamber of the device, in each case by means of variation of the corresponding pressure.
• first and the second fluid chamber are in pressure-related connection.
• the first and the second fluid chamber may also be formed by a single chamber, in which case, of course, the pulling movement by means of the pulling device and the pushing movement by means of the printing device are no longer independently controllable. Nevertheless, this simplified structure is an expense and cost savings.
• a generally symmetrical elastic element is in this case when driving the elastic element, d. H. when transferring the elastic element from its basic position into the at least one deformation position, the position in the main expansion direction of the central region, ie the position of the bulge, remain essentially the same while changing the distance from the longitudinal axis, d. H. the center position of the bulge is essentially not changed even with progressively increasing pressure of the pressurized fluid chamber.
• a substantially stepless change of the contact pressure of the bulge is made possible on the inner wall of the hollow body in which the handling device is introduced, without this contact area between the bulge and the inner wall moves significantly.
• the at least one elastic element is arranged decentrally with respect to the longitudinal axis and preferably at the end side on the handling device. As a result, an advantageous space-saving design of the handling device is given.
• the at least one elastic element is constructed substantially tubular or annular and at least partially is formed of an elastomer, preferably rubber, polyurethane or silicone.
• the materials mentioned have a particularly high contact ability with a long service life and low wear.
• the device is constructed substantially symmetrically about the longitudinal axis.
• the ideal cylinder shape approximate construction is the Positionieru ng the handling device according to the invention regardless of a rotation about the longitudinal axis in relation to the position of the to be fixed or to be moved hollow body possible.
• Fig. la a handling device with an end-side arranged elastic element in the basic position according to an embodiment of the invention.
• Fig. 1b the handling device according to the embodiment
• FIG. 1 a and 1 b show a schematic sectional view of a handling device 100 according to the invention according to a first embodiment, wherein in FIG. la an end of the handling device 100 arranged elastic element 10 is shown in its basic position; accordingly, in FIG. This elastic element 10 is shown in a deformed position as a bulge.
• the handling device 100 has, within a piston, a first fluid chamber 20 and a second fluid chamber 30, which can be pressurized hydraulically or pneumatically.
• the handling device 100 is formed substantially symmetrically about a longitudinal axis 60 which extends in a main extension. tion direction R of the handling device 100 extends. In the basic position shown in Fig. La, the outer peripheral surface of the handling device 100 is thus approximated to a cylindrical shape.
• the elastic member 10 has a substantially tubular structure with reinforced ends relative to the main extension direction R and a relatively thinner center portion connecting these ends, and is formed of a suitable elastomer such as rubber.
• a first abutment region 11 at the outer end of the elastic element 10 bears against a first stop 23 of the handling device 100; Accordingly, a second contact area 12 bears against a second stop 33 of the handling device 100.
• the stops 23, 33 are displaceable within a constant effective area 40 in the direction of a central area 15 of the elastic element 10, during which displacement the elastic element 10 moves from its position shown in FIG , la illustrated basic position in a in FIG. 1b is deformed and enlarges the distance A of this central region 15 from the longitudinal axis 60 to form a bulge which can be brought into abutment, for example, with an inner wall of a hollow body (not shown in FIGS. 1a and 1b).
• the first stop 33 is in this case formed on an end plate 22, wherein the end plate 22 in turn is in operative connection with a pull rod 21 such that upon pressurization of the second fluid chamber 30 a first stop 23 in the direction of the central region 15 of the elastic element 10th force to be exercised.
• the second stop 33 is correspondingly formed on a thrust piston 31, which likewise exerts a displacing force on the central region 15 of the elastic element 10 by pressurizing the first fluid chamber 20 from the opposite side. In this way, it is possible to position the bulging of the elastic element 10 within the effective area 40, which is to be formed by the activation of the fluid chambers 20, 30, almost as desired.
• the distance A of the central region of the longitudinal axis 60 are varied or when the handling device 100 is inserted into a hollow body, the contact pressure of the formed bulge of the elastic member 10 to the inner wall of the hollow body to be changed.
• the common transverse axis 16 of the central region 15, which is perpendicular to the longitudinal axis 60, is at the transition from the basic position to the deformation position (i.e., during the transition from the illustration in FIG in the presentation

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Robotics (AREA)
• Actuator (AREA)
• Prostheses (AREA)
• Invalid Beds And Related Equipment (AREA)
• Absorbent Articles And Supports Therefor (AREA)

Applications Claiming Priority (3)

Publications (1)

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• 2013
  • 2013-10-02 RU RU2015116874A patent/RU2015116874A/ru not_active Application Discontinuation
  • 2013-10-02 EP EP13771489.5A patent/EP2903788A1/de not_active Withdrawn
  • 2013-10-02 WO PCT/EP2013/070542 patent/WO2014053541A1/de active Application Filing
  • 2013-10-02 US US14/433,428 patent/US9333655B2/en not_active Expired - Fee Related
  • 2013-10-02 CN CN201380051751.XA patent/CN104684697A/zh active Pending

Non-Patent Citations (1)

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