EP3359339B1 - Gripping or clamping device having an actuator - Google Patents

Gripping or clamping device having an actuator Download PDF

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Publication number
EP3359339B1
EP3359339B1 EP16778006.3A EP16778006A EP3359339B1 EP 3359339 B1 EP3359339 B1 EP 3359339B1 EP 16778006 A EP16778006 A EP 16778006A EP 3359339 B1 EP3359339 B1 EP 3359339B1
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EP
European Patent Office
Prior art keywords
gripping
actuator
clamping device
jaw
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
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EP16778006.3A
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German (de)
French (fr)
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EP3359339A1 (en
Inventor
Tobias Schleusener
Michael Drab
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Schunk GmbH and Co KG
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Schunk GmbH and Co KG
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Publication of EP3359339A1 publication Critical patent/EP3359339A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/06—Arrangements for positively actuating jaws
    • B25B1/10—Arrangements for positively actuating jaws using screws
    • B25B1/103—Arrangements for positively actuating jaws using screws with one screw perpendicular to the jaw faces, e.g. a differential or telescopic screw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/06—Arrangements for positively actuating jaws
    • B25B1/18—Arrangements for positively actuating jaws motor driven, e.g. with fluid drive, with or without provision for manual actuation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/24—Details, e.g. jaws of special shape, slideways
    • B25B1/2489—Slideways

Definitions

  • the invention relates to a gripping or clamping device with an actuator, with a drive driving the actuator, and with at least two movement-coupled with the actuator jaws, wherein the actuator comprises a spindle with a threaded portion.
  • Such gripping or clamping devices are for example from the DE 10 2012 208 720 A1 previously known.
  • a spindle drive is housed in a housing of the gripping or clamping device, which comprises a rotatable spindle and at least one rotatably arranged but movable in the direction of movement spindle nut which cooperates with at least one movable base jaw.
  • Such gripping or clamping devices are manufacturing technology comparatively complex to produce and require a relatively large amount of space and have a relatively high weight.
  • a tensioning device which has a jaw on which a support member is provided, which cooperates for movement of the jaw with a threaded portion of a driven shaft.
  • a comparatively compact gripping or clamping device can be provided, which can be produced with comparatively low production outlay and, moreover, has a comparatively low weight.
  • DE 10 2012 208 720 A1 finds an immediate movement coupling between a baking side arranged effective section and the Thread section of the spindle instead. A spindle nut completely surrounding the spindle completely eliminated.
  • the gripping or clamping device can thus be built in particular narrower. In addition, this causes a weight reduction and a reduction of manufacturing costs.
  • the active section can be designed in particular as a rack section or as a spindle nut section extending over a certain circumferential section.
  • the diameter of the threaded portion is greater than the extension of the active portion transverse to the direction of movement of the jaw. This measure also contributes to the fact that the gripping or clamping device is particularly compact.
  • the actuator is motion-coupled with two jaws.
  • the actuator may comprise a spindle with two opposite, cooperating with one jaw threaded portions.
  • the jaws can be moved synchronously toward or away from each other.
  • the gripping or clamping device according to the invention only has only one jaw or three jaws, which are synchronously moved towards each other centric.
  • the drive comprises a motor with a drive shaft, wherein the drive shaft and the actuator have mutually parallel axes of rotation.
  • the engine may in particular be an electric motor.
  • the motor with drive shaft and the actuator are arranged vertically one above the other.
  • the axes of rotation of the drive shaft and the actuator may be arranged to extend parallel to the direction of movement of the jaw. This also contributes to a particularly compact design.
  • a drive gear is provided with at least one transmission element.
  • This may in particular be a spur gear, wherein the transmission element may be formed as a shaft with a gear.
  • the axes of rotation of the actuator, the drive shaft and the transmission element or, if present, the plurality of transmission elements extend parallel to one another.
  • the active portion may in particular have a straight or helical toothing.
  • tooth shapes such as wedge-shaped (flank angle in particular 60 °) or trapezoidal tooth geometries conceivable.
  • module toothings for example 20 °
  • trapezoidal thread for example 20 °
  • spur toothing for example 20 °
  • a helical toothing is present and that the pitch angle of the threaded portion with the pitch angle of the helical gear is identical.
  • the pitch angle may in particular be between 1 ° and 7 °, in particular between 3 ° and 4 °. With such low pitch angles, there is an effective self-locking between the active section and the threaded section, so that the jaw is fixed when the drive is not actuated without the use of a brake unit. It can be a comparatively high gripping force maintenance can be provided in a particularly simple manner.
  • the outer contour of the helical toothing is formed complementary to the outer contour of the threaded portion. This also makes it possible to provide a particularly advantageous movement coupling.
  • an elastically resilient spring element is provided between the jaw and the active cut.
  • the actuator and / or the drive and / or the drive gear can be fixed by means of a brake unit.
  • a gripping force maintenance can be provided.
  • the spring element can be arranged in particular under bias between the active portion and the jaw.
  • the active portion may have two opposite sides extending transversely to the direction of movement of the jaw narrow sides, which cooperate with a respective spring element.
  • the spring element extends in a transverse to the direction of movement of the jaw, on the other hand limited by the jaw on the one hand and the active portion groove.
  • the groove may in particular have a rectangular or square cross-section.
  • the Spring element can thus be designed as a cylinder with a rectangular or square base.
  • the jaw is guided in a jaw guide a basic housing.
  • the actuator may be arranged below the jaw guide in the base housing.
  • the drive, the actuator and the jaw guide in the base housing are arranged substantially vertically above one another.
  • FIGS. 1 to 3 This comprises a basic housing 4 with jaw guide 8 extending in a longitudinal direction 6 for gripper jaws 10, 12 which are insertable into the jaw guide 8 in the longitudinal direction 6 and are mounted displaceably therein.
  • the longitudinal direction 6 also corresponds to the displacement direction 6.
  • On an upper side of the gripper jaws 10, 12 mounting openings for releasably attaching gripping finger elements in the broadest sense are provided, which will not be further described here.
  • FIG. 2 clearly shows, the gripper jaws 10, 12 each on both sides in Displacement direction 6 extending guide webs 13, wherein on both sides transverse to the direction of displacement 6 three superimposed and over the entire length of the gripper jaws 10, 12 extending guide webs 13 are provided.
  • the jaw guide 8 in the gripper housing 4 complementary to the guide webs 12 formed guide grooves 14, in which the guide webs 13 engage and slide in the displacement direction 6, wherein the guide webs 13 engage substantially free of play in the guide grooves 14.
  • an actuator 16 with the jaws 10, 12 is coupled for movement, wherein the actuator 16 has a spindle 18 with two opposing threaded portions 20, 22 which in the FIGS. 1 and 3 are particularly clear.
  • a toothed rack section 24, 26 which meshes with the threaded section 20, 22 is arranged on the jaws 10, 12 on the baking side (cf. Fig. 1 ).
  • a completely surrounding the spindle spindle nut is completely eliminated.
  • the gripping device 2 can thus be built narrower in particular become. In addition, this causes a weight reduction and a reduction of manufacturing and assembly costs.
  • a synchronous movement of the two jaws 10, 12 is made possible by means of the actuator 16.
  • the actuator 16 is driven by a drive 27, which includes an electric motor 28 and a drive shaft 30 with a gear 32.
  • FIG. 2 shows, between the drive 27 and the actuator 16 designed as a spur gear drive gear 34 with two gear elements 36, 38 is provided.
  • the first gear element 36 cooperates with the drive pinion 32
  • the second gear element 38 cooperates with a spindle 18 arranged on the gear 40.
  • the axes of rotation 42, 44 of the drive shaft 30 and the actuator 16 are parallel to the direction of movement 6 of the jaw.
  • the axes of rotation 46, 48 of the transmission elements 36, 38 are parallel thereto.
  • the axes of rotation 42, 44, 48 of the drive shaft 30, the actuator 16 and the second gear member 38 lie in a common plane, which represents a central longitudinal plane of the parallel gripper 2.
  • the drive 27, the actuator 16 and the jaw guide 8 are arranged vertically one above the other.
  • the electric motor 28 is controllable via a circuit board 52, wherein the board 52 is connected to the motor 28 via a cable connection 50.
  • the circuit board 52 is located on the side facing away from the drive shaft 30 in the direction of displacement 6 of the motor 28th
  • the diameter d of the threaded portion 20, 22 is greater than the extension e of the rack portion 24, 26 transversely to the direction of movement 6 of the jaws 10, 12, wherein the actuator 16 is disposed below the jaw guide 8 in the base housing 4.
  • FIG. 1 can be seen, the jaw guide 8 on an open bottom.
  • the threaded portion 20,22 is formed as a screw with a number of screw flights, wherein the pitch angle is about 3.5 °.
  • the rack sections 24, 26 have a helical toothing with just this pitch angle.
  • FIG. 1 shows the rack sections 24, 26, each with two transversely to the direction of travel 6 extending rods 54, 56 on the jaws 10, 12th arranged so that the rods 54, 56 constitute a suspension for the rack sections 24, 26.
  • the rack sections 24, 26 each have two opposite, transversely to the direction of movement 6 of the jaws 10, 12 extending narrow sides. On each narrow side are, as in FIG. 1 can be seen, two spring elements 60, 62 are provided, between which, seen in the direction of movement 6 of the jaws 10, 12, respectively, a rack portion 24, 26 is provided.
  • the spring elements 60, 62 are arranged in grooves which are bounded on the one hand by the jaws 10, 12 and on the other hand by the rack sections 24, 26.
  • the narrow sides of the rack sections 24, 26, as FIG. 1 can be seen, slightly spaced from the jaws 10, 12 arranged.
  • the spring elements 60, 62 are in particular designed as resilient elastomer blocks.
  • the actuator 16 can be fixed by a brake unit, not shown, in particular when the maximum deformation or at least almost the maximum deformation of the spring elements 60, 62 is reached.
  • the self-locking between the rack sections 24, 26 and the threaded portions 20, 22 may be sufficient to set the jaws, so no brake unit must be used. As a result, almost complete gripping force maintenance can be provided, or a gripping force can be provided which is greater than a gripping force provided purely with the drive 27.
  • the actuator 16 comprises a spindle 18 with two opposing, each with a jaw 10, 12 cooperating threaded portions 20, 22, the jaws 10, 12 are moved synchronously toward or away from each other.
  • FIG. 5c shows a variant of the active portion 240.
  • the effective portion 240 is formed as extending over a peripheral portion of the spindle nut portion with spur toothing. Thereby, an enlarged contact surface between threaded portion 20 and the operative portion 240 is provided.
  • a compact-sized gripping or clamping device can be provided, which is comparatively easy to manufacture and comparatively lightweight, with the jaws 10, 12 are moved synchronously.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Description

Die Erfindung betrifft eine Greif- oder Spannvorrichtung mit einem Stellglied, mit einem das Stellglied antreibenden Antrieb, und mit wenigstens zwei mit dem Stellglied bewegungsgekoppelten Backen, wobei das Stellglied eine Spindel mit einem Gewindeabschnitt umfasst.The invention relates to a gripping or clamping device with an actuator, with a drive driving the actuator, and with at least two movement-coupled with the actuator jaws, wherein the actuator comprises a spindle with a threaded portion.

Derartige Greif- oder Spannvorrichtungen sind beispielsweise aus der DE 10 2012 208 720 A1 vorbekannt. Dabei ist in einem Gehäuse der Greif- oder Spannvorrichtung ein Spindelantrieb untergebracht, der eine drehbare Spindel und wenigstens eine drehfest angeordnete aber in Bewegungsrichtung verfahrbare Spindelmutter umfasst, die mit wenigstens einer bewegbaren Grundbacke zusammenwirkt. Derartige Greif- oder Spannvorrichtungen sind fertigungstechnisch vergleichsweise aufwändig herzustellen und benötigen relativ viel Bauraum und weisen ein relativ hohes Gewicht auf.Such gripping or clamping devices are for example from the DE 10 2012 208 720 A1 previously known. In this case, a spindle drive is housed in a housing of the gripping or clamping device, which comprises a rotatable spindle and at least one rotatably arranged but movable in the direction of movement spindle nut which cooperates with at least one movable base jaw. Such gripping or clamping devices are manufacturing technology comparatively complex to produce and require a relatively large amount of space and have a relatively high weight.

Aus der US 6,585,247 B2 ist eine Spannvorrichtung bekannt, die eine Backe aufweist, an dem ein Trageelement vorgesehen ist, dass zur Bewegung der Backe mit einem Gewindeabschnitt einer antreibbaren Welle zusammenwirkt.From the US 6,585,247 B2 a tensioning device is known, which has a jaw on which a support member is provided, which cooperates for movement of the jaw with a threaded portion of a driven shaft.

Es ist folglich Aufgabe der Erfindung, eine Greif- oder Spannvorrichtung der genannten Art derart weiterzubilden, dass diese kleiner bauen, ein geringeres Gewicht aufweisen und einem geringeren Fertigungsaufwand unterliegen.It is therefore an object of the invention to develop a gripping or clamping device of the type mentioned in such a way that they build smaller, have a lower weight and are subject to lower production costs.

Diese Aufgabe wird mit einer Greif- oder Spannvorrichtung mit den Merkmalen des Anspruchs 1 gelöst.This object is achieved with a gripping or clamping device having the features of claim 1.

Dadurch kann eine vergleichsweise kompakt bauende Greif- oder Spannvorrichtung bereitgestellt werden, die mit vergleichsweise geringem Fertigungsaufwand herstellbar ist und die zudem ein vergleichsweise geringes Gewicht aufweist. Im Gegensatz zur DE 10 2012 208 720 A1 findet eine unmittelbare Bewegungskopplung zwischen einem backenseitig angeordneten Wirkabschnitt und dem Gewindeabschnitt der Spindel statt. Eine die Spindel vollständig umgebende Spindelmutter entfällt. Die Greif- oder Spannvorrichtung kann damit insbesondere schmaler gebaut werden. Außerdem bewirkt dies eine Gewichtsreduktion und eine Reduzierung des Fertigungsaufwandes.As a result, a comparatively compact gripping or clamping device can be provided, which can be produced with comparatively low production outlay and, moreover, has a comparatively low weight. In contrast to DE 10 2012 208 720 A1 finds an immediate movement coupling between a baking side arranged effective section and the Thread section of the spindle instead. A spindle nut completely surrounding the spindle completely eliminated. The gripping or clamping device can thus be built in particular narrower. In addition, this causes a weight reduction and a reduction of manufacturing costs.

Der Wirkabschnitt kann insbesondere als Zahnstangenabschnitt oder als sich über einen gewissen Umfangsabschnitt erstreckender Spindelmutterabschnitt ausgebildet sein.The active section can be designed in particular as a rack section or as a spindle nut section extending over a certain circumferential section.

Gemäß der Erfindung ist der Durchmesser des Gewindeabschnitts größer als die Erstreckung des Wirkabschnitts quer zur Bewegungsrichtung der Backe. Auch diese Maßnahme trägt dazu bei, dass die Greif- oder Spannvorrichtung besonders kompakt baut.According to the invention, the diameter of the threaded portion is greater than the extension of the active portion transverse to the direction of movement of the jaw. This measure also contributes to the fact that the gripping or clamping device is particularly compact.

Besonders vorteilhafterweise ist das Stellglied mit zwei Backen bewegungsgekoppelt. Dabei kann das Stellglied eine Spindel mit zwei gegenläufigen, mit je einer Backe zusammenwirkenden Gewindeabschnitten umfassen. Dadurch können die Backen synchron aufeinander zu beziehungsweise voneinander weg bewegt werden. Dadurch wird nicht nur eine besonders kompakt bauende Greif- oder Spannvorrichtung bereitgestellt, sondern es wird gleichzeitig eine Bewegungssynchronisation der mittels eines einzigen Antriebes angetriebenen Backen erzielt. Andererseits ist denkbar, dass die erfindungsgemäße Greif- oder Spannvorrichtung lediglich nur eine Backe oder auch drei Backen aufweist, die synchron zentrisch aufeinander zu bewegt werden.Particularly advantageously, the actuator is motion-coupled with two jaws. In this case, the actuator may comprise a spindle with two opposite, cooperating with one jaw threaded portions. As a result, the jaws can be moved synchronously toward or away from each other. As a result, not only a particularly compact gripping or clamping device is provided, but it is at the same time a motion synchronization by means of a single Drive driven jaws achieved. On the other hand, it is conceivable that the gripping or clamping device according to the invention only has only one jaw or three jaws, which are synchronously moved towards each other centric.

Insbesondere ist denkbar, dass der Antrieb einen Motor mit einer Antriebswelle umfasst, wobei die Antriebswelle und das Stellglied parallel zueinander verlaufende Drehachsen aufweisen. Bei dem Motor kann es sich insbesondere um einen elektrischen Motor handeln. Auch hierdurch kann eine besonders kompakte Bauweise erzielt werden. Vorteilhafterweise sind der Motor mit Antriebswelle und das Stellglied vertikal übereinander angeordnet.In particular, it is conceivable that the drive comprises a motor with a drive shaft, wherein the drive shaft and the actuator have mutually parallel axes of rotation. The engine may in particular be an electric motor. This also allows a particularly compact design can be achieved. Advantageously, the motor with drive shaft and the actuator are arranged vertically one above the other.

Dabei können die Drehachsen der Antriebswelle und des Stellglieds parallel zur Bewegungsrichtung der Backe verlaufend angeordnet sein. Auch dies trägt zu einer besonders kompakten Bauweise bei.The axes of rotation of the drive shaft and the actuator may be arranged to extend parallel to the direction of movement of the jaw. This also contributes to a particularly compact design.

Denkbar ist ferner, dass zwischen dem Antrieb und dem Stellglied ein Antriebsgetriebe mit wenigstens einem Getriebeelement vorgesehen ist. Hierbei kann es sich insbesondere um ein Stirnradgetriebe handeln, wobei das Getriebeelement als Welle mit einem Zahnrad ausgebildet sein kann. Besonders vorteilhafterweise verläuft die Drehachse des Getriebeelements parallel zur Drehachse des Stellglieds. Besonders vorteilhafterweise verlaufen die Drehachsen des Stellglieds, der Antriebswelle sowie des Getriebeelements oder falls vorhanden der mehreren Getriebeelemente parallel zueinander.It is also conceivable that between the drive and the actuator, a drive gear is provided with at least one transmission element. This may in particular be a spur gear, wherein the transmission element may be formed as a shaft with a gear. Particularly advantageously, the runs Rotary axis of the transmission element parallel to the axis of rotation of the actuator. Particularly advantageously, the axes of rotation of the actuator, the drive shaft and the transmission element or, if present, the plurality of transmission elements extend parallel to one another.

Der Wirkabschnitt kann insbesondere eine Gerad- oder Schrägverzahnung aufweisen. Dabei sind unterschiedlichste Zahnformen wie beispielsweise keilförmige (Flankenwinkel insbesondere 60°) oder trapezförmige Zahngeometrien denkbar. Ebenso sind Modulverzahnungen (beispielsweise 20°), Trapezgewinde, Spitzverzahnungen oder dergleichen denkbar.The active portion may in particular have a straight or helical toothing. Here are a variety of tooth shapes such as wedge-shaped (flank angle in particular 60 °) or trapezoidal tooth geometries conceivable. Likewise, module toothings (for example 20 °), trapezoidal thread, spur toothing or the like are conceivable.

Als besonders vorteilhaft hat es sich herausgestellt, dass eine Schrägverzahnung vorliegt und dass der Steigungswinkel des Gewindeabschnitts mit dem Steigungswinkel der Schrägverzahnung identisch ist. Dadurch kann eine besonders vorteilhafte Kräfteübertragung zwischen Stellglied und Backe bereitgestellt werden. Der Steigungswinkel kann insbesondere zwischen 1° und 7°, insbesondere zwischen 3° und 4°, betragen. Bei derart geringen Steigungswinkeln liegt eine wirkungsvolle Selbsthemmung zwischen Wirkabschnitt und Gewindeabschnitt vor, sodass die Backe bei nicht betätigtem Antrieb ohne Verwendung einer Bremseinheit festgesetzt ist. Dabei kann eine vergleichsweise hohe Greifkrafterhaltung auf besonders einfach Art und Weise bereitgestellt werden.To be particularly advantageous, it has been found that a helical toothing is present and that the pitch angle of the threaded portion with the pitch angle of the helical gear is identical. As a result, a particularly advantageous transmission of forces between actuator and jaw can be provided. The pitch angle may in particular be between 1 ° and 7 °, in particular between 3 ° and 4 °. With such low pitch angles, there is an effective self-locking between the active section and the threaded section, so that the jaw is fixed when the drive is not actuated without the use of a brake unit. It can be a comparatively high gripping force maintenance can be provided in a particularly simple manner.

Vorteilhafterweise ist die Außenkontur der Schrägverzahnung komplementär zur Außenkontur des Gewindeabschnitts ausgebildet. Auch hierdurch kann eine besonders vorteilhafte Bewegungskopplung bereitgestellt werden.Advantageously, the outer contour of the helical toothing is formed complementary to the outer contour of the threaded portion. This also makes it possible to provide a particularly advantageous movement coupling.

Vorteilhafterweise ist zwischen der Backe und dem Wirkschnitt ein elastisch nachgiebiges Federelement vorgesehen. Dabei kann das Stellglied und/oder der Antrieb und/oder das Antriebsgetriebe mittels einer Bremseinheit festsetzbar sein. Dadurch kann eine Greifkrafterhaltung bereitgestellt werden. Das Federelement kann dabei insbesondere unter Vorspannung zwischen dem Wirkabschnitt und der Backe angeordnet sein. Insbesondere kann der Wirkabschnitt zwei einander gegenüberliegende sich quer zur Bewegungsrichtung der Backe erstreckende Schmalseiten aufweisen, die mit jeweils einem Federelement zusammenwirken.Advantageously, an elastically resilient spring element is provided between the jaw and the active cut. In this case, the actuator and / or the drive and / or the drive gear can be fixed by means of a brake unit. As a result, a gripping force maintenance can be provided. The spring element can be arranged in particular under bias between the active portion and the jaw. In particular, the active portion may have two opposite sides extending transversely to the direction of movement of the jaw narrow sides, which cooperate with a respective spring element.

Dabei ist insbesondere denkbar, dass sich das Federelement in einer quer zur Bewegungsrichtung der Backe verlaufenden, von der Backe einerseits und dem Wirkabschnitt andererseits begrenzten Nut erstreckt. Die Nut kann insbesondere einen rechteckigen oder quadratischen Querschnitt aufweisen. Das Federelement kann folglich als Zylinder mit einer rechteckigen oder quadratischen Grundfläche ausgebildet sein.In this case, it is particularly conceivable that the spring element extends in a transverse to the direction of movement of the jaw, on the other hand limited by the jaw on the one hand and the active portion groove. The groove may in particular have a rectangular or square cross-section. The Spring element can thus be designed as a cylinder with a rectangular or square base.

Gemäß einer besonders vorteilhaften Ausgestaltung der Erfindung, ist die Backe in einer Backenführung eines Grundgehäuses geführt. Dabei kann das Stellglied unterhalb der Backenführung im Grundgehäuse angeordnet sein. Besonders vorteilhafterweise sind der Antrieb, das Stellglied und die Backenführung im Grundgehäuse im Wesentlichen vertikal übereinander angeordnet. Dadurch kann eine besonders kompaktbauende Greif- oder Spannvorrichtung bereitgestellt werden.According to a particularly advantageous embodiment of the invention, the jaw is guided in a jaw guide a basic housing. In this case, the actuator may be arranged below the jaw guide in the base housing. Particularly advantageously, the drive, the actuator and the jaw guide in the base housing are arranged substantially vertically above one another. As a result, a particularly compact gripping or clamping device can be provided.

Weitere Einzelheiten und vorteilhafte Ausgestaltungen der Erfindung sind der nachfolgenden Beschreibung zu entnehmen, anhand derer ein Ausführungsbeispiel der Erfindung näher beschrieben und erläutert ist.Further details and advantageous embodiments of the invention will become apparent from the following description, with reference to which an embodiment of the invention is described and explained in detail.

Es zeigen:

Figur 1
Längsschnitt durch einen Parallelgreifer;
Figur 2
Schnitt entlang der Linie II-II gemäß Figur 1;
Figur 3
Schnitt entlang der Linie III-III gemäß Figur 1;
Figur 4
vergrößerte Darstellung eines Ausschnitts der Darstellung gemäß Figur 3.
Figur 5a
Seitenansicht des Parallelgreifers gemäß Figur 1;
Figur 5b
Schnitt entlang der Linie V-V gemäß Figur 5a;
Figur 5c
Schnitt entlang der Linie V-V gemäß Figur 5a, wobei eine von Figur 5b unterschiedliche Variante des Wirkabschnitts gezeigt ist;
Show it:
FIG. 1
Longitudinal section through a parallel gripper;
FIG. 2
Section along the line II-II according to FIG. 1 ;
FIG. 3
Section along the line III-III according to FIG. 1 ;
FIG. 4
enlarged view of a section of the illustration according to FIG. 3 ,
FIG. 5a
Side view of the parallel gripper according to FIG. 1 ;
FIG. 5b
Section along the line VV according to FIG. 5a ;
FIG. 5c
Section along the line VV according to FIG. 5a , where one of FIG. 5b different variant of the active section is shown;

Die Figuren 1 bis 3 zeigen eine als Parallelgreifer ausgebildete Greifvorrichtung 2. Diese umfasst ein Grundgehäuse 4 mit in einer Längsrichtung 6 verlaufenden Backenführung 8 für Greiferbacken 10, 12 welche in Längsrichtung 6 in die Backenführung 8 einführbar und darin verschieblich gelagert sind. Die Längsrichtung 6 entspricht dabei auch der Verschieberichtung 6. Auf einer Oberseite der Greiferbacken 10, 12 sind Montageöffnungen zum lösbaren Anbringen von Greiffingerelementen im weitesten Sinne vorgesehen, die hier nicht weiter beschrieben werden sollen.The FIGS. 1 to 3 This comprises a basic housing 4 with jaw guide 8 extending in a longitudinal direction 6 for gripper jaws 10, 12 which are insertable into the jaw guide 8 in the longitudinal direction 6 and are mounted displaceably therein. The longitudinal direction 6 also corresponds to the displacement direction 6. On an upper side of the gripper jaws 10, 12 mounting openings for releasably attaching gripping finger elements in the broadest sense are provided, which will not be further described here.

Wie aus Figur 2 deutlich hervorgeht, weisen die Greiferbacken 10, 12 jeweils beidseits in Verschieberichtung 6 erstreckende Führungsstege 13 auf, wobei beidseits quer zur Verschieberichtung 6 drei übereinander angeordnete und sich über die gesamte Länge der Greiferbacken 10, 12 erstreckende Führungsstege 13 vorgesehen sind. Wie ferner aus Figur 2 hervorgeht, weist die Backenführung 8 im Greifergehäuse 4 komplementär zu den Führungsstegen 12 ausgebildete Führungsnuten 14 auf, in welche die Führungsstege 13 eingreifen und darin in Verschieberichtung 6 gleiten können, wobei die Führungsstege 13 im Wesentlichen spielfrei in die Führungsnuten 14 eingreifen.How out FIG. 2 clearly shows, the gripper jaws 10, 12 each on both sides in Displacement direction 6 extending guide webs 13, wherein on both sides transverse to the direction of displacement 6 three superimposed and over the entire length of the gripper jaws 10, 12 extending guide webs 13 are provided. As further out FIG. 2 As can be seen, the jaw guide 8 in the gripper housing 4 complementary to the guide webs 12 formed guide grooves 14, in which the guide webs 13 engage and slide in the displacement direction 6, wherein the guide webs 13 engage substantially free of play in the guide grooves 14.

Zum Verschieben der Backen 10, 12 ist ein Stellglied 16 mit den Backen 10, 12 bewegungsgekoppelt, wobei das Stellglied 16 eine Spindel 18 mit zwei gegenläufigen Gewindeabschnitten 20, 22 aufweist, die in den Figuren 1 und 3 besonders deutlich zu erkennen sind. Zur Bewegungskopplung ist backenseitig jeweils ein den Gewindeabschnitt 20, 22 kämmender Zahnstangenabschnitt 24, 26 an den Backen 10, 12 angeordnet (vgl. Fig. 1). Im Gegensatz zum Stand der Technik findet eine unmittelbare Bewegungskopplung zwischen den backenseitig angeordneten Zahnstangenabschnitten 24, 26 und den Gewindeabschnitten 20, 22 der Spindel statt. Eine die Spindel vollständig umgebende Spindelmutter entfällt vollständig. Die Greifvorrichtung 2 kann damit insbesondere schmaler gebaut werden. Außerdem bewirkt dies eine Gewichtsreduktion und eine Reduzierung des Fertigungs- und Montageaufwandes. Außerdem wird eine synchrone Bewegung der beiden Backen 10, 12 mittels des Stellglieds 16 ermöglicht.To move the jaws 10, 12, an actuator 16 with the jaws 10, 12 is coupled for movement, wherein the actuator 16 has a spindle 18 with two opposing threaded portions 20, 22 which in the FIGS. 1 and 3 are particularly clear. For coupling movement, a toothed rack section 24, 26 which meshes with the threaded section 20, 22 is arranged on the jaws 10, 12 on the baking side (cf. Fig. 1 ). In contrast to the prior art, there is a direct coupling of movement between the back side arranged rack sections 24, 26 and the threaded portions 20, 22 of the spindle instead. A completely surrounding the spindle spindle nut is completely eliminated. The gripping device 2 can thus be built narrower in particular become. In addition, this causes a weight reduction and a reduction of manufacturing and assembly costs. In addition, a synchronous movement of the two jaws 10, 12 is made possible by means of the actuator 16.

Wie Figur 1 zu entnehmen ist, wird das Stellglied 16 von einem Antrieb 27 angetrieben, welcher einen elektrischen Motor 28 und eine Antriebswelle 30 mit einem Zahnrad 32 umfasst.How FIG. 1 can be seen, the actuator 16 is driven by a drive 27, which includes an electric motor 28 and a drive shaft 30 with a gear 32.

Wie aus Figur 2 hervorgeht, ist zwischen dem Antrieb 27 und dem Stellglied 16 ein als Stirnradgetriebe ausgebildetes Antriebsgetriebe 34 mit zwei Getriebeelementen 36, 38 vorgesehen. Dabei wirkt das erste Getriebeelement 36 mit dem Antriebsritzel 32 zusammen, während das zweite Getriebeelement 38 mit einem an der Spindel 18 angeordneten Zahnrad 40 zusammenwirkt.How out FIG. 2 shows, between the drive 27 and the actuator 16 designed as a spur gear drive gear 34 with two gear elements 36, 38 is provided. In this case, the first gear element 36 cooperates with the drive pinion 32, while the second gear element 38 cooperates with a spindle 18 arranged on the gear 40.

Wie den Figuren 1 und 2 zu entnehmen ist, verlaufen die Drehachsen 42, 44 der Antriebswelle 30 und des Stellglieds 16 parallel zur Bewegungsrichtung 6 der Backe. Auch die Drehachsen 46, 48 der Getriebeelemente 36, 38 verlaufen parallel dazu. Ferner liegen die Drehachsen 42, 44, 48 der Antriebswelle 30, des Stellglieds 16 sowie des zweiten Getriebeelements 38 in einer gemeinsamen Ebene, welche eine Mittellängsebene des Parallelgreifers 2 darstellt. Ferner sind der Antrieb 27, das Stellglied 16 sowie die Backenführung 8 vertikal übereinander angeordnet.Like that FIGS. 1 and 2 can be seen, the axes of rotation 42, 44 of the drive shaft 30 and the actuator 16 are parallel to the direction of movement 6 of the jaw. The axes of rotation 46, 48 of the transmission elements 36, 38 are parallel thereto. Furthermore, the axes of rotation 42, 44, 48 of the drive shaft 30, the actuator 16 and the second gear member 38 lie in a common plane, which represents a central longitudinal plane of the parallel gripper 2. Further the drive 27, the actuator 16 and the jaw guide 8 are arranged vertically one above the other.

Der elektrische Motor 28 ist über eine Platine 52 steuerbar, wobei die Platine 52 mit dem Motor 28 über eine Kabelverbindung 50 verbunden ist. Dabei liegt die Platine 52 auf der in Verschieberichtung 6 der Antriebswelle 30 abgewandten Seite des Motors 28.
Wie aus den Figuren 5b und 5c hervorgeht, ist der Durchmesser d des Gewindeabschnitts 20, 22 größer als die Erstreckung e des Zahnstangenabschnitts 24, 26 quer zur Bewegungsrichtung 6 der Backen 10, 12, wobei das Stellglied 16 unterhalb der Backenführung 8 im Grundgehäuse 4 angeordnet ist. Wie insbesondere Figur 1 zu entnehmen ist, weist die Backenführung 8 eine offene Unterseite auf.The electric motor 28 is controllable via a circuit board 52, wherein the board 52 is connected to the motor 28 via a cable connection 50. In this case, the circuit board 52 is located on the side facing away from the drive shaft 30 in the direction of displacement 6 of the motor 28th
Like from the FIGS. 5b and 5c shows, the diameter d of the threaded portion 20, 22 is greater than the extension e of the rack portion 24, 26 transversely to the direction of movement 6 of the jaws 10, 12, wherein the actuator 16 is disposed below the jaw guide 8 in the base housing 4. In particular FIG. 1 can be seen, the jaw guide 8 on an open bottom.

In den Figuren 1, 3 und 4 ist ferner ersichtlich, dass der Gewindeabschnitt 20,22 als Schnecke mit einer Anzahl Schraubengängen ausgebildet ist, wobei der Steigungswinkel ca. 3,5° beträgt. Auch die Zahnstangenabschnitte 24, 26 weisen eine Schrägverzahnung mit eben diesem Steigungswinkel auf.In the FIGS. 1 . 3 and 4 It can also be seen that the threaded portion 20,22 is formed as a screw with a number of screw flights, wherein the pitch angle is about 3.5 °. The rack sections 24, 26 have a helical toothing with just this pitch angle.

Wie aus Figur 1 hervorgeht, sind die Zahnstangenabschnitte 24, 26 mit jeweils zwei sich quer zur Verfahrrichtung 6 erstreckenden Stangen 54, 56 an den Backen 10, 12 angeordnet, so dass die Stangen 54, 56 eine Aufhängung für die Zahnstangenabschnitte 24, 26 darstellen.How out FIG. 1 shows the rack sections 24, 26, each with two transversely to the direction of travel 6 extending rods 54, 56 on the jaws 10, 12th arranged so that the rods 54, 56 constitute a suspension for the rack sections 24, 26.

Die Zahnstangenabschnitte 24, 26 weisen jeweils zwei einander gegenüberliegende, sich quer zur Bewegungsrichtung 6 der Backen 10, 12 erstreckenden Schmalseiten auf. An jeder Schmalseite sind, wie in Figur 1 zu erkennen ist, zwei Federelemente 60, 62 vorgesehen, zwischen denen, in Bewegungsrichtung 6 der Backen 10, 12 gesehen, jeweils ein Zahnstangeabschnitt 24, 26 vorgesehen ist. Die Federelemente 60, 62 sind in Nuten angeordnet, die einerseits von den Backen 10, 12 und andererseits von den Zahnstangenabschnitten 24, 26 begrenzt werden. Dabei sind die Schmalseiten der Zahnstangenabschnitte 24, 26, wie Figur 1 zu entnehmen ist, leicht von den Backen 10, 12 beabstandet angeordnet.The rack sections 24, 26 each have two opposite, transversely to the direction of movement 6 of the jaws 10, 12 extending narrow sides. On each narrow side are, as in FIG. 1 can be seen, two spring elements 60, 62 are provided, between which, seen in the direction of movement 6 of the jaws 10, 12, respectively, a rack portion 24, 26 is provided. The spring elements 60, 62 are arranged in grooves which are bounded on the one hand by the jaws 10, 12 and on the other hand by the rack sections 24, 26. The narrow sides of the rack sections 24, 26, as FIG. 1 can be seen, slightly spaced from the jaws 10, 12 arranged.

Die Federelemente 60, 62 sind insbesondere als federelastische Elastomerblöcke ausgebildet. Dabei kann das Stellglied 16 von einer nicht gezeigten Bremseinheit insbesondere dann festgesetzt werden, wenn die maximale Verformung oder wenigstens nahezu die maximale Verformung der Federelemente 60, 62 erreicht ist. Andererseits kann auch die Selbsthemmung zwischen den Zahnstangenabschnitten 24, 26 und den Gewindeabschnitten 20, 22 ausreichend sein, um die Backen festzusetzen, sodass keine Bremseinheit verwendet werden muss. Dadurch kann eine nahezu vollständige Greifkrafterhaltung bereitgestellt werden oder es kann eine Greifkraft zur Verfügung gestellt werden, die größer ist als eine rein mit dem Antrieb 27 bereitgestellte Greifkraft.The spring elements 60, 62 are in particular designed as resilient elastomer blocks. In this case, the actuator 16 can be fixed by a brake unit, not shown, in particular when the maximum deformation or at least almost the maximum deformation of the spring elements 60, 62 is reached. On the other hand, the self-locking between the rack sections 24, 26 and the threaded portions 20, 22 may be sufficient to set the jaws, so no brake unit must be used. As a result, almost complete gripping force maintenance can be provided, or a gripping force can be provided which is greater than a gripping force provided purely with the drive 27.

Dadurch, dass das Stellglied 16 eine Spindel 18 mit zwei gegenläufigen, mit je einer Backe 10, 12 zusammenwirkenden Gewindeabschnitten 20, 22 umfasst, können die Backen 10, 12 synchron aufeinander zu beziehungsweise voneinander weg bewegt werden.Characterized in that the actuator 16 comprises a spindle 18 with two opposing, each with a jaw 10, 12 cooperating threaded portions 20, 22, the jaws 10, 12 are moved synchronously toward or away from each other.

Figur 5c zeigt eine Variante des Wirkabschnitts 240. Dabei ist der Wirkabschnitt 240 als sich über einen Umfangsabschnitt erstreckender Spindelmutterabschnitt mit Geradverzahnung ausgebildet. Dadurch wird eine vergrößerte Kontaktfläche zwischen Gewindeabschnitt 20 und dem Wirkabschnitt 240 bereitgestellt. FIG. 5c shows a variant of the active portion 240. Here, the effective portion 240 is formed as extending over a peripheral portion of the spindle nut portion with spur toothing. Thereby, an enlarged contact surface between threaded portion 20 and the operative portion 240 is provided.

Insgesamt kann mit der Erfindung eine kompaktbauende Greif- oder Spannvorrichtung bereitgestellt werden, die vergleichsweise einfach herstellbar ist und vergleichsweise von geringem Gewicht ist, wobei die Backen 10, 12 synchron bewegt werden.Overall, with the invention, a compact-sized gripping or clamping device can be provided, which is comparatively easy to manufacture and comparatively lightweight, with the jaws 10, 12 are moved synchronously.

Claims (15)

  1. Gripping or clamping device (2) having an actuator (16), having a drive (27) that drives the actuator (16), and having at least two jaws (10, 12) that are coupled in movement with the actuator (16) and that can be moved toward and away from one another synchronously, the actuator (16) comprising at least one spindle (18) having at least one threaded portion (20, 22), characterized in that a working portion (24, 26, 240) that meshes with the threaded portion (20, 22) is arranged on the jaw side in each case for the movement coupling, the diameter (d) of each threaded portion (20, 22) being greater than the extent (e) of the associated working portion (24, 26, 240) transverse to the movement direction of the jaw (10, 12).
  2. Gripping or clamping device (2) according to claim 1, characterized in that the working portion (24, 26, 240) is formed as a toothed rod portion.
  3. Gripping or clamping device (2) according to either claim 1 or claim 2, characterized in that two jaws (10, 12) that are coupled in movement with the actuator (16) are provided and in that the actuator (16) comprises at least one spindle (18) having two oppositely directed thread portions (20, 22) that each cooperate with one jaw (10, 12).
  4. Gripping or clamping device (2) according to claim 1, claim 2 or claim 3, characterized in that the drive (27) comprises a motor (28) having a drive shaft (30), the drive shaft (30) and the actuator (16) having axes of rotation (42, 44) that extend mutually parallel.
  5. Gripping or clamping device (2) according to claim 4, characterized in that the axes of rotation (42, 44) of the drive shaft (30) and of the actuator (16) extend parallel to the movement direction (6) of the jaw (10, 12).
  6. Gripping or clamping device (2) according to any of the preceding claims, characterized in that a drive transmission (34) having at least one transmission element (36, 38) is provided between the drive (27) and the actuator (16).
  7. Gripping or clamping device (2) according to claim 6, characterized in that the axis of rotation (46, 48) of the transmission element (36, 38) extends parallel to the axis of rotation (44) of the actuator (16).
  8. Gripping or clamping device (2) according to any of the preceding claims, characterized in that the working portion (24, 26, 240) has a straight or an oblique toothing.
  9. Gripping or clamping device (2) according to claim 8, characterized in that the pitch angles of the threaded portion (20, 22) and of the oblique toothing are identical.
  10. Gripping or clamping device (2) according to claim 9, characterized in that the pitch angle is between 1° and 7°, in particular between 3° and 4°.
  11. Gripping or clamping device (2) according to any of the preceding claims, characterized in that the outer contour of the oblique toothing is formed complementary to the outer contour of the threaded portion (20, 22).
  12. Gripping or clamping device (2) according to any of the preceding claims, characterized in that a resiliently yielding spring element (60, 62) is provided between the jaw (10, 12) and the working portion (24, 26, 240).
  13. Gripping or clamping device (2) according to claim 12, characterized in that the spring element (60, 62) extends in a groove that extends transverse to the movement direction (6) of the jaw (10, 12) and that is defined by the jaw (10, 12) on one side and the working portion (24, 26, 240) on the other side.
  14. Gripping or clamping device (2) according to claim 1 any of the preceding claims, characterized in that the jaw (10, 12) is guided in a jaw guide (8) of a base housing (4), the actuator (16) being arranged below the jaw guide (8) in the base housing (4).
  15. Gripping or clamping device (2) according to claim 14, characterized in that the drive (27), the actuator (16) and the jaw guide (8) are arranged substantially vertically above one another in the base housing (4).
EP16778006.3A 2015-10-06 2016-10-06 Gripping or clamping device having an actuator Active EP3359339B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015219281.4A DE102015219281B3 (en) 2015-10-06 2015-10-06 Gripping or clamping device with an actuator
PCT/EP2016/073869 WO2017060345A1 (en) 2015-10-06 2016-10-06 Gripping or clamping device having an actuator

Publications (2)

Publication Number Publication Date
EP3359339A1 EP3359339A1 (en) 2018-08-15
EP3359339B1 true EP3359339B1 (en) 2019-11-27

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP16778006.3A Active EP3359339B1 (en) 2015-10-06 2016-10-06 Gripping or clamping device having an actuator

Country Status (4)

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US (1) US11084145B2 (en)
EP (1) EP3359339B1 (en)
DE (1) DE102015219281B3 (en)
WO (1) WO2017060345A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020101062B4 (en) 2020-01-17 2021-08-12 Lang Technik Gmbh Workpiece clamping device with coupling body between clamping body and threaded spindle

Family Cites Families (9)

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Publication number Priority date Publication date Assignee Title
US4591199A (en) * 1984-05-24 1986-05-27 Zaytran Inc. Device for gripping workpieces
DE3925367A1 (en) 1989-08-01 1991-02-14 Kuesters Eduard Maschf ROLLER FOR PRESSURE AND TEMPERATURE TREATMENT OF RAIL-SHAPED MATERIAL
DE3925717A1 (en) * 1989-08-03 1991-02-07 Saurer Allma Gmbh DEVICE ON MACHINE VICE FOR CENTRICALLY CLAMPING WORKPIECES
DE4018194C1 (en) * 1990-06-07 1991-04-18 Franz Dipl.-Ing. 8960 Kempten De Arnold Vice with fixed and moving jaw - has spindle for movement of intensifier which thrusts against vice base part
DE10025402B4 (en) * 2000-05-23 2010-03-25 Georg Kesel Gmbh & Co. Kg Clamping device, in particular machine vice with quick-release device
DE202004008799U1 (en) * 2004-06-03 2005-10-13 Gressel Ag Clamping device, esp. machine jaw vice has adjustable jaw coupled to adjusting drive via toothed rack
JP4737456B2 (en) * 2007-11-22 2011-08-03 Ｓｍｃ株式会社 Gripper mechanism
DE102012208720B4 (en) * 2012-05-24 2017-07-20 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Clamping or gripping device with mutually leading cover sections on base jaws
DE202015103174U1 (en) * 2015-06-17 2015-06-29 Wen-Hsiang Chou Improved positioning of the screw rod of clamp holders

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Title
None *

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DE102015219281B3 (en) 2017-02-23
WO2017060345A1 (en) 2017-04-13
EP3359339A1 (en) 2018-08-15
US20190091836A1 (en) 2019-03-28
US11084145B2 (en) 2021-08-10

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