EP3517691A1 - Gripping attachment for gripping units of a gripper - Google Patents

Gripping attachment for gripping units of a gripper Download PDF

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Publication number
EP3517691A1
EP3517691A1 EP18000795.7A EP18000795A EP3517691A1 EP 3517691 A1 EP3517691 A1 EP 3517691A1 EP 18000795 A EP18000795 A EP 18000795A EP 3517691 A1 EP3517691 A1 EP 3517691A1
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EP
European Patent Office
Prior art keywords
gripping
attachment
gripping surface
tooth
gripper
Prior art date
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Granted
Application number
EP18000795.7A
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German (de)
French (fr)
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EP3517691B1 (en
Inventor
Markus Schmidt
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Dms Technologie GmbH
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Dms Technologie GmbH
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/04—Tine grabs
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
    • E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/962—Mounting of implements directly on tools already attached to the machine

Definitions

  • the invention relates to a gripping attachment for gripping members of a gripper for detecting an object, with at least one first gripping surface, wherein the gripping members are movable from a closed position to the outside in an open position and vice versa. Moreover, the invention relates to a lifting tool.
  • a simple gripper has two preferably hanging gripping members, which can also be referred to as gripper blades or gripping halves, and which in a closing movement towards each other and in an opening movement are movable away from each other. Particularly heavy objects are typically grasped from above, so that the object hangs down on the gripper.
  • the gripping members may have on the underside or at a front edge or cutting edge gripping teeth, which are usually offset from each other and interlock in the closing movement.
  • the gripping attachment is intended for attachment to the gripper tooth. With the gripper attachment, the gentle detection of objects on the outside is possible.
  • Object of the present invention is the development or modification of the gripping attachment such that with a correspondingly equipped gripper annular or hollow, open objects are detectable from the inside.
  • the gripper attachment should not necessarily assume a gripping member with gripping tooth.
  • the gripping attachment has the features of claim 1.
  • the first gripping surface is designed and arranged in such a way that the gripping attachment can be mounted on the gripping member with the first gripping surface projecting outward beyond the gripping member.
  • the gripping attachment is a frame or a plate with a raised gripping surface arranged thereon, wherein the frame or the plate can be connected to the gripping member on the outside of it, in particular can be screwed or attached.
  • At least one second gripping surface is provided, such that the second gripping surface is directed opposite to the outwardly protruding first gripping surface.
  • the second gripping surface is preferably provided projecting inwardly relative to the gripping member.
  • First gripping surface and second gripping surface can be components of the DE 20 2015 102 886 U1 be known gripping attachment. The gripping surface shown there is directed inwards, while the first gripping surface mentioned here is directed outwards on the gripping attachment. Incidentally, the gripping surfaces may coincide in their nature and design.
  • a further embodiment of the invention provides that the second gripping surface is arranged lower than the first gripping surface. Said relative arrangement relates to the arrangement of the gripping attachment on the gripping member. It is assumed that the gripping organ hangs down and grips objects from above.
  • a lower bearing for abutment on the gripping member or on parts thereof is provided.
  • the first gripping surface is provided at least predominantly above the bearing.
  • the lower bearing is for example the one in the DE 20 2015 102 886 U1 illustrated round bar 30.
  • the first gripping surface is arranged predominantly above this bearing, preferably such that at least when vertically downwardly directed gripping tooth of the gripping member, the gripping surface is above the bearing. This ensures that the gripping attachment is pressed against the gripping member when pressure is applied to the first gripping surface.
  • the lower bearing may be provided in the absence of gripping tooth for abutment on the gripping member itself or on the outer wall.
  • a further embodiment of the invention provides that the first gripping surface is part of an insert, in particular part of a roller defined in the circumferential direction.
  • the axis of the roller is parallel to the outside of the gripping member or to the pivot axis thereof.
  • the role itself and its definition can analogously to the representation in the DE 20 2015 102 886 U1 see there the insert 15 on the dowel pin 14 and with the recess 17 on the crossbar 12.
  • the gripping surface may be part of a surface of the insert or be raised relative to the surface.
  • the first gripping surface is convexly curved in one direction, in particular in two directions transverse to one another.
  • a convex curvature in one direction results, for example, by forming the gripping surface as the surface of a cylindrical roller or partial roller.
  • a convexly curved gripping surface in two directions is found, for example, on an outwardly directed portion of a torus surface or on the surface of a correspondingly shaped roll. Such a double-curved gripping surface allows a gentle handling of annular elements on the inside.
  • the gripping attachment is provided for a gripping member with at least one tooth and has a frame with a receptacle for the tooth, in particular for a tooth tip, and a clamping device opposite the receptacle in the longitudinal direction of the tooth for fixing the frame to the tooth ,
  • the frame corresponds in particular to that in the DE 20 2015 102 886 U1 illustrated frame.
  • the first gripping surface is elastically yielding, in particular also the second gripping surface. It is preferably not metal or similar hard materials, but plastic or rubber with a certain flexibility to increase the effective surface of the gripping surface.
  • the invention also relates to a lifting tool, in particular gripper, with gripping members and at least one gripping attachment as described above with reference to the various embodiments.
  • Each side part 6 has, opposite the second leg 5, a third leg 36. This is provided with an opening 37. Between the two third legs 36 an insert 38 is held. For this purpose, the insert 38 has an opening 39. A tensioning pin 40 is inserted through the openings 37, 39 and thus holds the insert 38 firmly.
  • the insert 38 is here designed in the manner of a roller, similar to an over-wide roller for in-line skaters, ie with convexly curved surface 41 in two directions on its outer periphery.
  • the outer circumference or the surface 41 are interrupted by an incision 42.
  • the incision corresponds to a third transverse strut 43 in the region of the transition between the first leg 3 and the third leg 36.
  • the cooperation of the third transverse strut 43 and the incision 42 defines the roller-shaped insert 38 in the circumferential direction.
  • the third leg 36 is arranged slightly higher relative to the second leg 5, that is offset in the direction of the clamping device 11. Opening 37 and clamping pin 40 are in Longitudinal 4 significantly higher than the opening 35 with the round bar 30. The resulting height difference H is in the Figures 3 and 4 seen.
  • An effective gripping surface 44 as part of the surface 41 thereby comes in most applications above the round rod 30 to bear.
  • the round rod rests against the tooth 24 and forms a lever for the gripping attachment.
  • the described constellation ensures that the gripping attachment is pressed against the tooth 24 or against the gripping member 21 when pressure is exerted on the gripping surface 44.
  • the mode of action of the gripping surface 44 results in particular Fig. 1 in which the gripper blades 21 apart form an open position. At the same time recognizable is a closed position with mutually movable gripper blades 21 '. In the closed position, the gripping surfaces 44 'downwards. The gripper 22 can thus be lowered into a tubular part with a corresponding inner diameter. Subsequently, the gripper blades 21 'are moved in the direction of the open position, so that the gripping surfaces 44 face outward. There are certain deviations from the open position in Fig. 1 possible to adapt to the inner diameter of the tubular part. It is important that the gripping surfaces 44 abut against inner sides of the tubular part and so a transport of the part with the gripper 22 is possible.
  • the gripper 22 preferably has at least three gripping surfaces 44, for example with gripping attachments on two teeth of a gripping member and a gripping attachment on a tooth of the opposite gripping member.
  • This constellation a tubular part can be securely grasped and handled.
  • an embodiment with only one gripping surface 44 on each gripping member 21. The thus detected tubular part is then not fixed in all planes, so it can wobble relative to the gripper 22. However, this is harmless for some applications.
  • Insert 15 and / or insert 38 can also be designed differently than with a roll-shaped design, for example as a solid body with one-sided or projecting gripping surface.
  • a roll-shaped design for example as a solid body with one-sided or projecting gripping surface.
  • the inserts 15, 38 themselves may be in one or more parts.
  • the Gripper 22 universally usable, namely on the one hand for detecting smaller parts from the outside by spreading over the same and on the other for detecting the inner sides of tubular parts.
  • the gripping attachment 1 does not have the second leg 5 with the insert 15, but only the third leg 36 with the insert 38. The gripping attachment is then provided only for the handling of tubular parts by immersion in the same and not for the Handling smaller parts from the outside.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

Die Erfindung betrifft einen Greifaufsatz (1) für Greiforgane (21) eines Greifers (22) zum Erfassen eines Gegenstands, mit wenigstens einer ersten Greiffläche (44), wobei die Greiforgane (21) von einer Schließstellung nach außen in eine Öffnungsstellung und umgekehrt bewegbar sind. Erfindungsgemäß ist vorgesehen, dass die erste Greiffläche (44) derart ausgebildet und angeordnet ist, dass der Greifaufsatz (1) mit nach außen über das Greiforgan (21) überstehender erster Greiffläche (44) am Greiforgan (21) montierbar ist.The invention relates to a gripping attachment (1) for gripping members (21) of a gripper (22) for gripping an object, with at least one first gripping surface (44), the gripping members (21) being movable outwards from a closed position into an open position and vice versa , According to the invention, the first gripping surface (44) is designed and arranged in such a way that the gripping attachment (1) can be mounted on the gripping element (21) with the first gripping surface (44) projecting outward beyond the gripping element (21).

Description

Die Erfindung betrifft einen Greifaufsatz für Greiforgane eines Greifers zum Erfassen eines Gegenstands, mit wenigstens einer ersten Greiffläche, wobei die Greiforgane von einer Schließstellung nach außen in eine Öffnungsstellung und umgekehrt bewegbar sind. Außerdem betrifft die Erfindung ein Hebewerkzeug.The invention relates to a gripping attachment for gripping members of a gripper for detecting an object, with at least one first gripping surface, wherein the gripping members are movable from a closed position to the outside in an open position and vice versa. Moreover, the invention relates to a lifting tool.

Es wird vollinhaltlich Bezug genommen auf die gesamte Offenbarung der DE 20 2015 102 886 U1 der Anmelderin. Offenbart ist ein Greifaufsatz für ein Greiforgan mit Zahn. Ein einfacher Greifer weist zwei vorzugsweise hängende Greiforgane auf, die auch als Greifschaufeln oder Greifhälften bezeichnet werden können, und die in einer Schließbewegung aufeinander zu und in einer Öffnungsbewegung voneinander weg bewegbar sind. Besonders schwere Gegenstände werden typischerweise von oben ergriffen, sodass der Gegenstand am Greifer nach unten hängt. Die Greiforgane können unterseitig bzw. an einer Vorderkante oder Schneidkante Greifzähne aufweisen, die zumeist versetzt zueinander angeordnet sind und bei der Schließbewegung ineinander verschränken. Der Greifaufsatz ist zur Befestigung auf dem Greifzahn vorgesehen. Mit dem Greifaufsatz ist das schonende Erfassen von Gegenständen an deren Außenseite möglich.It is incorporated by reference in its entirety to the disclosure of the DE 20 2015 102 886 U1 the applicant. Disclosed is a gripping attachment for a gripping member with tooth. A simple gripper has two preferably hanging gripping members, which can also be referred to as gripper blades or gripping halves, and which in a closing movement towards each other and in an opening movement are movable away from each other. Particularly heavy objects are typically grasped from above, so that the object hangs down on the gripper. The gripping members may have on the underside or at a front edge or cutting edge gripping teeth, which are usually offset from each other and interlock in the closing movement. The gripping attachment is intended for attachment to the gripper tooth. With the gripper attachment, the gentle detection of objects on the outside is possible.

Aufgabe der vorliegenden Erfindung ist die Weiterbildung oder Abwandlung des Greifaufsatzes derart, dass mit einem entsprechend ausgestatteten Greifer ringförmige oder hohle, offene Gegenstände von innen erfassbar sind. Vorzugsweise soll der Greifaufsatz nicht zwingend ein Greiforgan mit Greifzahn voraussetzen.Object of the present invention is the development or modification of the gripping attachment such that with a correspondingly equipped gripper annular or hollow, open objects are detectable from the inside. Preferably, the gripper attachment should not necessarily assume a gripping member with gripping tooth.

Zur Lösung der Aufgabe weist der erfindungsgemäße Greifaufsatz die Merkmale des Anspruchs 1 auf. Insbesondere ist vorgesehen, dass die erste Greiffläche derart ausgebildet und angeordnet ist, dass der Greifaufsatz mit nach außen über das Greiforgan überstehender erster Greiffläche am Greiforgan montierbar ist. Im einfachsten Fall ist der Greifaufsatz ein Rahmen oder eine Platte mit darauf erhaben angeordneter Greiffläche, wobei der Rahmen oder die Platte außen auf dem Greiforgan mit demselben verbindbar, insbesondere verschraubbar oder ansteckbar ist.To solve the problem, the gripping attachment according to the invention has the features of claim 1. In particular, it is provided that the first gripping surface is designed and arranged in such a way that the gripping attachment can be mounted on the gripping member with the first gripping surface projecting outward beyond the gripping member. In the simplest case, the gripping attachment is a frame or a plate with a raised gripping surface arranged thereon, wherein the frame or the plate can be connected to the gripping member on the outside of it, in particular can be screwed or attached.

Nach einer weiteren Ausführungsform der Erfindung ist mindestens eine zweite Greiffläche vorgesehen, derart, dass die zweite Greiffläche zur nach außen überstehenden ersten Greiffläche entgegengerichtet ist. Die zweite Greiffläche ist vorzugsweise relativ zum Greiforgan nach innen überstehend vorgesehen. Erste Greiffläche und zweite Greiffläche können Bestandteile des aus der DE 20 2015 102 886 U1 bekannten Greifaufsatzes sein. Die dort gezeigte Greiffläche ist nach innen gerichtet, während die hier genannte erste Greiffläche am Greifaufsatz nach außen gerichtet ist. Im Übrigen können die Greifflächen in ihrer Beschaffenheit und Ausgestaltung übereinstimmen.According to a further embodiment of the invention, at least one second gripping surface is provided, such that the second gripping surface is directed opposite to the outwardly protruding first gripping surface. The second gripping surface is preferably provided projecting inwardly relative to the gripping member. First gripping surface and second gripping surface can be components of the DE 20 2015 102 886 U1 be known gripping attachment. The gripping surface shown there is directed inwards, while the first gripping surface mentioned here is directed outwards on the gripping attachment. Incidentally, the gripping surfaces may coincide in their nature and design.

Eine weitere Ausführungsform der Erfindung sieht vor, dass die zweite Greiffläche tiefer angeordnet ist als die erste Greiffläche. Die genannte Relativanordnung bezieht sich auf die Anordnung des Greifaufsatzes am Greiforgan. Dabei wird davon ausgegangen, dass das Greiforgan abwärtshängt und Gegenstände von oben greift.A further embodiment of the invention provides that the second gripping surface is arranged lower than the first gripping surface. Said relative arrangement relates to the arrangement of the gripping attachment on the gripping member. It is assumed that the gripping organ hangs down and grips objects from above.

Nach einer weiteren Ausführungsform der Erfindung ist ein unteres Lager zur Anlage am Greiforgan oder an Teilen desselben vorgesehen. Dabei ist die erste Greiffläche zumindest überwiegend oberhalb des Lagers vorgesehen. Das untere Lager ist beispielsweise der in der DE 20 2015 102 886 U1 dargestellte Rundstab 30. Die erste Greiffläche ist überwiegend oberhalb dieses Lagers angeordnet, vorzugsweise derart, dass zumindest bei vertikal abwärts gerichtetem Greifzahn des Greiforgans die Greiffläche oberhalb des Lagers liegt. Dadurch ist sichergestellt, dass der Greifaufsatz bei Druck auf die erste Greiffläche an das Greiforgan angedrückt wird. Das untere Lager kann bei fehlendem Greifzahn auch zur Anlage am Greiforgan selbst bzw. an dessen Außenwand vorgesehen sein.According to a further embodiment of the invention, a lower bearing for abutment on the gripping member or on parts thereof is provided. In this case, the first gripping surface is provided at least predominantly above the bearing. The lower bearing is for example the one in the DE 20 2015 102 886 U1 illustrated round bar 30. The first gripping surface is arranged predominantly above this bearing, preferably such that at least when vertically downwardly directed gripping tooth of the gripping member, the gripping surface is above the bearing. This ensures that the gripping attachment is pressed against the gripping member when pressure is applied to the first gripping surface. The lower bearing may be provided in the absence of gripping tooth for abutment on the gripping member itself or on the outer wall.

Eine weitere Ausführungsform der Erfindung sieht vor, dass die erste Greiffläche Teil eines Einsatzes ist, insbesondere Teil einer in Umfangsrichtung festgelegten Rolle. Vorzugsweise verläuft die Achse der Rolle parallel zur Außenseite des Greiforgans oder zur Schwenkachse desselben. Die Rolle selbst und deren Festlegung kann analog zur Darstellung in der DE 20 2015 102 886 U1 erfolgen, siehe dort den Einsatz 15 auf dem Spannstift 14 und mit dem Einschnitt 17 auf der Querstrebe 12. Die Greiffläche kann Teil einer Oberfläche des Einsatzes sein oder relativ zur Oberfläche erhaben sein.A further embodiment of the invention provides that the first gripping surface is part of an insert, in particular part of a roller defined in the circumferential direction. Preferably, the axis of the roller is parallel to the outside of the gripping member or to the pivot axis thereof. The role itself and its definition can analogously to the representation in the DE 20 2015 102 886 U1 see there the insert 15 on the dowel pin 14 and with the recess 17 on the crossbar 12. The gripping surface may be part of a surface of the insert or be raised relative to the surface.

In einer weiteren Ausführungsform der Erfindung ist vorgesehen, dass die erste Greiffläche in einer Richtung konvex gekrümmt ausgebildet ist, insbesondere in zwei Richtungen quer zueinander. Eine konvexe Krümmung in einer Richtung ergibt sich beispielsweise durch Ausbildung der Greiffläche als Oberfläche einer zylindrischen Rolle oder Teilrolle. Eine in zwei Richtungen konvex gekrümmte Greiffläche findet sich beispielsweise auf einem nach außen gerichteten Abschnitt einer Torusoberfläche bzw. auf der Oberfläche einer entsprechend geformten Rolle. Eine derart doppelt gekrümmte Greiffläche ermöglicht eine sanfte Handhabung ringförmiger Elemente an deren Innenseite.In a further embodiment of the invention, it is provided that the first gripping surface is convexly curved in one direction, in particular in two directions transverse to one another. A convex curvature in one direction results, for example, by forming the gripping surface as the surface of a cylindrical roller or partial roller. A convexly curved gripping surface in two directions is found, for example, on an outwardly directed portion of a torus surface or on the surface of a correspondingly shaped roll. Such a double-curved gripping surface allows a gentle handling of annular elements on the inside.

In einer weiteren Ausführungsform der Erfindung ist der Greifaufsatz für ein Greiforgan mit wenigstens einem Zahn vorgesehen und weist einen Rahmen mit einer Aufnahme für den Zahn, insbesondere für eine Zahnspitze auf, und eine der Aufnahme in Längsrichtung des Zahns gegenüberliegende Spannvorrichtung zum Festlegen des Rahmens am Zahn. Der Rahmen entspricht insbesondere dem in der DE 20 2015 102 886 U1 dargestellten Rahmen.In a further embodiment of the invention, the gripping attachment is provided for a gripping member with at least one tooth and has a frame with a receptacle for the tooth, in particular for a tooth tip, and a clamping device opposite the receptacle in the longitudinal direction of the tooth for fixing the frame to the tooth , The frame corresponds in particular to that in the DE 20 2015 102 886 U1 illustrated frame.

In einer weiteren Ausführungsform der Erfindung ist die erste Greiffläche elastisch nachgiebig ausgebildet, insbesondere auch die zweite Greiffläche. Es handelt sich vorzugsweise nicht um Metall oder ähnlich harte Werkstoffe, sondern um Kunststoff oder Gummi mit einer gewissen Nachgiebigkeit zur Vergrößerung der wirksamen Oberfläche der Greiffläche.In a further embodiment of the invention, the first gripping surface is elastically yielding, in particular also the second gripping surface. It is preferably not metal or similar hard materials, but plastic or rubber with a certain flexibility to increase the effective surface of the gripping surface.

Gegenstand der Erfindung ist auch ein Hebewerkzeug, insbesondere Greifer, mit Greiforganen und wenigstens einem Greifaufsatz wie voranstehend anhand der verschiedenen Ausführungsformen beschrieben.The invention also relates to a lifting tool, in particular gripper, with gripping members and at least one gripping attachment as described above with reference to the various embodiments.

Weitere Merkmale der Erfindung ergeben sich aus der Beschreibung im Übrigen und aus den Ansprüchen. Vorteilhafte Ausführungsformen der Erfindung werden nachfolgend anhand von Zeichnungen näher erläutert. Es zeigen:

Fig. 1
eine Seitenansicht eines Greifers mit Greiforganen und Greifaufsätzen, in Öffnungsstellung und Schließstellung,
Fig. 2
einen Teil des Greifers gemäß Fig. 1 in perspektivischer Darstellung,
Fig. 3
einen Greifaufsatz in teilweise geschnittener Darstellung (Längsschnitt),
Fig. 4
einen Greifaufsatz in Seitenansicht,
Fig. 5
den Greifaufsatz gemäß Fig. 4 in Explosionsdarstellung.
Further features of the invention will become apparent from the description, moreover, and from the claims. Advantageous embodiments of the invention are explained below with reference to drawings. Show it:
Fig. 1
a side view of a gripper with gripping members and Greifaufsätzen, in the open position and closed position,
Fig. 2
a part of the gripper according to Fig. 1 in perspective,
Fig. 3
a gripper attachment in a partially cut representation (longitudinal section),
Fig. 4
a gripping attachment in side view,
Fig. 5
the gripping attachment according to Fig. 4 in exploded view.

Erkennbar ist eine Abwandlung bzw. Ergänzung des in der DE 20 2015 102 886 U1 offenbarten Greifaufsatzes. Es wird deshalb hier vollinhaltlich auf die Figurenbeschreibung der DE 20 2015 102 886 U1 verwiesen. Zur Vereinfachung und zum besseren Verständnis werden in den beiliegenden Figuren die gleichen Bezugszeichen verwendet. Nur die Abwandlungen/Ergänzungen sind mit zusätzlichen Bezugszeichen versehen. Entsprechend der DE 20 2015 102 886 U1 sind in den Figuren folgende Komponenten erkennbar: Greifaufsatz 1 Rahmen 2 erster Schenkel 3 Längsrichtung 4 zweiter Schenkel 5 Seitenteile 6 Querstrebe 7 durchgehende Öffnung 8 Klemmschraube 9 Kontermutter 10 Spannvorrichtung 11 zweite Querstrebe 12 Öffnungen 13 Spannstift 14 Einsatz 15 (zweite) Greiffläche 16 Einschnitt 17 weitere Öffnung 18 Rundstab 19 Aufnahme 20 Greiforgan 21 Greifer 22 Schaufelabschnitt 23 Greifzähne 24 Zahnspitze 25 schräger Außenabschnitt 26 Schrauben 27 Zahngrundkörper 28 flacher Abschnitt 29 weiterer Rundstab 30 schräge Fläche 31 Basiskörper 32 Steuerkulisse 33 zentrale Öffnung 34 Öffnung 35 Recognizable is a modification or addition of the in the DE 20 2015 102 886 U1 disclosed gripping attachment. It is therefore here fully content to the description of the figures DE 20 2015 102 886 U1 directed. For simplicity and for better understanding, the same reference numbers are used in the accompanying figures. Only the modifications / additions are provided with additional reference numerals. According to the DE 20 2015 102 886 U1 the following components are visible in the figures: Griffin essay 1 frame 2 first leg 3 longitudinal direction 4 second leg 5 side panels 6 crossmember 7 through opening 8th clamping screw 9 locknut 10 jig 11 second cross strut 12 openings 13 dowel pin 14 commitment 15 (second) gripping surface 16 incision 17 further opening 18 round bar 19 admission 20 gripping member 21 grab 22 vane section 23 gripping teeth 24 tooth tip 25 oblique outer section 26 screw 27 Tooth body 28 flat section 29 another round rod 30 sloping surface 31 base body 32 control link 33 central opening 34 opening 35

Funktion und Anordnung der genannten Teile entsprechen der Darstellung in der DE 20 2015 102 886 U1 . Zusätzlich ist Folgendes vorgesehen:Function and arrangement of said parts correspond to the representation in the DE 20 2015 102 886 U1 , In addition, the following is provided:

Jedes Seitenteil 6 weist, dem zweiten Schenkel 5 gegenüberliegend, einen dritten Schenkel 36 auf. Dieser ist mit einer Öffnung 37 versehen. Zwischen den beiden dritten Schenkeln 36 ist ein Einsatz 38 gehalten. Hierzu weist der Einsatz 38 eine Öffnung 39 auf. Ein Spannstift 40 ist durch die Öffnungen 37, 39 gesteckt und hält so den Einsatz 38 fest.Each side part 6 has, opposite the second leg 5, a third leg 36. This is provided with an opening 37. Between the two third legs 36 an insert 38 is held. For this purpose, the insert 38 has an opening 39. A tensioning pin 40 is inserted through the openings 37, 39 and thus holds the insert 38 firmly.

Der Einsatz 38 ist hier nach Art einer Rolle ausgebildet, ähnlich einer überbreiten Rolle für Inline-Skater, also mit in zwei Richtungen konvex gekrümmter Oberfläche 41 an seinem Außenumfang. Der Außenumfang bzw. die Oberfläche 41 sind durch einen Einschnitt 42 unterbrochen. Der Einschnitt korrespondiert mit einer dritten Querstrebe 43 im Bereich des Übergangs zwischen erstem Schenkel 3 und drittem Schenkel 36. Durch das Zusammenwirken von dritter Querstrebe 43 und Einschnitt 42 ist der rollenförmige Einsatz 38 in Umfangsrichtung festgelegt.The insert 38 is here designed in the manner of a roller, similar to an over-wide roller for in-line skaters, ie with convexly curved surface 41 in two directions on its outer periphery. The outer circumference or the surface 41 are interrupted by an incision 42. The incision corresponds to a third transverse strut 43 in the region of the transition between the first leg 3 and the third leg 36. The cooperation of the third transverse strut 43 and the incision 42 defines the roller-shaped insert 38 in the circumferential direction.

Der dritte Schenkel 36 ist relativ zum zweiten Schenkel 5 etwas höher angeordnet, also in Richtung auf die Spannvorrichtung 11 versetzt. Öffnung 37 und Spannstift 40 liegen in Längsrichtung 4 deutlich höher als die Öffnung 35 mit dem Rundstab 30. Die sich ergebende Höhendifferenz H ist in den Figuren 3 und 4 ersichtlich. Eine wirksame Greiffläche 44 als Teil der Oberfläche 41 kommt dadurch in den meisten Anwendungsfällen oberhalb des Rundstabs 30 zum Tragen. Der Rundstab liegt am Zahn 24 an und bildet für den Greifaufsatz einen Hebel. Durch die beschriebene Konstellation ist sichergestellt, dass der Greifaufsatz bei Druck auf die Greiffläche 44 gegen den Zahn 24 bzw. gegen das Greiforgan 21 gedrückt wird.The third leg 36 is arranged slightly higher relative to the second leg 5, that is offset in the direction of the clamping device 11. Opening 37 and clamping pin 40 are in Longitudinal 4 significantly higher than the opening 35 with the round bar 30. The resulting height difference H is in the Figures 3 and 4 seen. An effective gripping surface 44 as part of the surface 41 thereby comes in most applications above the round rod 30 to bear. The round rod rests against the tooth 24 and forms a lever for the gripping attachment. The described constellation ensures that the gripping attachment is pressed against the tooth 24 or against the gripping member 21 when pressure is exerted on the gripping surface 44.

Die Wirkungsweise der Greiffläche 44 ergibt sich insbesondere aus Fig. 1, in der die Greifschaufeln 21 auseinandergezogen eine Öffnungsstellung bilden. Zugleich erkennbar ist eine Schließstellung mit gegeneinander bewegten Greifschaufeln 21'. In Schließstellung weisen die Greifflächen 44' abwärts. Der Greifer 22 kann so in ein röhrenförmiges Teil mit entsprechendem Innendurchmesser abgesenkt werden. Anschließend werden die Greifschaufeln 21' in Richtung auf die Öffnungsstellung bewegt, sodass die Greifflächen 44 nach außen weisen. Dabei sind gewisse Abweichungen von der Öffnungsstellung in Fig. 1 möglich, zwecks Anpassung an den Innendurchmesser des röhrenförmigen Teils. Wichtig ist, dass die Greifflächen 44 an Innenseiten des röhrenförmigen Teils anliegen und so ein Transport des Teils mit dem Greifer 22 möglich ist.The mode of action of the gripping surface 44 results in particular Fig. 1 in which the gripper blades 21 apart form an open position. At the same time recognizable is a closed position with mutually movable gripper blades 21 '. In the closed position, the gripping surfaces 44 'downwards. The gripper 22 can thus be lowered into a tubular part with a corresponding inner diameter. Subsequently, the gripper blades 21 'are moved in the direction of the open position, so that the gripping surfaces 44 face outward. There are certain deviations from the open position in Fig. 1 possible to adapt to the inner diameter of the tubular part. It is important that the gripping surfaces 44 abut against inner sides of the tubular part and so a transport of the part with the gripper 22 is possible.

Der Greifer 22 weist vorzugsweise mindestens drei Greifflächen 44 auf, beispielsweise mit Greifaufsätzen an zwei Zähnen eines Greiforgans und einem Greifaufsatz an einem Zahn des gegenüberliegenden Greiforgans. Mit dieser Konstellation kann ein röhrenförmiges Teil sicher erfasst und gehandhabt werden. Möglich ist auch eine Ausführung mit nur einer Greiffläche 44 an jedem Greiforgan 21. Das damit erfasste röhrenförmige Teil ist dann nicht in allen Ebenen festgelegt, kann also relativ zum Greifer 22 wackeln. Dies ist aber für einige Anwendungen unschädlich.The gripper 22 preferably has at least three gripping surfaces 44, for example with gripping attachments on two teeth of a gripping member and a gripping attachment on a tooth of the opposite gripping member. With this constellation, a tubular part can be securely grasped and handled. Also possible is an embodiment with only one gripping surface 44 on each gripping member 21. The thus detected tubular part is then not fixed in all planes, so it can wobble relative to the gripper 22. However, this is harmless for some applications.

Einsatz 15 und/oder Einsatz 38 können auch anders als mit rollenförmiger Gestalt ausgebildet sein, etwa als Festkörper mit einseitig angeordneter oder abstehender Greiffläche. Vorzugsweise ist wenigstens einer der Einsätze 15, 38 mit dem Greifaufsatz 1 im Übrigen fest aber lösbar verbunden, etwa wie hier durch Spannstifte oder mit Bolzen oder anderen geeigneten Verbindungsmitteln. Auch können die Einsätze 15, 38 selbst einteilig oder mehrteilig sein.Insert 15 and / or insert 38 can also be designed differently than with a roll-shaped design, for example as a solid body with one-sided or projecting gripping surface. Preferably, at least one of the inserts 15, 38 with the gripping attachment 1 otherwise firmly but releasably connected, such as here by dowel pins or with bolts or other suitable connection means. Also, the inserts 15, 38 themselves may be in one or more parts.

Durch die in den Figuren dargestellte Konstellation mit zweitem Schenkel 5 und drittem Schenkel 36 und zwei Einsätzen 15, 38 und entsprechenden Greifflächen 16, 44 ist der Greifer 22 universell verwendbar, nämlich zum einen zum Erfassen kleinerer Teile von außen durch Übergreifen derselben und zum anderen zum Erfassen der Innenseiten röhrenförmiger Teile.By the constellation shown in the figures with the second leg 5 and third leg 36 and two inserts 15, 38 and corresponding gripping surfaces 16, 44 is the Gripper 22 universally usable, namely on the one hand for detecting smaller parts from the outside by spreading over the same and on the other for detecting the inner sides of tubular parts.

In einem nicht gezeigten Ausführungsbeispiel weist der Greifaufsatz 1 nicht den zweiten Schenkel 5 mit dem Einsatz 15 auf, sondern nur den dritten Schenkel 36 mit dem Einsatz 38. Der Greifaufsatz ist dann nur für die Handhabung röhrenförmiger Teile durch Eintauchen in dieselben vorgesehen und nicht für die Handhabung kleinerer Teile von außen. Bezugszeichenliste: 1 Greifaufsatz 27 Schrauben 2 Rahmen 28 Zahngrundkörper 3 erster Schenkel 29 flacher Abschnitt 4 Längsrichtung 30 weiterer Rundstab 5 zweiter Schenkel 31 schräge Fläche 6 Seitenteile 32 Basiskörper 7 Querstrebe 33 Steuerkulisse 8 durchgehende Öffnung 34 zentrale Öffnung 9 Klemmschraube 35 Öffnung 10 Kontermutter 36 dritter Schenkel 11 Spannvorrichtung 37 Öffnung 12 zweite Querstrebe 38 Einsatz 13 Öffnungen 39 Öffnung 14 Spannstift 40 Spannstift 15 Einsatz 41 Oberfläche 16 (zweite) Greiffläche 42 Einschnitt 17 Einschnitt 43 dritte Querstrebe 18 weitere Öffnung 44 (erste) Greiffläche 19 Rundstab 20 Aufnahme 21 Greiforgan 22 Greifer 23 Schaufelabschnitt 24 Greifzähne 25 Zahnspitze 26 schräger Außenabschnitt In an embodiment not shown, the gripping attachment 1 does not have the second leg 5 with the insert 15, but only the third leg 36 with the insert 38. The gripping attachment is then provided only for the handling of tubular parts by immersion in the same and not for the Handling smaller parts from the outside. <B> LIST OF REFERENCES: </ b> 1 Griffin essay 27 screw 2 frame 28 Tooth body 3 first leg 29 flat section 4 longitudinal direction 30 another round rod 5 second leg 31 sloping surface 6 side panels 32 base body 7 crossmember 33 control link 8th through opening 34 central opening 9 clamping screw 35 opening 10 locknut 36 third thigh 11 jig 37 opening 12 second cross strut 38 commitment 13 openings 39 opening 14 dowel pin 40 dowel pin 15 commitment 41 surface 16 (second) gripping surface 42 incision 17 incision 43 third cross strut 18 further opening 44 (first) gripping surface 19 round bar 20 admission 21 gripping member 22 grab 23 vane section 24 gripping teeth 25 tooth tip 26 oblique outer section

Claims (9)

Greifaufsatz (1) für Greiforgane (21) eines Greifers (22) zum Erfassen eines Gegenstands, mit wenigstens einer ersten Greiffläche (44), wobei die Greiforgane (21) von einer Schließstellung nach außen in eine Öffnungsstellung und umgekehrt bewegbar sind, dadurch gekennzeichnet, dass die erste Greiffläche (44) derart ausgebildet und angeordnet ist, dass der Greifaufsatz (1) mit nach außen über das Greiforgan (21) überstehender erster Greiffläche (44) am Greiforgan (21) montierbar ist.Gripping attachment (1) for gripping members (21) of a gripper (22) for gripping an object, having at least one first gripping surface (44), wherein the gripping members (21) are movable from a closed position to an open position and vice versa, characterized in that the first gripping surface (44) is designed and arranged such that the gripping attachment (1) can be mounted on the gripping member (21) with the first gripping surface (44) protruding outwards beyond the gripping member (21). Greifaufsatz nach Anspruch 1, dadurch gekennzeichnet, dass mindestens eine zweite Greiffläche (16) vorgesehen ist, derart, dass die zweite Greiffläche (16) zur nach außen überstehenden ersten Greiffläche (44) entgegengerichtet ist und am Greiforgan (21) nach innen übersteht.Gripping attachment according to claim 1, characterized in that at least one second gripping surface (16) is provided, such that the second gripping surface (16) is directed counter to the outwardly protruding first gripping surface (44) and on the gripping member (21) projects inwardly. Greifaufsatz nach Anspruch 2, dadurch gekennzeichnet, dass die zweite Greiffläche (16) tiefer angeordnet ist als die erste Greiffläche (44).Gripping attachment according to claim 2, characterized in that the second gripping surface (16) is arranged lower than the first gripping surface (44). Greifaufsatz nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass ein unteres Lager (Rundstab 30) zur Anlage am Greiforgan (21) oder an Teilen desselben vorgesehen ist, und dass die erste Greiffläche (44) zumindest überwiegend oberhalb des Lagers (Rundstab 30) vorgesehen ist.Gripping attachment according to one of claims 1 to 3, characterized in that a lower bearing (round bar 30) for abutment on the gripping member (21) or on parts thereof is provided, and in that the first gripping surface (44) at least predominantly above the bearing (round bar 30 ) is provided. Greifaufsatz nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die erste Greiffläche (44) Teil eines Einsatzes (38) ist, insbesondere Teil einer in Umfangsrichtung festgelegten Rolle.Gripping attachment according to one of claims 1 to 4, characterized in that the first gripping surface (44) is part of an insert (38), in particular part of a roller defined in the circumferential direction. Greifaufsatz nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die erste Greiffläche (44) in einer Richtung konvex gekrümmt ausgebildet ist, insbesondere in zwei Richtungen quer zueinander.Gripping attachment according to one of claims 1 to 5, characterized in that the first gripping surface (44) is formed convexly curved in one direction, in particular in two directions transverse to each other. Greifaufsatz nach einem der Ansprüche 1 bis 6 und für ein Greiforgan (21) mit wenigstens einem Zahn (24), gekennzeichnet durch einen Rahmen (2) mit einer Aufnahme (20) für den Zahn (24), insbesondere für eine Zahnspitze (25), und mit einer der Aufnahme (20) in Längsrichtung (4) des Zahns (24) gegenüberliegenden Spannvorrichtung (11) zum Festlegen des Rahmens (2) am Zahn (24).Gripping attachment according to one of claims 1 to 6 and for a gripping member (21) with at least one tooth (24), characterized by a frame (2) with a receptacle (20) for the tooth (24), in particular for a tooth tip (25). , and with one of the receptacle (20) in the longitudinal direction (4) of the tooth (24) opposite clamping device (11) for fixing the frame (2) on the tooth (24). Greifaufsatz nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass die erste Greiffläche (44) elastisch nachgiebig ist, insbesondere auch die zweite Greiffläche (16).Gripping attachment according to one of claims 1 to 7, characterized in that the first gripping surface (44) is elastically yielding, in particular also the second gripping surface (16). Hebewerkzeug, insbesondere Greifer (22), mit Greiforganen (21) und wenigstens einem Greifaufsatz (1) nach einem der voranstehenden Ansprüche.Lifting tool, in particular gripper (22), with gripping members (21) and at least one gripping attachment (1) according to one of the preceding claims.
EP18000795.7A 2018-01-26 2018-10-08 Gripping attachment for gripping units of a gripper Active EP3517691B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202018000428.6U DE202018000428U1 (en) 2018-01-26 2018-01-26 Gripping attachment for gripping organs of a gripper

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EP3517691A1 true EP3517691A1 (en) 2019-07-31
EP3517691B1 EP3517691B1 (en) 2022-04-06

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DE (1) DE202018000428U1 (en)

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CN112723156A (en) * 2020-12-25 2021-04-30 江苏新民洲港务有限公司 Special grab bucket device applied to log ship unloading operation
CN113818504A (en) * 2021-08-25 2021-12-21 上海发奇建筑工程有限公司 Manipulator and foundation pile static load test ballast system thereof

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Publication number Priority date Publication date Assignee Title
CN112723156A (en) * 2020-12-25 2021-04-30 江苏新民洲港务有限公司 Special grab bucket device applied to log ship unloading operation
CN112723156B (en) * 2020-12-25 2024-04-19 江苏新民洲港务有限公司 Special grab bucket device applied to log ship unloading operation
CN113818504A (en) * 2021-08-25 2021-12-21 上海发奇建筑工程有限公司 Manipulator and foundation pile static load test ballast system thereof

Also Published As

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EP3517691B1 (en) 2022-04-06
DE202018000428U1 (en) 2018-02-15

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