EP3517691B1 - Hausse de préhension pour organes de préhension d'un préhenseur - Google Patents

Hausse de préhension pour organes de préhension d'un préhenseur Download PDF

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Publication number
EP3517691B1
EP3517691B1 EP18000795.7A EP18000795A EP3517691B1 EP 3517691 B1 EP3517691 B1 EP 3517691B1 EP 18000795 A EP18000795 A EP 18000795A EP 3517691 B1 EP3517691 B1 EP 3517691B1
Authority
EP
European Patent Office
Prior art keywords
grab
gripping
attachment
tooth
attachment according
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
Application number
EP18000795.7A
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German (de)
English (en)
Other versions
EP3517691A1 (fr
Inventor
Markus Schmidt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dms Technologie GmbH
Original Assignee
Dms Technologie GmbH
Priority date (The priority date 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 date listed.)
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Publication date
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Application filed by Dms Technologie GmbH filed Critical Dms Technologie GmbH
Publication of EP3517691A1 publication Critical patent/EP3517691A1/fr
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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 elements of a gripper for gripping an object, with at least one first gripping surface, the gripping elements being movable outwards from a closed position into an open position and vice versa.
  • the invention also relates to a lifting tool.
  • a gripping attachment for a toothed end effector is disclosed.
  • a simple gripper has two preferably hanging gripping members, which can also be referred to as gripping scoops or gripping halves, and which can be moved towards one another in a closing movement and away from one another in an opening movement. Particularly heavy objects are typically gripped from above so that the object hangs down on the gripper.
  • the gripping elements can have gripping teeth on the underside or on a front edge or cutting edge, which are usually offset from one another and interlock with one another during the closing movement.
  • the gripping attachment is designed to be attached to the gripping tooth. With the gripping attachment, objects can be gently grasped on the outside.
  • the object of the present invention is the further development or modification of the gripper attachment in such a way that ring-shaped or hollow, open objects can be gripped from the inside with a gripper that is equipped accordingly.
  • the gripping attachment should not necessarily require a gripping element with a gripping tooth.
  • the gripping attachment has the features of claim 1.
  • the first gripping surface such is designed and arranged such that the gripping attachment can be mounted on the gripping element with the first gripping surface projecting outwards beyond the gripping element, the first gripping surface being convexly curved in two directions transversely to one another.
  • the gripping attachment is a frame or a plate with a gripping surface arranged on it in a raised manner, the frame or the plate being able to be connected to the gripping element on the outside thereof, in particular screwed or attached.
  • At least one second gripping surface is provided in such a way that the second gripping surface is directed in the opposite direction to the first gripping surface projecting outwards.
  • the second gripping surface is preferably provided protruding inwards 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 on the gripping attachment is directed outwards. Otherwise, the gripping surfaces can match 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.
  • the relative arrangement mentioned relates to the arrangement of the gripping attachment on the gripping member. It is assumed that the end effector hangs downwards and grasps objects from above.
  • a lower bearing is provided for bearing on the gripping element or on parts thereof.
  • the first gripping surface is provided at least predominantly above the bearing.
  • the lower camp is, for example, in the DE 20 2015 102 886 U1 round rod 30 shown.
  • the first gripping surface is predominantly arranged above this bearing, preferably in such a way that the gripping surface lies above the bearing at least when the gripping tooth of the gripping member is pointing vertically downwards. This ensures that the gripping attachment is pressed against the gripping member when pressure is applied to the first gripping surface. If there is no gripping tooth, the lower bearing can also be provided to rest on the gripping element itself or on its outer wall.
  • a further embodiment of the invention provides that the first gripping surface is part of an insert, in particular part of a roll fixed in the circumferential direction.
  • the axis of the roller is parallel to the outside of the end effector or to the pivot axis of the same.
  • the role itself and its definition can be analogous to representation in the DE 20 2015 102 886 U1 see there the insert 15 on the roll pin 14 and with the notch 17 on the cross brace 12.
  • the gripping surface can be part of a surface of the insert or be raised relative to the surface. According to 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, from forming the gripping surface as the surface of a cylindrical roller or partial roller.
  • a gripping surface that is convexly curved in two directions can be found, for example, on an outwardly directed section of a torus surface or on the surface of a correspondingly shaped roller. Such a double-curved gripping surface enables ring-shaped elements to be handled gently on the inside thereof.
  • the gripping attachment is provided for a gripping element 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 on the tooth .
  • the framework corresponds in particular to that in DE 20 2015 102 886 U1 frame shown.
  • the first gripping surface is designed to be elastically yielding, in particular the second gripping surface as well. It is preferably not metal or similarly 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 a gripper, with gripping elements and at least one gripping attachment as described above with reference to the various embodiments.
  • Each side part 6 has a third leg 36 opposite the second leg 5 . This is provided with an opening 37 .
  • An insert 38 is held between the two third legs 36 .
  • the insert 38 has an opening 39 for this purpose.
  • a roll pin 40 is inserted through the openings 37, 39 to hold the insert 38 in place.
  • the insert 38 is designed here in the manner of a roller, similar to an extra-wide roller for inline skaters, ie with a surface 41 that is convexly curved in two directions on its outer circumference.
  • the outer periphery or surface 41 is interrupted by a cut 42 .
  • the incision corresponds to a third transverse strut 43 in the area of the transition between the first leg 3 and the third leg 36. The interaction of the third transverse strut 43 and incision 42 fixes the roller-shaped insert 38 in the circumferential direction.
  • the third leg 36 is arranged somewhat higher relative to the second leg 5 , ie offset in the direction of the clamping device 11 .
  • Opening 37 and dowel pin 40 are in Longitudinally 4 significantly higher than the opening 35 with the round rod 30.
  • the resulting height difference H is in the Figures 3 and 4 evident.
  • an effective gripping surface 44 as part of the surface 41 comes into play above the rod 30 in most applications.
  • the round bar rests against tooth 24 and forms a lever for the gripping attachment.
  • the constellation described ensures that the gripping attachment is pressed against the tooth 24 or against the gripping element 21 when pressure is applied to the gripping surface 44 .
  • the mode of action of the gripping surface 44 results in particular from 1 , In which the gripping blades 21 form an open position when pulled apart. At the same time, a closed position with gripping scoops 21' moving in opposite directions can be seen. In the closed position, the gripping surfaces 44' face downwards. The gripper 22 can thus be lowered into a tubular part with a corresponding inner diameter. The gripping scoops 21' are then moved in the direction of the open position, so that the gripping surfaces 44 point outwards. Certain deviations from the open position in 1 possible, in order to adapt to the inner diameter of the tubular part. It is important that the gripping surfaces 44 lie against the inner sides of the tubular part, so that the part can be transported with the gripper 22 .
  • the gripper 22 preferably has at least three gripping surfaces 44, for example with gripping caps on two teeth of one gripping member and a gripping cap on a tooth of the opposite gripping member. With this constellation, a tubular part can be gripped and handled safely. An embodiment with only one gripping surface 44 on each gripping element 21 is also possible. However, this is harmless for some applications.
  • Insert 15 and/or insert 38 can also be configured in a manner other than a roller-like shape, for example as a solid body with a gripping surface arranged on one side or protruding.
  • at least one of the inserts 15, 38 is otherwise firmly but detachably connected to the gripping attachment 1, for example by dowel pins or with bolts or other suitable connecting means, as is the case here.
  • the inserts 15, 38 themselves can be in one piece or in several pieces.
  • the Gripper 22 can be used universally, namely on the one hand for gripping smaller parts from the outside by gripping them over and on the other hand for gripping the insides 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 only intended for handling tubular parts by immersing them in them and not for the Handling of smaller parts from the outside.

Landscapes

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

Claims (8)

  1. Embout de préhension (1) pour organes de préhension (21) d'un manipulateur (22) pour saisir un objet, comprenant au moins une première surface de préhension (44), les organes de préhension (21) pouvant être déplacés d'une position de fermeture vers l'extérieur dans une position d'ouverture et inversement, caractérisé en ce que la première surface de préhension (44) est configurée et agencée de telle sorte que l'embout de préhension (1) peut être monté sur l'organe de préhension (21) avec la première surface de préhension (44) dépassant vers l'extérieur de l'organe de préhension (21),
    la première surface de préhension (44) étant configurée sous forme incurvée de manière convexe dans deux directions transversales l'une par rapport à l'autre.
  2. Embout de préhension selon la revendication 1, caractérisé en ce qu'au moins une deuxième surface de préhension (16) est prévue, de telle sorte que la deuxième surface de préhension (16) est orientée en direction inverse de la première surface de préhension (44) dépassant vers l'extérieur et dépasse vers l'intérieur sur l'organe de préhension (21).
  3. Embout de préhension selon la revendication 2, caractérisé en ce que la deuxième surface de préhension (16) est agencée plus bas que la première surface de préhension (44).
  4. Embout de préhension selon l'une quelconque des revendications 1 à 3, caractérisé en ce qu'un palier inférieur (barre ronde 30) est prévu pour l'appui sur l'organe de préhension (21) ou sur des parties de celuici, et en ce que la première surface de préhension (44) est prévue au moins en majeure partie au-dessus du palier (barre ronde 30).
  5. Embout de préhension selon l'une quelconque des revendications 1 à 4, caractérisé en ce que la première surface de préhension (44) fait partie d'un insert (38), notamment fait partie d'un rouleau fixé dans la direction circonférentielle.
  6. Embout de préhension selon l'une quelconque des revendications 1 à 5 et pour un organe de préhension (21) comprenant au moins une dent (24), caractérisé par un cadre (2) comprenant un logement (20) pour la dent (24), notamment pour une pointe de dent (25), et comprenant un dispositif de serrage (11) opposé au logement (20) dans la direction longitudinale (4) de la dent (24) pour fixer le cadre (2) sur la dent (24).
  7. Embout de préhension selon l'une quelconque des revendications 1 à 6, caractérisé en ce que la première surface de préhension (44) est élastiquement flexible, notamment également la deuxième surface de préhension (16) .
  8. Outil de levage, notamment manipulateur (22), comprenant des organes de préhension (21) et au moins un embout de préhension (1) selon l'une quelconque des revendications précédentes.
EP18000795.7A 2018-01-26 2018-10-08 Hausse de préhension pour organes de préhension d'un préhenseur Active EP3517691B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202018000428.6U DE202018000428U1 (de) 2018-01-26 2018-01-26 Greifaufsatz für Greiforgane eines Greifers

Publications (2)

Publication Number Publication Date
EP3517691A1 EP3517691A1 (fr) 2019-07-31
EP3517691B1 true EP3517691B1 (fr) 2022-04-06

Family

ID=61564077

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18000795.7A Active EP3517691B1 (fr) 2018-01-26 2018-10-08 Hausse de préhension pour organes de préhension d'un préhenseur

Country Status (2)

Country Link
EP (1) EP3517691B1 (fr)
DE (1) DE202018000428U1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112723156B (zh) * 2020-12-25 2024-04-19 江苏新民洲港务有限公司 应用于原木卸船作业的专用抓斗装置
CN113818504A (zh) * 2021-08-25 2021-12-21 上海发奇建筑工程有限公司 一种机械手及其基桩静载试验压重系统

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4576407A (en) * 1985-01-23 1986-03-18 General Motors Corporation Robot hand for lifting apertured panel

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL7809193A (nl) * 1978-09-08 1980-03-11 Oba Eng Consult Grijper.
DE3904772C1 (fr) * 1989-02-17 1990-06-13 Unistrut Europe Plc, Bedford, Gb
JPH07117971A (ja) * 1993-10-29 1995-05-09 Tokuoka Plant:Kk マンホール用吊装置
DE102005040537A1 (de) * 2004-09-06 2006-06-08 Liebherr-Hydraulikbagger Gmbh Grab- oder Greifwerkzeug
DE202004013842U1 (de) * 2004-09-06 2004-11-18 Liebherr-Hydraulikbagger Gmbh Grab- oder Greifwerkzeug
US8393660B2 (en) * 2009-05-29 2013-03-12 Caterpillar Work Tools B.V. Gripping member for a work tool
EP2697438A4 (fr) * 2011-04-12 2014-12-24 Gulfstream Services Inc Appareil à benne hydraulique
JP2015175137A (ja) * 2014-03-14 2015-10-05 日立建機株式会社 フォークとフォーク用油圧回路
DE202015102886U1 (de) 2015-06-03 2015-07-01 Dms Technologie Gmbh Greifaufsatz für Hebewerkzeug

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4576407A (en) * 1985-01-23 1986-03-18 General Motors Corporation Robot hand for lifting apertured panel

Also Published As

Publication number Publication date
EP3517691A1 (fr) 2019-07-31
DE202018000428U1 (de) 2018-02-15

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