FR2564358A1 - Gripper with a cam. - Google Patents
Gripper with a cam. Download PDFInfo
- Publication number
- FR2564358A1 FR2564358A1 FR8408183A FR8408183A FR2564358A1 FR 2564358 A1 FR2564358 A1 FR 2564358A1 FR 8408183 A FR8408183 A FR 8408183A FR 8408183 A FR8408183 A FR 8408183A FR 2564358 A1 FR2564358 A1 FR 2564358A1
- Authority
- FR
- France
- Prior art keywords
- bars
- support
- arms
- arm
- cam
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
-
- G—PHYSICS
- G04—HOROLOGY
- G04D—APPARATUS OR TOOLS SPECIALLY DESIGNED FOR MAKING OR MAINTAINING CLOCKS OR WATCHES
- G04D1/00—Gripping, holding, or supporting devices
- G04D1/10—Devices for opening or closing watch bottoms or covers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Description
Pince à came
La présente invention concerne une pince adaptable sur un robot et propre à saisir des pièces de révolution ou comportant un alésage, de manière à les déposer sur un montage.Cam clamp
The present invention relates to pliers adaptable to a robot and suitable for gripping parts of revolution or comprising a bore, so as to deposit them on a mounting.
La pince selon l'invention est caractérisée par le fait qu'elle comporte un support portant dans un même plan horizontal au moins trois barreaux convergeant vers un axe X-X, un bras monté coulissant sur chaque barreau et portant des moyens de préhension et des moyens pour faire coulisser chaque bras sur son barreau selon un mouvement convergent ou divergent. The clamp according to the invention is characterized in that it comprises a support carrying in the same horizontal plane at least three bars converging towards an axis XX, an arm mounted sliding on each bar and carrying gripping means and means for slide each arm on its bar in a convergent or divergent movement.
Elle peut comporter une came montée-d rotation autour de l'axe X-X, reliée à l'arbre de sortie d'un moteur électrique, et comportant des moyens pour que sa rotation provoque un mouvement convergent ou divergent des bras. It may include a cam mounted for rotation about the axis X-X, connected to the output shaft of an electric motor, and comprising means so that its rotation causes a convergent or divergent movement of the arms.
La came peut comporter autant de rainures en spirale que la pince comporte de bras, chaque bras portant un pion engagé dans une rainure de la came. The cam can have as many spiral grooves as the clamp has arms, each arm carrying a pin engaged in a groove in the cam.
Les bras peuvent être taillés selon un profil épaulé adapté à la pièce à soulever, qui peut ainsi reposer sur les épaulements du profil. Dans ce cas, la pince peut saisir des pièces qui sont plus lourdes que celles qu'on manipule dans la petite mécanique de précision, en particulier les pinces qu'un simple effort de serrage est insuffisant à tenir. The arms can be cut according to a shouldered profile adapted to the part to be lifted, which can thus rest on the shoulders of the profile. In this case, the pliers can grip parts that are heavier than those that are handled in small precision mechanics, in particular pliers that a simple clamping force is insufficient to hold.
Le moteur électrique qui entraine la came est, de préférence, propre à exercer un couple statique afin de maintenir l'effort de serrage sur la pièce à soulever. The electric motor which drives the cam is preferably able to exert a static torque in order to maintain the clamping force on the part to be lifted.
On a décrit ci-après, à titre d'exemples non limitatifs, deux modes de réalisation de la pince selon l'invention, avec référence aux dessins annexés dans lesquels
La Figure 1 représente une pince à trois bras, en coupe
axiale suivant I-I de la Figure 2;
La Figure 2 en est une vue en plan;
La Figure 3 représente en coupe axiale, suivant III-III de
la Figure 4, un détail d'une pince à quatre bras;
La Figure 4 en est une vue en plan.Two embodiments of the clamp according to the invention have been described below, by way of non-limiting examples, with reference to the appended drawings in which
Figure 1 shows a three-arm pliers, in section
axial along II of Figure 2;
Figure 2 is a plan view;
Figure 3 shows in axial section, along III-III of
Figure 4, a detail of pliers with four arms;
Figure 4 is a plan view.
Telle qu'elle est représentée à la Figure 1, la pince comporte un support 1 qui comprend trois branches la, lb et lc montées en étoile et présente un perçage central 2 dont l'axe X-X est l'axe de la pince. La face inférieure de chaque branche est munie d'une rainure longitudinale 3. La branche lc comporte une zone élargie 4 sur laquelle un moteur électrique 5 est monté par l'intermédiaire d'une pièce de centrage 6. Une vis en téflon 7 comportant un alésage axial 8 est engagée sur l'axe 9 du moteur 5. As shown in Figure 1, the clamp has a support 1 which comprises three branches la, lb and lc mounted in a star and has a central bore 2 whose axis X-X is the axis of the clamp. The underside of each branch is provided with a longitudinal groove 3. The branch lc has an enlarged zone 4 on which an electric motor 5 is mounted by means of a centering piece 6. A teflon screw 7 comprising a axial bore 8 is engaged on axis 9 of motor 5.
La vis 7 est fendue radialement, ce qui permet de la solidariser à l'axe 9 du moteur par serrage d'une vis 10. La vis 7 comporte une extrémité filetée -7a sur laquelle un écrou 11 vient serrer un pignon 12 qui est ainsi solidarisé au moteur 5.The screw 7 is split radially, which allows it to be secured to the axis 9 of the motor by tightening a screw 10. The screw 7 has a threaded end -7a on which a nut 11 comes to tighten a pinion 12 which is thus secured to the motor 5.
Le moteur 5 est du type shunt à courant continu. Ses bobinages sont dimensionnés de manière qu'il puisse exercer un couple statique sur son axe et appliquer ainsi un effort de serrage sur la pièce. The motor 5 is of the DC shunt type. Its windings are dimensioned so that it can exert a static torque on its axis and thus apply a clamping force on the part.
Un bloc 13 est fixé à l'extrémité de chacune des trois branches du support 1, sur leur face inférieure par deux vis 14 situées de part et d'autre d'un stub 15 qui interdit au bloc 13 de faire fléchir ses vis 14. A block 13 is fixed to the end of each of the three branches of the support 1, on their lower face by two screws 14 located on either side of a stub 15 which prohibits the block 13 from bending its screws 14.
Chaque bloc 13 comporte un perçage latéral horizontal 16 qui est dirigé vers l'axe X-X du perçage 2 et dans lequel est engagée l'une des extrémités d'un barreau 17. Les trois barreaux 17 convergent ainsi vers l'axe X-X et définissent un plan horizontal parallèle au plan des trois branches en étoile du support 1. Each block 13 has a horizontal lateral bore 16 which is directed towards the axis XX of the bore 2 and in which is engaged one of the ends of a bar 17. The three bars 17 thus converge towards the axis XX and define a horizontal plane parallel to the plane of the three star branches of the support 1.
La deuxième extrémité de chaque barreau 17 est engagée dans l'un des trois perçages borgnes 18 disposés en étoile d'un croisillon 19 placé dans le perçage 2 coaxialement à celui-ci. L'ex trémité supérieure 20 du croisillon 19 est filetée, ce qui permet de le fixer, à l'aide d'une rondelle 21 et d'un écrou 22, Ç un adapteur 23, lui-même fixé au support 1 par des boulons 24 répartis sur sa collerette 23a. L'adapteur 23 comporte un perçage latéral 25 qui permet de relier la pince au robot. The second end of each bar 17 is engaged in one of the three blind holes 18 arranged in a star shape with a cross 19 placed in the hole 2 coaxially with the latter. The upper end 20 of the cross 19 is threaded, which allows to fix it, using a washer 21 and a nut 22, Ç an adapter 23, itself fixed to the support 1 by bolts 24 distributed over its flange 23a. The adapter 23 has a lateral bore 25 which makes it possible to connect the clamp to the robot.
Sur chacun des barreaux 17 est monté coulissant par l'intermédiaire de bagues autolubrifiantes 26 un bras 27. Les trois bras 27 peuvent converger vers l'axe X-X du support de manière à saisir une pièce par leur extrémité 28. On each of the bars 17 is slidably mounted by means of self-lubricating rings 26 an arm 27. The three arms 27 can converge towards the axis X-X of the support so as to grip a part by their end 28.
A la Figure 1 les extrémités 28 des bras 27 sont épaulées et taillées selon la pièce à soulever qui peut ainsi reposer par son poids sur les épaulements des bras. In Figure 1 the ends 28 of the arms 27 are shouldered and cut according to the part to be lifted which can thus rest by its weight on the shoulders of the arms.
Chaque bras 27 comporte sur sa face supérieure horizontale un perça#ge borgne. 29 dans lequel est engagée l'extrémité 30 d'un pion 31 qui repose par un épaulement 32 sur la face supérieure du bras. Chaque pion 31 est monté coulissant par son autre extré mité dans la rainure correspondante 3 du support 1. Cette rainure est parallèle au barreau 17 correspondant; le coulissement du pion 31 dans la rainure 3 interdit la rotation du bras 27 autour du barreau 17. Each arm 27 has on its horizontal upper face a blind hole. 29 in which is engaged the end 30 of a pin 31 which rests by a shoulder 32 on the upper face of the arm. Each pin 31 is slidably mounted by its other end in the corresponding groove 3 of the support 1. This groove is parallel to the corresponding bar 17; the sliding of the pin 31 in the groove 3 prevents rotation of the arm 27 around the bar 17.
Le pion 31 traverse par ailleurs une rainure en spirale 33 d'une came 34 qui porte extérieurement une denture 35 engrenant avec le pignon 12. La came 34 comporte autant de rainures4 en spirale que la pince comporte de bras, soit trois rainures dans le mode de réalisation des Figures 1 et 2. La came 34 se présen- te sous la forme d'un disque horizontal monté libre en rotation sur le croisillon 19 à l'aide d'une bague 36 et d'une rondelle 37. The pin 31 also crosses a spiral groove 33 of a cam 34 which externally carries a toothing 35 meshing with the pinion 12. The cam 34 has as many spiral grooves4 as the clamp has arms, ie three grooves in the mode of the embodiment of FIGS. 1 and 2. The cam 34 is in the form of a horizontal disc mounted free in rotation on the spider 19 using a ring 36 and a washer 37.
Les Figures 3 et 4 représentent en variante une pince à quatre bras. Les moyens de préhension représentés sont constitués de doigts 38 fixés aux bras 27 et propres à saisir une pièce par serrage extérieurement ou intérieurement. Figures 3 and 4 alternatively show a four-arm clamp. The gripping means shown consist of fingers 38 fixed to the arms 27 and suitable for gripping a part by clamping externally or internally.
Les bras 27 sont ici montés coulissants sur deux barres 17a et 17b qui sont disposées à 900 l'une de l'autre et comportent chacune une entaille en demi-lune au point de croisement en étant emportées l'une dans l'autre de manière à définir un plan horizontal. Le croisillon est formé de deux parties 19a et 19b disposées de part et d'autre des barres et l'ensemble est solidarisé par une vis 39. The arms 27 are here slidably mounted on two bars 17a and 17b which are arranged 900 from one another and each have a notch in a half-moon at the crossing point while being carried one inside the other so to define a horizontal plane. The spider is formed by two parts 19a and 19b arranged on either side of the bars and the assembly is secured by a screw 39.
Il va de soi que la présente invention ne doit pas être considérée comme limitée aux modes de réalisation décrits et représentes, mais en couvre, au contraire, toutes les variantes. It goes without saying that the present invention should not be considered as limited to the embodiments described and shown, but on the contrary covers all variants thereof.
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8408183A FR2564358B1 (en) | 1984-05-18 | 1984-05-18 | CAM CLAMP |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8408183A FR2564358B1 (en) | 1984-05-18 | 1984-05-18 | CAM CLAMP |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2564358A1 true FR2564358A1 (en) | 1985-11-22 |
FR2564358B1 FR2564358B1 (en) | 1986-09-26 |
Family
ID=9304375
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR8408183A Expired FR2564358B1 (en) | 1984-05-18 | 1984-05-18 | CAM CLAMP |
Country Status (1)
Country | Link |
---|---|
FR (1) | FR2564358B1 (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0272205A1 (en) * | 1986-11-28 | 1988-06-22 | GebràDer Sulzer Aktiengesellschaft | Robotic tool and the use of this tool |
FR2756205A1 (en) * | 1996-11-25 | 1998-05-29 | Ccmop | Automatic tool changer for use with multi-tasking robot |
WO2002014584A2 (en) * | 2000-08-11 | 2002-02-21 | Applied Materials, Inc. | Powered lift for electrochemical process chamber |
EP2286964A1 (en) * | 2009-08-22 | 2011-02-23 | Gerhard Dzubiel | Gripping device |
WO2015039938A1 (en) * | 2013-09-17 | 2015-03-26 | gomtec GmbH | End effector for a surgical instrument and surgical instrument comprising an end effector |
CN109132509A (en) * | 2018-07-24 | 2019-01-04 | 芜湖渤江智能科技有限公司 | Grasp device is used in a kind of mining |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3209624A (en) * | 1963-02-11 | 1965-10-05 | Shiffman Jerome | Tools for removing and fitting back plates of watches |
FR2048065A1 (en) * | 1969-06-30 | 1971-03-19 | Fimecor Fine Mecaniqu | |
FR1603293A (en) * | 1968-09-24 | 1971-03-29 | ||
JPS5318165A (en) * | 1976-07-31 | 1978-02-20 | Toshiba Corp | Parallel claw structure |
FR2374119A1 (en) * | 1976-12-17 | 1978-07-13 | Epple Buxbaum Werke | DEVICE FOR LOADING MACHINE-TOOLS, IN PARTICULAR ROTARY MACHINES |
GB2100225A (en) * | 1981-06-12 | 1982-12-22 | Maag Zahnraeder & Maschinen Ag | Gripper for a lifting or conveying appliance |
-
1984
- 1984-05-18 FR FR8408183A patent/FR2564358B1/en not_active Expired
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3209624A (en) * | 1963-02-11 | 1965-10-05 | Shiffman Jerome | Tools for removing and fitting back plates of watches |
FR1603293A (en) * | 1968-09-24 | 1971-03-29 | ||
FR2048065A1 (en) * | 1969-06-30 | 1971-03-19 | Fimecor Fine Mecaniqu | |
JPS5318165A (en) * | 1976-07-31 | 1978-02-20 | Toshiba Corp | Parallel claw structure |
FR2374119A1 (en) * | 1976-12-17 | 1978-07-13 | Epple Buxbaum Werke | DEVICE FOR LOADING MACHINE-TOOLS, IN PARTICULAR ROTARY MACHINES |
GB2100225A (en) * | 1981-06-12 | 1982-12-22 | Maag Zahnraeder & Maschinen Ag | Gripper for a lifting or conveying appliance |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0272205A1 (en) * | 1986-11-28 | 1988-06-22 | GebràDer Sulzer Aktiengesellschaft | Robotic tool and the use of this tool |
FR2756205A1 (en) * | 1996-11-25 | 1998-05-29 | Ccmop | Automatic tool changer for use with multi-tasking robot |
WO2002014584A2 (en) * | 2000-08-11 | 2002-02-21 | Applied Materials, Inc. | Powered lift for electrochemical process chamber |
WO2002014584A3 (en) * | 2000-08-11 | 2005-03-24 | Applied Materials Inc | Powered lift for electrochemical process chamber |
EP2286964A1 (en) * | 2009-08-22 | 2011-02-23 | Gerhard Dzubiel | Gripping device |
WO2015039938A1 (en) * | 2013-09-17 | 2015-03-26 | gomtec GmbH | End effector for a surgical instrument and surgical instrument comprising an end effector |
CN109132509A (en) * | 2018-07-24 | 2019-01-04 | 芜湖渤江智能科技有限公司 | Grasp device is used in a kind of mining |
Also Published As
Publication number | Publication date |
---|---|
FR2564358B1 (en) | 1986-09-26 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
DL | Decision of the director general to leave to make available licences of right | ||
ST | Notification of lapse |