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
  • B25B7/00—Pliers; Other hand-held gripping tools with jaws on pivoted limbs; Details applicable generally to pivoted-limb hand tools
  • B25B7/12—Pliers; Other hand-held gripping tools with jaws on pivoted limbs; Details applicable generally to pivoted-limb hand tools involving special transmission means between the handles and the jaws, e.g. toggle levers, gears
  • B25B7/126—Pliers; Other hand-held gripping tools with jaws on pivoted limbs; Details applicable generally to pivoted-limb hand tools involving special transmission means between the handles and the jaws, e.g. toggle levers, gears with fluid drive
• • 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
  • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
  • B23Q11/001—Arrangements compensating weight or flexion on parts of the machine
• • 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
  • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
  • B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
  • B23Q3/186—Aligning devices
• • 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
  • B25J15/02—Gripping heads and other end effectors servo-actuated
  • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel 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
  • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
  • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks

Definitions

• the invention relates to a forceps for joining or reshaping parts with two arms that can be moved relative to one another by means of a drive, at the free ends of which an active member is arranged for the joining or reshaping.
• a pair of motorized pliers is known in which the arms carrying the active members are articulated on a pull nut which can be moved along a guide link by means of a drive spindle.
• the active organs are adjusted by swiveling the arms against each other so that the active line of the active organs depends on the arm position, i.e. of the angle enclosed between the arms is variable, so that accurate working of the pliers is not possible in every arm position.
• the present invention has for its object to improve a forceps of the type mentioned so that even with large bending of the arms, an accurate, accurate working of the forceps is still guaranteed.
• the flow of force between the ends of the force arms, the ends of the freely movable arms carrying the active elements and the active elements which can be moved relative to one another can run particularly advantageously in one active plane or one active line.
• the freely movable arms are practically free of forces and moments, so that their adjustment movement can serve to control the drive of the power arms.
• the arms which are freely movable relative to one another, can be guided in a particularly advantageous manner by means of a parallel guide.
• the relative movement of the active elements can thus be determined simply and precisely and used directly for controlling the force arms.
• the drive can advantageously be controllable via a limit switch or proximity switch, the termination of the working process in particular being precisely controllable.
• the drive can also be controllable via a position measuring system, if necessary with individual adaptation to special circumstances.
• the arms which can be freely moved against one another, with the active members, which may be held interchangeably at their ends, can be designed as an easily replaceable structural unit.
• the base body (drive unit) of the forceps with the two force arms, which is dimensioned with respect to the forces to be transmitted, can thus be used for a wide variety of purposes. It is then only necessary to design the units which are substantially cheaper to manufacture and are adapted to the respective requirements. The most diverse Joining and shaping work can thus be carried out in a particularly variable and easily adaptable manner to different conditions with little investment.
• the assembly can be designed to be insertable between the force arms in a particularly easy-to-assemble manner.
• a mechanical coupling can also optionally be provided, for example by means of special clamping jaws.
• the structural unit can be kept easily exchangeable as well as aligned via the coupling joints between the force arms.
• the base body of the forceps itself can be designed as an assembly with at least one standardized connection for an industrial robot.
• two independent connections for a vertical and a horizontal industrial robot connection can be provided particularly advantageously.
• Such structural units can be inserted between holding arms of an interchangeable magazine and can be held there precisely.
• the desired unit can preferably be electronically controlled from the Removable magazine can be removed and reset for another exchange.
• holding projections extending transversely thereto can be provided on the freely movable arms and receptacles adapted to the holding arms of the interchangeable magazine, between which the assembly having the mutually movable arms can be interchangeably deposited under the control of the robot arm.
• a secure mounting of the unit in the interchangeable magazine can be ensured in that the freely movable arms of the unit are pressed apart by a spring, so as to provide a non-positive but easily releasable fixation of the unit between the force arms of the base body of the forceps or the holding arms of the interchangeable magazine can be done.
• the structural unit can be held precisely in position by two special clamping jaws that can be moved relative to one another independently of the force arms between the force arms.
• FIG. 1 shows a side view of a forceps
• Figure 2 is a front view of the forceps shown in Figure 1, and
• FIGS. 1 and 2 show the storage of a structural unit in one to 7 change magazine in 5 steps.
• the base body of a forceps has two force arms 1, 1 'which can be moved relative to one another via a drive (not shown) and which are dimensioned with respect to the forces to be transmitted.
• the force arms 1, 1 ' are held in a carrier housing 2 so as to be movable relative to one another.
• two further arms 3, 3' are also displaceably guided against one another on a parallel guide, in the exemplary embodiment in the form of two mutually parallel guide rods 4, 4 '.
• the operating points 6,6 'of the active members 5,5' are in an action line 7, which runs parallel to the guide rods 4, 4 'symmetrically between them.
• the coupling joints 8, 8 ' are simply rollers arranged in grooves. Via these coupling joints 8,8 ', force is transmitted from the force arms 1,1' in the line of action 7 in alignment to the working points 6,6 ', so that the other arms 3,3' are practically free of forces and moments.
• a limit switch 10 is expediently provided on one of the guide rods 4, 4', via which the drive for the force arms 1, 1 'can be stopped or the drive direction can be reversed when an adjustable minimum distance of the arms 3, 3' is reached .
• end stops 13, 13 'between the arms 3,3' be provided.
• the drive can also be controlled individually instead of the limit switch 10 via a position measuring system.
• the arms 3, 3 'with the guide rods 4, 4' guiding them are designed as an easily replaceable structural unit 11 and can be inserted between the force arms 1, 1 '(coupling joints 8, 8' and 12, 12 '), the entire structural unit then 11 is held easily replaceable by the bias of the springs 9.9 'and the coupling joints 8.8' between the force arms 1.1 ', if necessary via further coupling joints 12.12'.
• the active organs 5,5 ' can be exchanged.
• a support housing 2 are provided for fastening the forceps, for example on an industrial robot, two connections 14, 14 'in order to enable horizontal or vertical mounting on the industrial robot. All the necessary supply lines and connections are routed via the connections 14 and 14 ', so that the necessary connections are automatically released or closed when changing the forceps.
• FIGS. 3 to 7 show a slightly differently designed forceps, when the structural unit 11 is bent in 5 steps in a change magazine 15.
• this change magazine has 15 holding arms 16, 16 '.
• These holding arms 16, 16 ' are always arranged in pairs for the respective receptacle of a structural unit 11, wherein in particular the active members 5, 5' of the various structural units 11 are designed differently to suit the various purposes.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Robotics (AREA)
• Manipulator (AREA)
• Surgical Instruments (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=6402133

Family Applications (1)

Country Status (2)

Cited By (1)

Families Citing this family (1)

Citations (3)

Family Cites Families (1)

• 1990
  • 1990-03-14 DE DE19904008064 patent/DE4008064C1/de not_active Expired - Fee Related
• 1991
  • 1991-02-23 WO PCT/EP1991/000338 patent/WO1991013724A1/de unknown

Patent Citations (3)

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