WO2001072445A1 - Pair of grabs, in particular of a transversal transport device in multiple-die presses - Google Patents

Pair of grabs, in particular of a transversal transport device in multiple-die presses Download PDF

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Publication number
WO2001072445A1
WO2001072445A1 PCT/EP2001/002611 EP0102611W WO0172445A1 WO 2001072445 A1 WO2001072445 A1 WO 2001072445A1 EP 0102611 W EP0102611 W EP 0102611W WO 0172445 A1 WO0172445 A1 WO 0172445A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
pair
axis
plane
symmetry
Prior art date
Application number
PCT/EP2001/002611
Other languages
German (de)
French (fr)
Other versions
WO2001072445A8 (en
Inventor
Werner GÖDTNER
Original Assignee
Wafios Aktiengesellschaft
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.)
Filing date
Publication date
Application filed by Wafios Aktiengesellschaft filed Critical Wafios Aktiengesellschaft
Priority to DK01911754T priority Critical patent/DK1265720T3/en
Priority to DE50100876T priority patent/DE50100876D1/en
Priority to EP01911754A priority patent/EP1265720B1/en
Publication of WO2001072445A1 publication Critical patent/WO2001072445A1/en
Publication of WO2001072445A8 publication Critical patent/WO2001072445A8/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • B21D43/055—Devices comprising a pair of longitudinally and laterally movable parallel transfer bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21K—MAKING FORGED OR PRESSED METAL PRODUCTS, e.g. HORSE-SHOES, RIVETS, BOLTS OR WHEELS
    • B21K27/00—Handling devices, e.g. for feeding, aligning, discharging, Cutting-off means; Arrangement thereof
    • B21K27/02—Feeding devices for rods, wire, or strips
    • B21K27/04—Feeding devices for rods, wire, or strips allowing successive working steps

Definitions

  • Pair of grippers especially one
  • the invention relates to a pair of grippers according to the preamble of claim 1.
  • the invention is therefore based on the object, while avoiding the disadvantage mentioned, of creating a pair of grippers of the type mentioned, which does not laterally shift its figure axis when the gripped workpiece is moved.
  • the execution of the pair of grippers according to claim 2 leads in a simple yet expedient manner to a reliable detection of cylindrical sections of the workpiece, that according to claim 3 to complete gripping sym et rie.
  • a flatness of the inner surfaces of the three fingers of the pair of grippers is only necessary insofar as their contact with the workpiece moves over these inner surfaces when the workpiece is pushed through the pair of grippers.
  • the invention is based on an exemplified by the preferred embodiment of the drawing gripper pair according to the invention in detail it ⁇ explained. In principle, it shows this version
  • FIG. 3 shows a composition of FIG. 1 (dash-dot repeated) and of FIG. 2
  • the pair of grippers 10-20 consists of a fork-shaped gripper 10 with two fingers 10.1 and 10.2, which are spread over 60 °, and which has a circular, conical, that is, rot at ion symmetry, workpiece 14 with several different diameters from a non-forked gripper 20 holding the workpiece 14 in the forked gripper 10 with a single finger 20.1.
  • the three straight fingers 10.1, 10.2 and 20.1 are arranged at 60 ° to one another, so that they form a substantially triangular, equiangular space, through the center of which the virtual straight figure axis 12 of the workpiece 14 passes, which lies in a plane of symmetry 15 with respect to whose holding gripper 20 and the receiving gripper 10 are designed in mirror image without the third finger 10.1 and can be moved at the same time and evenly, both parallel and perpendicular, namely rectilinearly, to the plane of symmetry 15 to which the third finger 10.1 of the forked gripper 10 is perpendicular, while the other two fingers 10.2 and 20.1 converge symmetrically at a distance from the third finger 10.1. -
  • the lengths of the three fingers are dimensioned so that they close together when the space is closed.
  • the mutually facing inner surfaces 10.1.1, 10.2.1 and 20.1.1 of the three fingers 10.1, 10.2 and 20.1 each lie in a plane perpendicular or inclined at ⁇ 30 ° to Plane of symmetry 15 and tangent to a diameter of the ⁇ piece unit 14 along three in the intermediate space generatrices was ⁇ nes circumference if the gripped workpiece section k re is zy li ndr is CH, or angspunk three Umf t s, if he z. B. is conical.
  • These three Be r Uh approximately lini s (in the drawing as points visible) form with the figures ⁇ axis 12 of the workpiece 14 each have a plane of contact, in pairs enclose an angle of 120 °.
  • FIG. 1 shows a small diameter of the circumference of the workpiece 14, the three gripping r 10.1, 10.2 and 20.1 being moved together to form a correspondingly narrow space.
  • the axis of the figure 12 of the workpiece 14 is relatively close to the inner surfaces 10.1.1, 10.2.1 and 20.1.1.
  • FIG. 3 shows the relative change in position of the grippers 10 and 20 with respect to the spatially fixed figure axis 12 of the workpiece 14 during a transition between the states shown in FIGS.
  • the two fingers 10.1 and 10.2 of the receiving gripper 10 can extend over more than 60 °, e.g. B. 75 ° to 80 °, be spread by halving the opening angle of the spread through the shifting line 16 and while maintaining the mirror image of the arrangement of the single finger 20.1 of the holding gripper 20 and the shifting line 17 with respect to the plane of symmetry 15.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Re-Forming, After-Treatment, Cutting And Transporting Of Glass Products (AREA)
  • Specific Conveyance Elements (AREA)
  • Forging (AREA)

Abstract

The invention relates to a pair of grabs, in particular of a transversal transport device in multiple-die presses, comprising a grab (10) that receives the workpiece (14) to be pressed and a grab (20) that retains said workpiece. The invention aims to prevent the axis of symmetry (12) of the workpiece (14) held by the grabs from being shifted laterally during the axial displacement of said workpiece by the pair of grabs (10-20). To achieve this, the pair of grabs that can be positioned on a plane of movement which is cut perpendicularly by the axis of symmetry is configured in such a way that the receiving grab has two fingers (10.1 and 10.2), (spread by at least 60°), which together with the single finger (20.1) of the retaining grab, form an intermediate space for the workpiece in the shape of an isosceles triangle (3x60°). Said intermediate space can be modified into geometrically similar intermediate spaces by simultaneous, uniform, linear movements of the two grabs in mirror image to a plane of symmetry (15) which is perpendicular to the plane of movement and contains the axis of symmetry.

Description

Greiferpaar, insbesondere einer Pair of grippers, especially one
Querfördervorrichtung an Mehrstuf enpressenPress cross conveyor onto multi-stage
B e s c h r e i b u n gDescription
Die Erfindung betrifft ein Greiferpaar gemäß Oberbegriff des Anspruches 1.The invention relates to a pair of grippers according to the preamble of claim 1.
Bei einem aus der DE 40 02 347 A1 (Fig. 1) bekannten, einer übe r f üh rungs o r r i cht ung an Maschinen zum fortschreitenden Formen von Werkstücken angehörenden Greiferpaar genannter Art liegen die zwei parallelen Linien der Berührung des Werkstückes durch den aufnehmenden Greifer bezüglich der Symmetrieebene auf einer und derselben Seite dieser Ebene in ungefähr gleichem senkrechtem Abstand von einer Querebene, die mit der S mmetrieebene einen rechten Winkel einschließt und die parallele Linie der Berührung des Werkstückes durch den haltenden Greifer enthält. Infolgedessen wird die virtuelle Figurenachse des Werkstückes beim Verschieben desselben relativ zum Greiferpaar, das je nach Zu- oder Abnahme des Werkstück-Durchmessers öffnet bzw. schließt und dabeiIn a known from DE 40 02 347 A1 (FIG. 1 ) , a pair of grippers of the type mentioned above, relating to the progressive shaping of workpieces, the two parallel lines of contact of the workpiece by the receiving gripper lie with respect to the Plane of symmetry on one and the same side of this plane at approximately the same vertical distance from a transverse plane which includes a right angle with the plane of symmetry and which contains the parallel line of contact of the workpiece by the holding gripper. As a result, when the workpiece is moved, the virtual figure axis of the workpiece becomes relative to the pair of grippers which, depending on the increase or decrease in the workpiece diameter, opens and closes and thereby
Kontakt zum Werkstück hält, senkrecht zur Ve rs c h i ebe r i c h t ung versetzt, was z. B. in einer Mehrstufenpresse zu evtl. schädlichen, jedenfalls störenden seitlichen Relativbewegungen des Werkstückes bzgl. des Press-Stempels führen kann .Maintains contact with the workpiece, offset perpendicular to the workpiece. B. in a multi-stage press to possibly harmful, in any case disturbing lateral relative movements of the workpiece with respect to the press ram.
Der Erfindung liegt daher die Aufgabe zugrunde, unter Vermeidung des genannten Nachteiles ein Greiferpaar der eingangs genannten Art zu schaffen, welches beim Verschieben des gegriffenen Werkstückes dessen Figurenachse seitlich nicht verlagert.The invention is therefore based on the object, while avoiding the disadvantage mentioned, of creating a pair of grippers of the type mentioned, which does not laterally shift its figure axis when the gripped workpiece is moved.
Diese Aufgabe ist erfindungsgemäß durch die kennzeichnenden Merkmale des Anspruches 1 gelöst. Dadurch wird vorteilhaf- terweise erreicht, dass die Figurenachse nicht mehr inner¬ halb der Symmetrieebene und/oder außerhalb derselben versetzt wird, wenn das Werkstück längs seiner Figurenachse durch das Greiferpaar geschoben wird.This object is achieved by the characterizing features of claim 1. This is advantageous ingly achieved that the figure axis intra ¬ the plane of symmetry and / or is placed outside the same, when the workpiece is not pushed along its body axis by the pair of grippers longer half.
Die Ausführung des Grei f erpaares gemäß Anspruch 2 führt auf einfache und doch zweckmäßige Weise zu einer sicheren Erfassung zylindrischer Abschnitte des Werkstückes, diejenige gemäß Anspruch 3 zu vollkommener G r e i f sym et r i e . Eine Ebenheit der Innenflächen der drei Finger des Greiferpaares ist nur insoweit erforderlich, als ihre Berührung des Werkstückes beim Durchschieben des Werkstückes durch das Greiferpaar über diese Innenflächen wandert . The execution of the pair of grippers according to claim 2 leads in a simple yet expedient manner to a reliable detection of cylindrical sections of the workpiece, that according to claim 3 to complete gripping sym et rie. A flatness of the inner surfaces of the three fingers of the pair of grippers is only necessary insofar as their contact with the workpiece moves over these inner surfaces when the workpiece is pushed through the pair of grippers.
Im Folgenden ist die Erfindung anhand einer durch die Zeichnung beispielhaft dargestellten bevorzugten Ausführungsform des erfindungsgemäßen Greiferpaares im Einzelnen er¬ läutert. Es zeigt im Prinzip diese Aus f üh r ung s f o rmIn the following, the invention is based on an exemplified by the preferred embodiment of the drawing gripper pair according to the invention in detail it ¬ explained. In principle, it shows this version
Fig. 1 in Verbindung mit einem kleineren WerkstückdurchmesserFig. 1 in connection with a smaller workpiece diameter
Fig. 2 in Verbindung mit einem größeren Werkstückdurch esser undFig. 2 in connection with a larger workpiece diameter and
Fig. 3 eine Zusammensetzung der Fig. 1 (strichpunk' tiert wiederholt) und der Fig. 23 shows a composition of FIG. 1 (dash-dot repeated) and of FIG. 2
Im Ausführungsbeispiel besteht das erfindungsgemäße Greiferpaar 10-20 aus einem das kreisz lindrisch-konische, also rot at i ons symmet r i s ehe, Werkstück 14 mit mehreren verschie- denen Durchmessern aufnehmenden, gegabelten Greifer 10 mit zwei über 60° gespreizten Fingern 10.1 und 10.2 sowie aus einem das Werkstück 14 in dem gegabelten Greifer 10 haltenden, ungegabelten Greifer 20 mit einem einzigen Finger 20.1. Die drei geraden Finger 10.1, 10.2 und 20.1 sind u n - ter 60° zueinander angeordnet, sodass sie einen im Wesentlichen dreieckigen, gleichwinkligen Zwischenraum bilden, durch dessen Mittelpunkt die virtuelle gerade Figurenachse 12 des Werkstückes 14 geht, die in einer Symmetrieebene 15 liegt, bzgl. deren der haltende Greifer 20 und der aufneh- ende Greifer 10 ohne den dritten Finger 10.1 spiegelbildlich gestaltet und gleichzeitig sowie gleichmäßig bewegbar sind, und zwar parallel sowie senkrecht, nämlich geradlinig, zur Symmetrieebene 15, zu der der dritte Finger 10.1 des gegabelten Greifers 10 senkrecht steht, während die anderen beiden Finger 10.2 und 20.1 mit Entfernung vom dritten Finger 10.1 symmetrisch konvergieren. - Die Längen der drei Finger sind so bemessen, dass sie beim Schließen des Zwischenraumes gleichzeitig aneinanderschlagen.In the exemplary embodiment, the pair of grippers 10-20 according to the invention consists of a fork-shaped gripper 10 with two fingers 10.1 and 10.2, which are spread over 60 °, and which has a circular, conical, that is, rot at ion symmetry, workpiece 14 with several different diameters from a non-forked gripper 20 holding the workpiece 14 in the forked gripper 10 with a single finger 20.1. The three straight fingers 10.1, 10.2 and 20.1 are arranged at 60 ° to one another, so that they form a substantially triangular, equiangular space, through the center of which the virtual straight figure axis 12 of the workpiece 14 passes, which lies in a plane of symmetry 15 with respect to whose holding gripper 20 and the receiving gripper 10 are designed in mirror image without the third finger 10.1 and can be moved at the same time and evenly, both parallel and perpendicular, namely rectilinearly, to the plane of symmetry 15 to which the third finger 10.1 of the forked gripper 10 is perpendicular, while the other two fingers 10.2 and 20.1 converge symmetrically at a distance from the third finger 10.1. - The lengths of the three fingers are dimensioned so that they close together when the space is closed.
Die einander zugewandten Innenflächen 10.1.1, 10.2.1 und 20.1.1 der drei Finger 10.1, 10.2 bzw. 20.1 liegen je in einer Ebene senkrecht bzw. unter ± 30° geneigt zur Symmetrieebene 15 und tangieren einen Durchmesser des Werk¬ stückes 14 im Zwischenraum längs dreier Mantellinien sei¬ nes Umfanges, falls der gegriffene Werkstück-Abschnitt k re i s zy l i ndr i s ch ist, oder an drei Umf angspunk t en, falls er z. B. konisch ist. Diese drei Be r üh rungs l i n i en (in der Zeichnung als Punkte erkennbar) bilden mit der Figuren¬ achse 12 des Werkstückes 14 je eine Berührungsebene, die paarweise einen Winkel von 120° einschließen.The mutually facing inner surfaces 10.1.1, 10.2.1 and 20.1.1 of the three fingers 10.1, 10.2 and 20.1 each lie in a plane perpendicular or inclined at ± 30 ° to Plane of symmetry 15 and tangent to a diameter of the ¬ piece unit 14 along three in the intermediate space generatrices was ¬ nes circumference if the gripped workpiece section k re is zy li ndr is CH, or angspunk three Umf t s, if he z. B. is conical. These three Be r Uh approximately lini s (in the drawing as points visible) form with the figures ¬ axis 12 of the workpiece 14 each have a plane of contact, in pairs enclose an angle of 120 °.
Die Wirkungsweise des beschriebenen Greiferpaares ergibt sich aus einem Vergleich der Fig. 1 und 2.The operation of the pair of grippers described results from a comparison of FIGS. 1 and 2.
In Fig. 1 ist ein kleiner Durchmesser des Umfanges des Werkstückes 14 zu sehen, wobei die drei G re i f e r f i nge r 10.1, 10.2 und 20.1 unter Bildung eines entsprechend engen Zwischenraumes zusammengerückt sind. Die Figurenachse 12 des Werkstückes 14 liegt den F i nge r- Innenf l ächen 10.1.1, 10.2.1 bzw. 20.1.1 also relativ nahe.1 shows a small diameter of the circumference of the workpiece 14, the three gripping r 10.1, 10.2 and 20.1 being moved together to form a correspondingly narrow space. The axis of the figure 12 of the workpiece 14 is relatively close to the inner surfaces 10.1.1, 10.2.1 and 20.1.1.
In Fig. 2 ist ein erheblich größerer Durchmesser des Umfanges des Werkstückes 14 zu sehen, wobei die drei Greiferfinger 10.1, 10.2 und 20.1 unter Bildung eines entspre- chend weiten, geometrisch ähnlichen Zwischenraumes auseinandergerückt sind. Die Figurenachse 12 des Werkstückes liegt den Finger-Innenflächen 10.1.1, 10.2.1 bzw. 20.1.1 demnach verh ltnismäßig fern. In Fig. 3 ist die relative Lageveränderung der Greifer 10 und 20 bzgl. der raumfesten Figurenachse 12 des Werkstückes 14 bei einem Übergang zwischen den in den Fig. 1 und 2 gezeigten Zuständen zu sehen: beim Durchschieben des Werkstückes 14 durch das Greiferpaar 10-20 werden bei zu- oder abnehmendem Durchmesser des We r s tue k-Umf ange s die Greifer 10 und 20 aus den strichpunktiert bzw. durchgezogen gezeichneten Stellungen auseinander bzw. gegeneinander und gleichzeitig parallel zur Symmetrieebene 15 in die durchgezogen bzw. strichpunktiert gezeichneten Stellungen bewegt, was selbstverständlich eine entsprechende Bewegungsmöglich- keit voraussetzt, die darin besteht, dass sich die beiden Greifer 10 und 20 längs der geraden Linien 16 bzw. 17 in Fig. 3 abwechselnd aus- und gegeneinander verschieben lassen; diese Linien schließen einen Winkel von ± 590 m^t der Spur der Symmetrieebene 15 ein und eine (16) davon halbiert den ebenfalls 60° betragenden Öffnungswinkel der Spreizung der beiden Finger 10.1 und 10.2 des gegabelten Greifers 10.A considerably larger diameter of the circumference of the workpiece 14 can be seen in FIG. 2, the three gripper fingers 10.1, 10.2 and 20.1 being moved apart to form a correspondingly wide, geometrically similar space. The axis of the figure 12 of the workpiece is therefore relatively far away from the inner surfaces 10.1.1, 10.2.1 and 20.1.1 of the fingers. FIG. 3 shows the relative change in position of the grippers 10 and 20 with respect to the spatially fixed figure axis 12 of the workpiece 14 during a transition between the states shown in FIGS. 1 and 2: when the workpiece 14 is pushed through the pair of grippers 10-20 are with increasing or decreasing diameter of We rs tue k-Umf, the grippers 10 and 20 from the dash-dotted or solid positions shown apart or against each other and simultaneously parallel to the plane of symmetry 15 in the solid or dash-dotted positions moved what of course a corresponding possibility of movement presupposes that the two of them Let grippers 10 and 20 alternately move out and against one another along straight lines 16 and 17 in FIG. 3; these lines enclose an angle of ± 590 m ^ t of the track of the plane of symmetry 15 and one (16 ) thereof halves the opening angle of the spread of the two fingers 10.1 and 10.2 of the forked gripper 10, which is also 60 °.
Zur Abwandlung der zuvor beschriebenen Aus f üh r ungs f o r m können die beiden Finger 10.1 und 10.2 des aufnehmenden Greifers 10 über mehr als 60°, z. B. 75° bis 80°, gespreizt sein unter Halbierung des öffnungswinkels der Spreizung durch die Ve r s c h i ebe l i n i e 16 und unter Wahrung der Spiegelbildlichkeit der Anordnung des einzigen Fingers 20.1 des haltenden Greifers 20 und der Ve rs ch i ebe l i ni e 17 bzgl. der Symmetrieebene 15. In order to modify the embodiment described above, the two fingers 10.1 and 10.2 of the receiving gripper 10 can extend over more than 60 °, e.g. B. 75 ° to 80 °, be spread by halving the opening angle of the spread through the shifting line 16 and while maintaining the mirror image of the arrangement of the single finger 20.1 of the holding gripper 20 and the shifting line 17 with respect to the plane of symmetry 15.

Claims

P a t e n t a n s p r ü c h e Patent claims
1.) Greiferpaar, insbesondere einer Que r f ördervor r i chtung an Mehrstufenpressen, für längs ihrer virtuellen Figuren¬ achse (12) verschiebbare rot a t i ons symme t r i s ehe Werkstücke (14) mit mindestens zwei axial ineinander übergehenden Durchmessern; mit zwei das Werkstück aufnehmenden, seinen jeweiligen Umfang tangierenden einzelnen Greifern (10 und 20), die das Werkstück aufnehmen bzw. in der Aufnahme (10.3) halten und bzgl. einer die Figurenachse enthaltenden Symmetrieebene (15) spiegelbildlich, gleichzeitig und gleichmäßig in einer Ebene bewegbar sind, auf welcher die Figurenachse und die Symmetrieebene senkrecht stehen; dadurch g e k e n n z e i c h n e t , dass der aufnehmende Greifer (10) zwei (über 60 ° )ge sp r e i z t e Finger (10.1 und 10.2) aufweist, die mit dem einzigen Finger (20.1) des haltenden Greifers (20) einen gleichschenklig (3x60 ° ) -dre i - eckigen Zwischenraum für das Werkstück (14) bilden, der durch geradlinige Bewegungen der beiden Greifer (10 und 20) in geometrisch ähnliche Zwischenräume veränderbar ist, die dem jeweiligen Umfangsdurchmesser des gegriffenen Werk- Stückes angepasst sind.1) Gripper pair, particularly a Que rf ördervor ri rect at multi-stage presses, for along their virtual characters ¬ axis (displaceable 12) red ati ons sym tris before workpieces (14) with at least two axially merging diameters; with two individual grippers (10 and 20) which receive the workpiece and touch their respective circumference and which hold the workpiece or hold them in the holder (10.3) and with respect to a plane of symmetry (15) containing the figure axis, mirror image, simultaneously and evenly in one plane are movable, on which the figure axis and the plane of symmetry are perpendicular; characterized in that the receiving gripper (10 ) has two ( over 60 ° ) ge sp irritated fingers (10.1 and 10.2) which with the single finger (20.1) of the holding gripper (20) an isosceles (3x60 °) -dre i - Form angular space for the workpiece (14), which can be changed by linear movements of the two grippers (10 and 20) in geometrically similar spaces that are adapted to the respective circumferential diameter of the gripped workpiece.
2.) Greiferpaar nach Anspruch 1, dadurch gekennzeichnet, dass die Innenflächen (10.1.1, 10.2.1 und 20.1.1) der drei Finger (10.1, 10.2 und 20.1) im Wände rbe re i c h ihrer Berührung des Werkstückes (14) je eben sind, wobei dessen virtuelle Figurenachse (12) parallel zu den drei ebenen Innenflächen liegt.2.) pair of grippers according to claim 1, characterized in that the inner surfaces (10.1.1, 10.2.1 and 20.1.1) of the three fingers (10.1, 10.2 and 20.1 ) in the walls rbe re their contact with the workpiece (14 ) each are flat, with its virtual figure axis (12 ) lying parallel to the three flat inner surfaces.
3.) Greiferpaar nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die beiden Finger (10.1 und 10.2) des aufnehmenden Greifers (10) über 60° gespreizt sind und mit dem Finger (20.1) des haltenden Greifers (20) einen gleichwinklig-dreieckigen Zwischenraum bilden. 3. ) pair of grippers according to claim 1 or 2, characterized in that the two fingers (10.1 and 10.2) of the receiving gripper ( 10 ) are spread over 60 ° and with the finger ( 20.1 ) of the holding gripper (20 ) an equiangular-triangular Form a space.
PCT/EP2001/002611 2000-03-24 2001-03-08 Pair of grabs, in particular of a transversal transport device in multiple-die presses WO2001072445A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DK01911754T DK1265720T3 (en) 2000-03-24 2001-03-08 Gripper pairs, especially for a cross-conveyor device on multi-stage presses
DE50100876T DE50100876D1 (en) 2000-03-24 2001-03-08 PAIR OF GRIPPERS, ESPECIALLY A CROSS-CONVEYOR DEVICE ON MULTI-STAGE PRESSES
EP01911754A EP1265720B1 (en) 2000-03-24 2001-03-08 Pair of grabs, in particular of a transversal transport device in multiple-die presses

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10014851.4 2000-03-24
DE10014851A DE10014851C1 (en) 2000-03-24 2000-03-24 Gripper pair, especially for transverse conveyor device at multistage press for symmetrical work pieces of different diameter, has fingers forming equilateral triangle space for work piece

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WO2001072445A1 true WO2001072445A1 (en) 2001-10-04
WO2001072445A8 WO2001072445A8 (en) 2002-02-21

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DE (2) DE10014851C1 (en)
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DE102009026934B3 (en) * 2009-06-15 2010-09-02 Schuler Automation Gmbh & Co. Kg Device for succeeding loading and unloading of press mold for manufacturing shaft type work piece, has gripping arms provided with gripping sections, where distance between sections in open condition is larger/same to diameter of upper tool

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DE4002347A1 (en) * 1990-01-26 1991-09-19 Hilgeland Gmbh & Co Geb CONVERSION DEVICE ON MACHINES FOR PROGRESSIVE SHAPING OF WORKPIECES, IN PARTICULAR CROSS-CONVEYOR DEVICE ON MULTI-STAGE PRESSES
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109604464A (en) * 2019-02-22 2019-04-12 浙江启成智能科技有限公司 A kind of excessively oily pipeline tablet positioning device

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DE10014851C1 (en) 2001-09-27
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EP1265720A1 (en) 2002-12-18
DE50100876D1 (en) 2003-12-04
DK1265720T3 (en) 2004-02-16

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