WO2002051694A1 - Device for connecting support pipes and modular gripper system which uses this device - Google Patents

Device for connecting support pipes and modular gripper system which uses this device Download PDF

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Publication number
WO2002051694A1
WO2002051694A1 PCT/EP2001/012258 EP0112258W WO02051694A1 WO 2002051694 A1 WO2002051694 A1 WO 2002051694A1 EP 0112258 W EP0112258 W EP 0112258W WO 02051694 A1 WO02051694 A1 WO 02051694A1
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WIPO (PCT)
Prior art keywords
elements
contact surfaces
tensioner
adapter plates
connections
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Application number
PCT/EP2001/012258
Other languages
German (de)
French (fr)
Inventor
Marco Kipping
Original Assignee
Thyssenkrupp Technologies Ag
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Publication date
Application filed by Thyssenkrupp Technologies Ag filed Critical Thyssenkrupp Technologies Ag
Publication of WO2002051694A1 publication Critical patent/WO2002051694A1/en

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Classifications

    • 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
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
    • F16B7/04—Clamping or clipping connections
    • F16B7/0433—Clamping or clipping connections for rods or tubes being in parallel relationship
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B7/00—Connections of rods or tubes, e.g. of non-circular section, mutually, including resilient connections
    • F16B7/04—Clamping or clipping connections
    • F16B7/044—Clamping or clipping connections for rods or tubes being in angled relationship
    • F16B7/048—Clamping or clipping connections for rods or tubes being in angled relationship for rods or for tubes without using the innerside thereof
    • F16B7/0493—Clamping or clipping connections for rods or tubes being in angled relationship for rods or for tubes without using the innerside thereof forming a crossed-over connection

Definitions

  • the invention relates to a device for connecting carrier tubes with a circular cross section with preferably different diameters or a carrier tube with a fastening device, the tubes and / or the fastening device preferably being rotatable relative to one another about axes of rotation extending transversely to their longitudinal axis and to a modular gripper system , preferably a geometry gripper system for realizing different handling tasks in automobile construction using this device.
  • a component gripper In the body shop, component grippers are often required for transport and for positioning and tensioning the components using a wide variety of joining techniques.
  • a component gripper is usually attached to a robot arm or another actuation system, and a wide variety of receiving and holding devices, in particular vacuum suction devices, centering devices, pneumatic clamps, but also welding devices, can be attached to the gripper itself.
  • receiving and holding devices in particular vacuum suction devices, centering devices, pneumatic clamps, but also welding devices, can be attached to the gripper itself.
  • the following gripper systems are known:
  • the connecting element consists of two half-shells that completely enclose the pipe and are pulled together with the help of side screws to form a non-positive connection with the pipe (Tünkers system).
  • the gripper system consists of various strongly profiled aluminum profile bars with integrated air channels, which are screwed to other profile bars arranged in parallel or at right angles to them using adapted adapter plates.
  • the production of these profile bars and the Connection plates are relatively complex and expensive. If there is mechanical damage, there is also the problem of restoring the gripper arrangement (ISI-Norgren system).
  • the gripper system is composed essentially of precision extruded aluminum profiles, the profiles using clamping elements
  • the invention is based on the object of proposing a simpler device for connecting support tubes and a modularly designed gripper system which can be combined therewith and which can also be used as a geometric gripper and in particular is easily repairable even in the event of mechanical damage.
  • a device for connecting support tubes is defined in claim 1 and a modular gripper system in claim 9 using this device.
  • the sub-claims 2 to 8 and 10 contain reasonable embodiments.
  • the device according to the invention provides, in particular, connecting elements which can be non-positively and quickly connected to at least one cylindrical support tube.
  • These connecting elements for connecting two carrier tubes or an adapter plate with a robot arm or with another handling device or also a tensioner connection to a carrier tube contain, on the one hand, a maximally semicircular and cylindrical contact surface, which bear against the outside of a partial jacket surface of the carrier tube, and, on the other hand, flat contact surfaces which abut corresponding flat contact surfaces of the elements, with which they are to be connected.
  • the connecting elements, adapter plates or tensioner connections have lateral lugs on one or both sides, preferably crescent-shaped in cross section, with which they can be non-positively attached to the respective carrier tube by means of pipe clamps.
  • the support tubes have additional fitting holes for receiving centering pins.
  • the flat contact surfaces on the connecting elements, adapter elements or tensioner connections additionally have contour, centering and, if appropriate, fastening elements which interact with corresponding opposite elements and thus ensure a non-positive and / or positive connection.
  • two essentially identical connecting elements are required according to the invention.
  • the contact surfaces of these connecting elements are adapted to these different diameters.
  • the two connecting elements can be connected according to the invention directly with their flat surfaces lying one against the other with a screw connection or in another manner in a non-positive and / or positive manner, in each case one connecting element being additionally non-positively fastened to the support tube with the aid of the pipe clamps.
  • suitable contour elements are arranged on the flat surfaces of the connecting elements, which interact with corresponding contour elements of the opposite connecting element for positive locking against rotation.
  • contour elements are expediently arranged in such a way that, using a central screw connection, the connecting elements can be rotated relative to one another about the longitudinal axis of the screw connection and in any desired grid Angles can be positioned to each other.
  • the support tubes to be connected or the support tubes and the corresponding fastening device can be brought into any desired angular positions about axes of rotation extending transversely to the longitudinal axis of the tubes.
  • one or preferably two intermediate elements can also be arranged between the flat contact surfaces of the connecting elements which are fastened directly to the support tubes with the pipe clamps, which facilitate the fastening and in particular precise angle adjustment.
  • these disc-shaped or plate-shaped intermediate elements have identical contour elements on both sides, which match the contour elements of the connecting elements.
  • all of the individual elements according to the invention can consist of light metal, in particular of a high-strength cast aluminum alloy.
  • the intermediate elements expediently consist of drop-forged aluminum plates in order to meet the higher strength requirements for the grid elements.
  • the support surfaces to the support tube are mechanically reworked.
  • the crescent-shaped approaches on the castings allow a simple connection to the carrier pipe using a pipe clamp. In this way, unnecessary material accumulation can be dispensed with and a perfect contact with the carrier tube can be achieved.
  • the clamp connection also ensures a defined position and positive connection at least against torsion. The clamping force of the pipe clamp only needs to hold the pipe in the half-shell.
  • the central screw connection made of screw and nut preferably connects the two identical connecting elements and the two identical intermediate elements arranged between them.
  • the screw and / or nut have an axially protruding centering pin which protrudes into a correspondingly designed fitting bore in the carrier tubes.
  • the modular gripper system according to the invention uses in particular simple, commercially available, inexpensive and light cylindrical support tubes z. B. made of steel or aluminum and the above-mentioned castings, in particular adapter plates and connecting elements and in addition the pipe clamps and intermediate elements belonging to the prior art.
  • the tensioner connections according to the invention can additionally be used to fasten the usual tensioners.
  • Fig. 1 shows the new modular gripper system with tensioners (11) attached to it in any position for tensioning a component (1)
  • Fig. 2 shows the individual elements of a device for connecting two support tubes in the position before assembly
  • Fig. 3 in an enlarged view Device for connecting two carrier tubes (3, 4) and one carrier tube (4) to one
  • FIG. 5a Fig. 5a, Fig. 5b, an adapter plate (27) for fastening two support tubes to one
  • Robot arm, Fig. 6a, Fig. 6b enlarged representations of the tensioner connections (29, 30),
  • Fig. 7 shows the arrangement of a connecting element in an enlarged view
  • Fig. 10 the attachment of a tensioner connection (30) on a support tube (4) with a mounting extension (34) which runs parallel to the longitudinal axis of the tube.
  • FIG. 1 shows a complete modular gripper system with an adapter plate 23 for connecting a support tube 2 to a robot arm.
  • the support tube 2 has a diameter of 60 mm, for example, the other support tubes 3 and 4 connected to it have a diameter e.g. of 40 mm.
  • each tensioner 11 are fastened with tensioner connections 29 with the aid of pipe clamps 5, the pipe clamp 5 having clamping screws 6 in a manner known per se.
  • any desired spatial position of the tensioner 11 can be achieved with the devices according to the invention.
  • FIG. 2 shows the basic structure for connecting two support tubes 2, 3 to the device according to the invention.
  • the two intermediate elements 10 lie on one another with their contact surfaces 20 and grid elements 21, and the contact surfaces 17 and the contour elements 18 lie above and below the corresponding contact surfaces 15 and the contour elements 16 (cf. FIG. 4b) of the connecting elements 8 and 9 opposite.
  • the connecting elements 8 and 9 come with their contact surfaces 14 to the support tubes 2 and 3 to the plant.
  • the connecting elements 8, 9 as well as the adapter plates 23 and 27 have lateral crescent-shaped projections 19, which are enclosed by the pipe clamps 5 when connected to the support pipes 2, 3, 4.
  • the connecting elements 8, 9 and also the adapter plates 23, 27 can be produced inexpensively as cast aluminum parts and subsequently machined at various points. These locations include the contact surfaces 14 for the carrier tubes 2, 3, 4 and the contour elements 16 for the pair of disks of the intermediate elements 10.
  • the central through bore of the connecting elements 8, 9 has a fitting diameter so that the position between the tube, connecting element 8, 9 and Screw 7 or nut 22 is guaranteed.
  • the grid discs center themselves on each other.
  • the screws 7 and the nut 22 have a conventional wrench size and external or internal thread for mounting.
  • a centering pin 38 is provided on the screws 7 and nuts 22, which projects into corresponding fitting bores 13 of the support tubes 2, 3, 4.
  • the adapter plates 23, 27 in FIGS. 4c, 5a, 5b each have contact surfaces 24 and a central circular centering element 25 and a central fitting bore 26 for connection to the robot arm.
  • two support tubes can be attached simultaneously be attached to a robot arm.
  • a fitting bore 28 for a centering pin In the middle of the pipe connections there is a fitting bore 28 for a centering pin, which is also inserted into corresponding fitting bores 13 of the carrier tubes 2. Any holes for screwing the adapter plates 23, 27 to the robot arm are not shown.
  • FIGS. 3 and 10 show different possibilities for connecting the tensioner 11 to a carrier tube 4.
  • a tensioner connection 29 (see also FIG. 6a) is fastened to the carrier tube 4 with the aid of the tube clamps 5, which has the one-sided crescent-shaped approach 31 enclose.
  • the mounting bracket is 33 arranged at right angles to the longitudinal axis of the support tube 4 and comes to rest on the tensioner mounting surface 12.
  • the approach 31 has a bore 37 for fixing with a dowel pin on the carrier tube 4th
  • the tensioner connection 30 is fastened to the carrier tube 4.
  • the tensioner connection 30 has an attachment projection 34 running parallel to the longitudinal axis of the support tube 4, with a flat mounting surface for connection to the tensioner attachment surface 12 of the tensioner 11.
  • the tensioner connection 30 also has the one-sided crescent-shaped extension 32 with the bore 37. Both tensioner connections 29, 30 have a hole pattern with pin holes 35 and thread 36 for receiving a contour piece.
  • support tube e.g. made of steel, large diameter, e.g. 60 mm
  • support tube e.g. made of steel, small diameter, e.g. 40 mm
  • Thread (for holding a contour piece)

Abstract

The invention relates to a device for connecting support pipes with a circular cross-section with preferably, different diameters or for connecting a support pipe to a fixing device, the pipes and/or the fixing device preferably being turnable in relation to each other about their axes of rotation which run crosswise to their longitudinal axis. According to the invention, connection elements or adapter plates or clamping attachments rest against a partial lateral surface of the support pipe, externally, with an at most, semi-circular and cylindrical contact surface and, with a level contact surface which is provided with contour elements or centring elements or fixing elements, rest against a corresponding level contact surface with corresponding contour elements of an intermediate element or are connected to centring surfaces or fixing surfaces of another fixing device. The connection elements or adapter plates or clamping attachments are fixed on the support pipe non-positively by means of pipe clips which grip fittings that are located on the connection elements or adapter plates or clamping attachments and the support pipe, on one or both sides, in an axial direction. The invention also relates to a modular gripper system which uses the devices defines above.

Description

Vorrichtung zur Verbindung von Trägerrohren und modulares Greifersystem unter Anwendung dieser Vorrichtung Device for connecting carrier tubes and modular gripper system using this device
Beschreibung: Die Erfindung bezieht sich auf eine Vorrichtung zur Verbindung von Trägerrohren mit Kreisquerschnitt mit vorzugsweise unterschiedlichen Durchmessern oder eines Trägerrohres mit einer Befestigungseinrichtung, wobei vorzugsweise die Rohre und/oder die Befestigungseinrichtung um quer zu ihrer Längsachse verlaufende Drehachsen gegeneinander verdrehbar sind und auf ein modulares Greifersystem, vorzugsweise Geometriegreifersystem zur Realisierung unterschiedlicher Handlingsaufgaben im Automobilbau unter Anwendung dieser Vorrichtung.Description: The invention relates to a device for connecting carrier tubes with a circular cross section with preferably different diameters or a carrier tube with a fastening device, the tubes and / or the fastening device preferably being rotatable relative to one another about axes of rotation extending transversely to their longitudinal axis and to a modular gripper system , preferably a geometry gripper system for realizing different handling tasks in automobile construction using this device.
Im Karosseriebau werden häufig Bauteilgreifer zum Transport und zur Positionierung und Spannung der Bauteile bei den verschiedensten Fügetechniken benötigt. Dazu ist ein Bauteilgreifer üblicherweise an einem Roboterarm oder einem sonstigen Betätigungssystem befestigt und an dem Greifer selbst können die verschiedensten Aufnahme- und Halteeinrichtungen, insbesondere Vakuumsauger, Zentriereinrichtungen, Pneumatikspanner, aber auch Schweißeinrichtungen befestigt sein. Zum Stand der Technik gehört es, ein Greifersystem aus bestimmten Einzelmodulen zusammenzubauen, wobei die einzelnen gradlinigen Rohre, Balken oder Profilträger mit verschiedenen Verbindungselementen zu einem Greifersystem zusammengebaut werden. Von Bedeutung ist dabei, dass das System entsprechend den Anforderungen ausreichend stabil ist und ein möglichst geringes Gewicht besitzt. Bekannt sind unter anderem folgende Greifersysteme:In the body shop, component grippers are often required for transport and for positioning and tensioning the components using a wide variety of joining techniques. For this purpose, a component gripper is usually attached to a robot arm or another actuation system, and a wide variety of receiving and holding devices, in particular vacuum suction devices, centering devices, pneumatic clamps, but also welding devices, can be attached to the gripper itself. It is part of the prior art to assemble a gripper system from certain individual modules, the individual straight pipes, beams or profile carriers being assembled with different connecting elements to form a gripper system. It is important that the system is sufficiently stable according to the requirements and that it is as light as possible. The following gripper systems are known:
1. Normale zylindrische Rohre werden mit Verbindungselementen jeweils rechtwinklig zueinander verbunden. Das Verbindungselement besteht dabei aus zwei Halbschalen, die das Rohr vollständig umschließen und mit Hilfe von seitlichen Schrauben zusammengezogen werden, um eine kraftschlüssige Verbindung mit dem Rohr zu bilden (System Tünkers).1. Normal cylindrical tubes are connected at right angles to each other with connecting elements. The connecting element consists of two half-shells that completely enclose the pipe and are pulled together with the help of side screws to form a non-positive connection with the pipe (Tünkers system).
2. Das Greifersystem besteht aus verschiedenen stark profilierten Aluminiumprofilstäben mit integrierten Luftkanälen, die über angepasste Adapterplatten mit weiteren parallel oder rechtwinklig dazu angeordneten Profilstäben verschraubt werden. Die Fertigung dieser Profilstäbe und der Verbindungsplatten ist relativ aufwendig und teuer. Außerdem besteht bei mechanischen Beschädigungen das Problem, die Greiferanordnung wiederherzustellen (System ISI-Norgren). 3. Das Greifersystem setzt sich im Wesentlichen aus Präzisionsstrangpreßprofilen aus Aluminium zusammen, wobei die Profile durch Spannelemente mit2. The gripper system consists of various strongly profiled aluminum profile bars with integrated air channels, which are screwed to other profile bars arranged in parallel or at right angles to them using adapted adapter plates. The production of these profile bars and the Connection plates are relatively complex and expensive. If there is mechanical damage, there is also the problem of restoring the gripper arrangement (ISI-Norgren system). 3. The gripper system is composed essentially of precision extruded aluminum profiles, the profiles using clamping elements
Schwalbenschwanzgeometrie form- und kraftschlüssige Verbindungen erzielen. Die Herstellung dieses Systems ist ebenfalls aufwendig und die Anordnung ist bei mechanischer Beschädigung schlecht reproduzierbar (System Montech). 4. Bei einem Greifersystem mit profilierten Basisprofilen stehen als Verbindungselemente winkeleinstellbare Kreuzverbinder oder starre T- Profilverbinder zur Verfügung. Der Bearbeitungsaufwand zur Herstellung der einzelnen Elemente ist relativ hoch (System DE-STA-CO). 5. Das Greifersystem besteht aus nachbearbeiteten Vierkantstahlrohren, die an allen vier Flächen in regelmäßigen Abständen ein Lochraster mit gleichenDovetail geometry to achieve positive and non-positive connections. The production of this system is also complex and the arrangement is difficult to reproduce in the event of mechanical damage (Montech system). 4. With a gripper system with profiled base profiles, angle-adjustable cross connectors or rigid T-profile connectors are available as connecting elements. The processing effort for producing the individual elements is relatively high (DE-STA-CO system). 5. The gripper system consists of reworked square steel tubes which have a grid of holes on all four surfaces at regular intervals
Bohrungen aufweisen. Die einzelnen Vierkantrohre werden mit speziellen Knotenblechen und zugehörigen Schrauben miteinander verbunden. Auch dieses System ist sehr aufwendig in der Herstellung und z.B. als Geometriegreifer nur begrenzt einsetzbar (System hwr).Have holes. The individual square tubes are connected to each other with special gusset plates and associated screws. This system is also very complex to manufacture and e.g. Can only be used as a geometric gripper to a limited extent (system hwr).
Der Erfindung liegt die Aufgabe zu Grunde, eine einfachere Vorrichtung zur Verbindung von Trägerrohren und ein damit zusammenstellbares modular aufgebautes Greifersystem vorzuschlagen, das auch als Geometriegreifer einsetzbar ist und insbesondere auch bei mechanischer Beschädigung leicht reparierbar ist.The invention is based on the object of proposing a simpler device for connecting support tubes and a modularly designed gripper system which can be combined therewith and which can also be used as a geometric gripper and in particular is easily repairable even in the event of mechanical damage.
Zur Lösung dieser Aufgabe ist im Patentanspruch 1 eine Vorrichtung zur Verbindung von Trägerrohren und im Patentanspruch 9 ein modulares Greifersystem unter Anwendung dieser Vorrichtung definiert. Die Unteransprüche 2 bis 8 und 10 enthalten sinnvolle Ausführungsformen dazu.To solve this problem, a device for connecting support tubes is defined in claim 1 and a modular gripper system in claim 9 using this device. The sub-claims 2 to 8 and 10 contain reasonable embodiments.
Die erfindungsgemäße Vorrichtung sieht insbesondere Verbindungselemente vor, die kraftschlüssig mit mindestens einem zylindrischen Trägerrohr schnell lösbar verbindbar sind. Diese Verbindungselemente zur Verbindung zweier Trägerrohre oder einer Adapterplatte mit einem Roboterarm oder mit einer sonstigen Handhabungseinrichtung oder auch einer Spanneranbindung an einem Trägerrohr enthalten einerseits eine maximal halbkreis- und zylinderförmige Anlagefläche, die außen an einer Mantelteilfläche des Trägerrohres anliegen und andererseits ebene Anlageflächen, die an entsprechenden ebenen Anlageflächen der Elemente anliegen, mit denen sie verbunden werden sollen. Die Verbindungselemente, Adapterplatten oder Spanneranbindungen besitzen ein- oder beidseitig, vorzugsweise im Querschnitt sichelförmig ausgebildete seitliche Ansätze, mit denen sie mittels Rohrschellen auf dem jeweiligen Trägerrohr kraftschlüssig befestigt werden können. Zur genauen Positionierung und in gewisser Weise auch formschlüssigen Verbindung besitzen die Trägerrohre zusätzlich Passbohrungen zur Aufnahme von Zentrierzapfen. Die ebenen Anlageflächen an den Verbindungselementen, Adapterelementen oder Spanneranbindungen besitzen zusätzlich Kontur-, Zentrier- und gegebenenfalls Befestigungselemente, die mit entsprechenden gegenüberliegenden Elementen zusammenwirken und damit für eine kraft- und/oder formschlüssige Verbindung sorgen.The device according to the invention provides, in particular, connecting elements which can be non-positively and quickly connected to at least one cylindrical support tube. These connecting elements for connecting two carrier tubes or an adapter plate with a robot arm or with another handling device or also a tensioner connection to a carrier tube contain, on the one hand, a maximally semicircular and cylindrical contact surface, which bear against the outside of a partial jacket surface of the carrier tube, and, on the other hand, flat contact surfaces which abut corresponding flat contact surfaces of the elements, with which they are to be connected. The connecting elements, adapter plates or tensioner connections have lateral lugs on one or both sides, preferably crescent-shaped in cross section, with which they can be non-positively attached to the respective carrier tube by means of pipe clamps. For precise positioning and to a certain extent also a positive connection, the support tubes have additional fitting holes for receiving centering pins. The flat contact surfaces on the connecting elements, adapter elements or tensioner connections additionally have contour, centering and, if appropriate, fastening elements which interact with corresponding opposite elements and thus ensure a non-positive and / or positive connection.
Bei Verbindung zweier Trägerrohre werden erfindungsgemäß zwei im Wesentlichen baugleiche Verbindungselemente benötigt. Bei Verbindung von Trägerrohren mit unterschiedlichen Durchmessern sind die Anlageflächen dieser Verbindungselemente diesen unterschiedlichen Durchmessern angepasst. Zur Verbindung der beiden Trägerrohre können erfindungsgemäß die beiden Verbindungselemente direkt mit ihren ebenen Flächen aneinanderliegend mit einer Schraubverbindung oder in sonstiger Weise kraft- und/oder formschlüssig miteinander verbunden werden, wobei zusätzlich jeweils ein Verbindungselement mit Hilfe der Rohrschellen kraftschlüssig auf dem Trägerrohr befestigt wird. Besonders günstig ist es dabei, wenn an den ebenen Flächen der Verbindungselemente geeignete Konturelemente angeordnet sind, die zur formschlüssigen Verdrehsicherung mit entsprechenden Konturelementen des gegenüberliegenden Verbindungselementes zusammenwirken. Die Konturelemente sind zweckmäßig so angeordnet, dass unter Verwendung einer zentralen Schraubverbindung die Verbindungselemente um die Längsachse der Schraubverbindung gegeneinander verdrehbar und in gerastertem beliebigem Winkel zueinander positionierbar sind. Auf diese Weise können die zu verbindenden Trägerrohre oder die Trägerrohre und die entsprechende Befestigungseinrichtung um quer zur Längsachse der Rohre verlaufende Drehachsen in beliebige Winkelstellungen gebracht werden.When connecting two carrier tubes, two essentially identical connecting elements are required according to the invention. When connecting carrier pipes with different diameters, the contact surfaces of these connecting elements are adapted to these different diameters. To connect the two support tubes, the two connecting elements can be connected according to the invention directly with their flat surfaces lying one against the other with a screw connection or in another manner in a non-positive and / or positive manner, in each case one connecting element being additionally non-positively fastened to the support tube with the aid of the pipe clamps. It is particularly expedient if suitable contour elements are arranged on the flat surfaces of the connecting elements, which interact with corresponding contour elements of the opposite connecting element for positive locking against rotation. The contour elements are expediently arranged in such a way that, using a central screw connection, the connecting elements can be rotated relative to one another about the longitudinal axis of the screw connection and in any desired grid Angles can be positioned to each other. In this way, the support tubes to be connected or the support tubes and the corresponding fastening device can be brought into any desired angular positions about axes of rotation extending transversely to the longitudinal axis of the tubes.
Als alternative Ausführungsform können zwischen den ebenen Anlageflächen der Verbindurigselemente, die direkt mit den Rohrschellen auf den Trägerrohren befestigt sind, auch ein oder vorzugsweise zwei Zwischenelemente angeordnet sein, die die Befestigung und insbesondere genaue Winkeleinstellung erleichtern. Diese Scheiben- oder tellerförmigen Zwischenelemente besitzen bei Verwendung nur eines Zwischenelementes auf beiden Seiten identische Konturelemente, die mit den Konturelementen der Verbindungselemente zusammenpassen. Bei Verwendung von zwei baugleichen Zwischenelementen hat es sich als günstig erwiesen, auf der einen Seite relativ grobförmige und möglichst einfach herzustellende Konturelemente anzuordnen, die mit den Konturelementen der Zwischenelemente in Eingriff gebracht werden, und auf der anderen Seite relativ feingliedrige Rasterelemente, vorzugsweise aus im Wesentlichen radial verlaufenden Rillen oder aus ein oder mehreren kreisförmig angeordneten Lochrastern und/oder ein oder mehrere kreisförmige Rillen bzw. Wölbungen anzuordnen. Diese feingliedrigen Rasterelemente können dann eine kontinuierliche oder stufenweise Winkeleinstellung auch um wenige Winkelgrade ermöglichen. Die Verwendung dieser zusätzlichen beiden Rasterelemente hat den Vorteil, dass die Verbindungselemente, die direkt auf den Trägerrohren liegen, im Bereich ihrer ebenen Anlageflächen nur relativ wenige und einfach herzustellende Konturelemente benötigen.As an alternative embodiment, one or preferably two intermediate elements can also be arranged between the flat contact surfaces of the connecting elements which are fastened directly to the support tubes with the pipe clamps, which facilitate the fastening and in particular precise angle adjustment. If only one intermediate element is used, these disc-shaped or plate-shaped intermediate elements have identical contour elements on both sides, which match the contour elements of the connecting elements. When using two identical intermediate elements, it has proven to be advantageous to arrange relatively coarse and as simple as possible to produce contour elements on one side, which are brought into engagement with the contour elements of the intermediate elements, and on the other side relatively fine grid elements, preferably essentially radially extending grooves or one or more circular hole patterns and / or one or more circular grooves or bulges. These delicate grid elements can then enable a continuous or step-wise angle adjustment even by a few degrees. The use of these additional two grid elements has the advantage that the connecting elements, which lie directly on the carrier tubes, require only a relatively few and easily produced contour elements in the area of their flat contact surfaces.
Bis auf die Rohrschellen können sämtliche erfindungsgemäßen Einzelelemente, und zwar die Verbindungselemente, Adapterplatten, Spanneranbindungen und insbesondere auch die Trägerrohre aus Leichtmetall, insbesondere aus einer hochfesten Aluminiumgusslegierung bestehen. Die Zwischenelemente bestehen zweckmäßigerweise aus gesenkgeschmiedeten Aluminiumtellem, um den höheren Festigkeitsanforderungen bei den Rasterelementen zu genügen. Bei den Aluminiumgussteilen werden vorzugsweise nur die Auflageflächen zum Trägerrohr mechanisch nachbearbeitet. Die sichelförmigen Ansätze an den Gussteilen erlauben auf einfache Weise die Verbindung mit dem Trägerrohr mittels einer Rohrschelle. So kann auf unnötige Materialanhäufung verzichtet und eine perfekte Anlage am Trägerrohr erreicht werden. Die Klemmverbindung sichert auch eine definierte Lage und formschlüssige Verbindung zumindest gegen Torsion. Die Klemmkraft der Rohrschelle braucht dabei nur das Rohr in der Halbschale zu halten.Except for the pipe clamps, all of the individual elements according to the invention, namely the connecting elements, adapter plates, tensioner connections and in particular also the support tubes, can consist of light metal, in particular of a high-strength cast aluminum alloy. The intermediate elements expediently consist of drop-forged aluminum plates in order to meet the higher strength requirements for the grid elements. In the case of cast aluminum parts, preferably only the support surfaces to the support tube are mechanically reworked. The crescent-shaped approaches on the castings allow a simple connection to the carrier pipe using a pipe clamp. In this way, unnecessary material accumulation can be dispensed with and a perfect contact with the carrier tube can be achieved. The clamp connection also ensures a defined position and positive connection at least against torsion. The clamping force of the pipe clamp only needs to hold the pipe in the half-shell.
Die zentrale Schraubverbindung aus Schraube und Mutter verbindet vorzugsweise die beiden baugleichen Verbindungselemente und die beiden dazwischen angeordneten baugleichen Zwischenelemente. An den äußeren Enden besitzen Schraube und/oder Mutter einen axial hervorstehenden Zentrierzapfen, der in eine entsprechend ausgebildete Passbohrung der Trägerrohre hineinragt.The central screw connection made of screw and nut preferably connects the two identical connecting elements and the two identical intermediate elements arranged between them. At the outer ends, the screw and / or nut have an axially protruding centering pin which protrudes into a correspondingly designed fitting bore in the carrier tubes.
Das erfindungsgemäße modulare Greifersystem, wie es in den Ansprüchen 9 und 10 definiert ist, benutzt insbesondere einfache, handelsübliche, preiswerte und leichte zylindrische Trägerrohre z. B. aus Stahl oder Aluminium und die oben genannten Gussteile, insbesondere Adapterplatten und Verbindungselemente sowie zusätzlich die zum Stand der Technik gehörigen Rohrschellen und Zwischenelemente. Zur Befestigung der üblichen Spanner können zusätzlich die erfindungsgemäßen Spanneranbindungen verwendet werden.The modular gripper system according to the invention, as defined in claims 9 and 10, uses in particular simple, commercially available, inexpensive and light cylindrical support tubes z. B. made of steel or aluminum and the above-mentioned castings, in particular adapter plates and connecting elements and in addition the pipe clamps and intermediate elements belonging to the prior art. The tensioner connections according to the invention can additionally be used to fasten the usual tensioners.
Die Erfindung wird anhand der beigefügten Figuren 1 bis 10 beispielsweise näher erläutert. Es zeigenThe invention is explained in more detail, for example, with the aid of the attached FIGS. 1 to 10. Show it
Fig. 1 das neue modulare Greifersystem mit daran in beliebigen Raumlagen befestigten Spannern (11) zum Spannen eines Bauteils (1), Fig. 2 die Einzelelemente einer Vorrichtung zur Verbindung zweier Trägerrohre in der Position vor dem Zusammenbau, Fig. 3 in vergrößerter Darstellung die Vorrichtung zur Verbindung zweier Trägerrohre (3, 4) und eines Trägerrohres (4) mit einerFig. 1 shows the new modular gripper system with tensioners (11) attached to it in any position for tensioning a component (1), Fig. 2 shows the individual elements of a device for connecting two support tubes in the position before assembly, Fig. 3 in an enlarged view Device for connecting two carrier tubes (3, 4) and one carrier tube (4) to one
Spanneranbindung (29) und einem daran befestigten Spanner (11), Fig. 4a, Fig. 4b,Tensioner connection (29) and a tensioner (11) attached to it, 4a, 4b,
Fig. 4c in vergrößerter Darstellung die Verbindungselemente (8, 9) und die Adapterplatte (23),4c in an enlarged view the connecting elements (8, 9) and the adapter plate (23),
Fig. 5a, Fig. 5b eine Adapterplatte (27) zur Befestigung von zwei Trägerrohren an einemFig. 5a, Fig. 5b, an adapter plate (27) for fastening two support tubes to one
Roboterarm, Fig. 6a, Fig. 6b vergrößerte Darstellungen der Spanneranbindungen (29, 30),Robot arm, Fig. 6a, Fig. 6b enlarged representations of the tensioner connections (29, 30),
Fig. 7 in vergrößerter Darstellung die Anordnung eines VerbindungselementesFig. 7 shows the arrangement of a connecting element in an enlarged view
(8, 9) auf einem Trägerrohr (2, 3, 4), Fig. 8 in vergrößerter Darstellung zwei Zwischenelemente (10), Fig. 9a, Fig. 9b Schraube (7) und Mutter (22) für die zentrale Schraubverbindung,(8, 9) on a support tube (2, 3, 4), Fig. 8 in an enlarged view two intermediate elements (10), Fig. 9a, Fig. 9b screw (7) and nut (22) for the central screw connection,
Fig. 10 die Befestigung einer Spanneranbindung (30) an einem Trägerrohr (4) mit einem Anbauansatz (34), der parallel zur Längsachse des Rohres verläuft.Fig. 10, the attachment of a tensioner connection (30) on a support tube (4) with a mounting extension (34) which runs parallel to the longitudinal axis of the tube.
Die Zusammenstellung nach Fig. 1 zeigt ein komplettes modulares Greifersystem mit einer Adapterplatte 23 zum Anschluss eines Trägerrohres 2 an einen Roboterarm. Das Trägerrohr 2 hat beispielsweise einen Durchmesser von 60 mm, die weiteren damit verbundenen Trägerrohre 3 und 4 haben einen Durchmesser z.B. von 40 mm. Am Ende des Trägerrohres 4 sind jeweils Spanner 11 mit Spanneranbindungen 29 mit Hilfe von Rohrschellen 5 befestigt, wobei die Rohrschelle 5 in an sich bekannter Weise Klemmschrauben 6 besitzt. Wie in Fig. 1 gezeigt, kann jede beliebige Raumlage der Spanner 11 mit den erfϊndungsgemäßen Vorrichtungen erreicht werden.1 shows a complete modular gripper system with an adapter plate 23 for connecting a support tube 2 to a robot arm. The support tube 2 has a diameter of 60 mm, for example, the other support tubes 3 and 4 connected to it have a diameter e.g. of 40 mm. At the end of the support tube 4 each tensioner 11 are fastened with tensioner connections 29 with the aid of pipe clamps 5, the pipe clamp 5 having clamping screws 6 in a manner known per se. As shown in FIG. 1, any desired spatial position of the tensioner 11 can be achieved with the devices according to the invention.
In Fig. 2 ist der prinzipielle Aufbau zur Verbindung zweier Trägerrohre 2, 3 mit der erfindungsgemäßen Vorrichtung dargestellt. Die beiden Zwischenelemente 10 (vgl. auch Fig. 8) liegen mit ihren Anlageflächen 20 und Rasterelementen 21 aufeinander und die Anlageflächen 17 sowie die Konturelemente 18 liegen oben und unten den entsprechenden Anlageflächen 15 sowie den Konturelementen 16 (vgl. Fig. 4b) der Verbindungselemente 8 und 9 gegenüber. Die Verbindungselemente 8 und 9 kommen mit ihren Anlageflächen 14 an den Trägerrohren 2 und 3 zur Anlage. Wie aus den weiteren Figuren ersichtlich ist, besitzen die Verbindungselemente 8, 9 wie auch die Adapterplatten 23 und 27 seitliche sichelförmige Ansätze 19, die bei Verbindung mit den Trägerrohren 2, 3, 4 von den Rohrschellen 5 umschlossen werden. Die Verbindungselemente 8, 9 und auch die Adapterplatten 23, 27 können kostengünstig als Aluminiumgussteile hergestellt und im Nachhinein an verschiedenen Stellen mechanisch bearbeitet werden. Zu diesen Stellen gehören die Anlageflächen 14 für die Trägerrohre 2, 3, 4 und die Konturelemente 16 für die Scheibenpaarung der Zwischenelemente 10. Die zentrale Durchgangsbohrung der Verbindungselemente 8, 9 weist einen Paßdurchmesser auf, damit die Position zwischen Rohr, Verbindungselement 8,9 und Schraube 7 bzw. Mutter 22 sicher gewährleistet ist. Die Rasterscheiben zentrieren sich selbst zueinander. Wie insbesondere auch aus der vergrößerten Darstellung der Figuren 9a und 9b ersichtlich ist, besitzen die Schrauben 7 und die Mutter 22 zur Montage eine übliche Schlüsselweite und Außen- bzw. Innengewinde. An den Schrauben 7 und Muttern 22 ist jeweils ein Zentrierzapfen 38 vorgesehen, der in entsprechende Passbohrungen 13 der Trägerrohre 2, 3, 4 hineinragt.2 shows the basic structure for connecting two support tubes 2, 3 to the device according to the invention. The two intermediate elements 10 (see also FIG. 8) lie on one another with their contact surfaces 20 and grid elements 21, and the contact surfaces 17 and the contour elements 18 lie above and below the corresponding contact surfaces 15 and the contour elements 16 (cf. FIG. 4b) of the connecting elements 8 and 9 opposite. The connecting elements 8 and 9 come with their contact surfaces 14 to the support tubes 2 and 3 to the plant. As can be seen from the other figures, the connecting elements 8, 9 as well as the adapter plates 23 and 27 have lateral crescent-shaped projections 19, which are enclosed by the pipe clamps 5 when connected to the support pipes 2, 3, 4. The connecting elements 8, 9 and also the adapter plates 23, 27 can be produced inexpensively as cast aluminum parts and subsequently machined at various points. These locations include the contact surfaces 14 for the carrier tubes 2, 3, 4 and the contour elements 16 for the pair of disks of the intermediate elements 10. The central through bore of the connecting elements 8, 9 has a fitting diameter so that the position between the tube, connecting element 8, 9 and Screw 7 or nut 22 is guaranteed. The grid discs center themselves on each other. As can be seen in particular from the enlarged illustration of FIGS. 9a and 9b, the screws 7 and the nut 22 have a conventional wrench size and external or internal thread for mounting. A centering pin 38 is provided on the screws 7 and nuts 22, which projects into corresponding fitting bores 13 of the support tubes 2, 3, 4.
Die Adapterplatten 23, 27 in den Figuren 4c, 5a, 5b besitzen zur Verbindung mit dem Roboterarm jeweils Anlageflächen 24 und ein zentrales kreisförmiges Zentrierelement 25 und eine zentrale Passbohrung 26. Mit Hilfe der Adapterplatte 27 nach den Figuren 5a, 5b können gleichzeitig zwei Trägerrohre an einem Roboterarm befestigt werden. In der Mitte der Rohranbindungen befindet sich jeweils eine Passbohrung 28 für einen Zentrierstift, der auch in entsprechende Passbohrungen 13 der Trägerrohre 2 eingesteckt wird. Eventuelle Bohrungen zum Verschrauben der Adapterplatten 23, 27 mit dem Roboterarm sind nicht dargestellt.The adapter plates 23, 27 in FIGS. 4c, 5a, 5b each have contact surfaces 24 and a central circular centering element 25 and a central fitting bore 26 for connection to the robot arm. With the aid of the adapter plate 27 according to FIGS. 5a, 5b, two support tubes can be attached simultaneously be attached to a robot arm. In the middle of the pipe connections there is a fitting bore 28 for a centering pin, which is also inserted into corresponding fitting bores 13 of the carrier tubes 2. Any holes for screwing the adapter plates 23, 27 to the robot arm are not shown.
Die Figuren 3 und 10 zeigen verschiedene Möglichkeiten zur Verbindung der Spanner 11 mit einem Trägerrohr 4. Gemäß Fig. 3 ist an dem Trägerrohr 4 eine Spanneranbindung 29 (vgl. auch Fig. 6a) mit Hilfe der Rohrschellen 5 befestigt, die den einseitigen sichelförmigen Ansatz 31 umschließen. Der Anbauwinkel 33 ist rechtwinklig zur Längsachse des Trägerrohres 4 angeordnet und kommt an der Spanneranbaufläche 12 zur Anlage. Der Ansatz 31 besitzt eine Bohrung 37 zur Fixierung mit einem Passstift auf dem Trägerrohr 4.FIGS. 3 and 10 show different possibilities for connecting the tensioner 11 to a carrier tube 4. According to FIG. 3, a tensioner connection 29 (see also FIG. 6a) is fastened to the carrier tube 4 with the aid of the tube clamps 5, which has the one-sided crescent-shaped approach 31 enclose. The mounting bracket is 33 arranged at right angles to the longitudinal axis of the support tube 4 and comes to rest on the tensioner mounting surface 12. The approach 31 has a bore 37 for fixing with a dowel pin on the carrier tube 4th
Gemäß Fig. 10 ist die Spanneranbindung 30 an dem Trägerrohr 4 befestigt. Die Spanneranbindung 30 besitzt einen parallel zur Längsachse des Trägerrohres 4 verlaufenden Anbauansatz 34 mit einer ebenen Montagefläche zur Verbindung mit der Spanneranbaufläche 12 des Spanners 11.10, the tensioner connection 30 is fastened to the carrier tube 4. The tensioner connection 30 has an attachment projection 34 running parallel to the longitudinal axis of the support tube 4, with a flat mounting surface for connection to the tensioner attachment surface 12 of the tensioner 11.
Gemäß Fig. 6b besitzt die Spanneranbindung 30 ebenfalls den einseitigen sichelförmigen Ansatz 32 mit der Bohrung 37. Beide Spanneranbindungen 29, 30 weisen zur Aufnahme eines Konturstückes ein Lochbild mit Stiftlöchern 35 und Gewinde 36 auf. 6b, the tensioner connection 30 also has the one-sided crescent-shaped extension 32 with the bore 37. Both tensioner connections 29, 30 have a hole pattern with pin holes 35 and thread 36 for receiving a contour piece.
Bezugszeicheniiste:Bezugszeicheniiste:
1 Bauteil (z.B. Motorhaube)1 component (e.g. bonnet)
2 Trägerrohr (z.B. aus Stahl, großer Durchmesser, z.B. 60 mm) 3 Trägerrohr (z.B. aus Stahl, kleiner Durchmesser, z.B. 40 mm)2 support tube (e.g. made of steel, large diameter, e.g. 60 mm) 3 support tube (e.g. made of steel, small diameter, e.g. 40 mm)
4 Trägerrohr (z.B. aus Stahl, kleiner Durchmesser, z.B. 40 mm)4 support tubes (e.g. made of steel, small diameter, e.g. 40 mm)
5 Rohrschelle (für 2, 3, 4, 8, 9, 23, 27, 29, 30)5 pipe clamp (for 2, 3, 4, 8, 9, 23, 27, 29, 30)
6 Klemmschraube von 56 clamping screw of 5
7 Schraube 8 Verbindungselement (z.B. zwischen 2 und 10)7 screw 8 connecting element (e.g. between 2 and 10)
9 Verbindungselement (z.B. zwischen 3, 4 und 10)9 connecting element (e.g. between 3, 4 and 10)
10 Zwischenelement (Rasterscheibe)10 intermediate element (grid disc)
11 Spanner11 tensioners
12 Spanneranbaufläche 13 Passbohrung in 2, 3, 412 clamp mounting surface 13 fitting hole in 2, 3, 4
14 Anlagefläche von 8, 9 an 2, 3, 4 (max. halbkreis- und zylinderförmig)14 contact surfaces from 8, 9 to 2, 3, 4 (max. Semicircular and cylindrical)
15 Anlagefläche von 8, 9 an 10 (eben mit 16)15 contact surfaces from 8, 9 to 10 (even with 16)
16 Konturelemente an 15, 8; 916 contour elements on 15, 8; 9
17 Anlagefläche von 10 18 Konturelemente an 10, 1717 contact surface of 10 18 contour elements on 10, 17
19 Ansatz an 8, 9 (sichelförmig in Achsrichtung, ein- oder beidseits von 15)19 attachment to 8, 9 (sickle-shaped in the axial direction, on one or both sides of 15)
20 Anlagefläche an 1020 contact surface on 10
21 Rasterelement an 2021 grid element on 20
22 Mutter 23 Adapterplatte (für Anschluss eines Trägerrohres 2 an einen Roboterarm)22 nut 23 adapter plate (for connecting a support tube 2 to a robot arm)
24 Anlagefläche an 23, 27 (für einen Roboterarm) 5 Zentrierelement an 23, 2724 contact surface on 23, 27 (for a robot arm) 5 centering element on 23, 27
26 Zentrale Passbohrung für 2 an 23 7 Adapterplatte (zur Befestigung von zwei Trägerrohren 2 an einem Roboterarm)26 Central fitting hole for 2 to 23 7 adapter plate (for attaching two support tubes 2 to a robot arm)
28 Passbohrung für 2 an 27 Spanneranbindung (für rechtwinklige Anbindung von 11)28 fitting hole for 2 on 27 Tensioner connection (for right-angled connection of 11)
Spanneranbindung (für parallele Anbindung von 11)Tensioner connection (for parallel connection of 11)
Ansatz an 29 (einseitig, sichelförmig)Approach to 29 (one-sided, sickle-shaped)
Ansatz an 30 (einseitig, sichelförmig)Approach to 30 (one-sided, sickle-shaped)
Anbauwinkel an 29 für 12Mounting bracket on 29 for 12
Anbauansatz an 30 für 12Attachment to 30 for 12
Stiftlöcher (zur Aufnahme eines Konturstückes)Pin holes (for receiving a contour piece)
Gewinde (zur Aufnahme eines Konturstückes)Thread (for holding a contour piece)
Bohrung in 31, 32 (für Passstift)Hole in 31, 32 (for dowel pin)
Zentrierzapfen an 7, 22 (kann auch weggelassen werden) Centering pin on 7, 22 (can also be omitted)

Claims

Patentansprüche: claims:
1. Vorrichtung zur Verbindung von Trägerrohren (2, 3, 4) mit Kreisquerschnitt mit vorzugsweise unterschiedlichen Durchmessern oder eines Trägerrohres (2, 3, 4) mit einer Befestigungseinrichtung, wobei vorzugsweise die Rohre und/oder die Befestigungseinrichtung um quer zu ihrer Längsachse verlaufende1. Device for connecting support tubes (2, 3, 4) with a circular cross section with preferably different diameters or a support tube (2, 3, 4) with a fastening device, preferably the pipes and / or the fastening device extending transversely to their longitudinal axis
Drehachsen gegeneinander verdrehbar sind, dadurch gekennzeichnet, dass Verbindungselemente (8, 9) oder Adapterplatten (23, 27) oder Spanneranbindungen (29, 30) einerseits mit einer maximal halbkreis- und zylinderförmigen Anlagefläche (14) außen an einer Mantelteilfläche des Trägerrohres (2, 3, 4) anliegen und andererseits mit einer ebenen, mitAxes of rotation can be rotated relative to one another, characterized in that connecting elements (8, 9) or adapter plates (23, 27) or tensioner connections (29, 30) on the one hand have a maximally semicircular and cylindrical contact surface (14) on the outside of a partial jacket surface of the support tube (2, 3, 4) and on the other hand with a flat, with
Konturelementen (16) oder Zentrierelementen (26) oder Befestigungselementen versehenen Anlagefläche (15, 24, 33, 34) an einer korrespondierenden, ebenen Anlagefläche (17) mit entsprechenden Konturelementen (18) eines Zwischenelementes (10) anliegen oder mit Zentrierflächen oder Befestϊgungsf lachen einer sonstigenContour elements (16) or centering elements (26) or fastening elements provided contact surface (15, 24, 33, 34) bear against a corresponding, flat contact surface (17) with corresponding contour elements (18) of an intermediate element (10) or with centering surfaces or fastening surfaces other
Befestigungseinrichtung verbunden sind und dass zur kraftschlüssigen Befestigung der Verbindungselemente (8, 9), Adapterplatten (23, 27) oder Spanneranbindungen (29, 30) auf dem Trägerrohr (2, 3, 4) Rohrschellen (5) in Achsrichtung ein- oder beidseitig an den Verbindungselementen (8, 9), Adapterplatten (23, 27) oder Spanneranbindungen (29, 30) angeordneteFastening device are connected and that for the non-positive fastening of the connecting elements (8, 9), adapter plates (23, 27) or tensioner connections (29, 30) on the support tube (2, 3, 4) pipe clips (5) in the axial direction on one or both sides the connecting elements (8, 9), adapter plates (23, 27) or tensioner connections (29, 30)
Ansätze (19, 31, 32) und das Trägerrohr (2, 3, 4) umgreifen.Grip lugs (19, 31, 32) and support tube (2, 3, 4).
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Ansätze (19, 31, 32) im Querschnitt sichelförmig ausgebildet sind.2. Device according to claim 1, characterized in that the approaches (19, 31, 32) are crescent-shaped in cross section.
3. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Zwischenelemente (10) einerseits ebene Anlageflächen (17) mit Konturelementen (18) und andererseits parallel zu den Anlageflächen (17) ebene Anlageflächen (20) mit Rasterelementen (21) besitzen, wobei die Anlageflächen (20) mit den korrespondierenden Anlageflächen (20) eines baugleichen Zwischenelementes (10) kraft- und formschlüssig mit einer zentralen Schraubverbindung (7, 22) verbindbar sind, die die Verbindungselemente (8, 9) mit den beiden dazwischen angeordneten baugleichen Zwischenelementen (10) zusammenhält. 3. Apparatus according to claim 1, characterized in that the intermediate elements (10) on the one hand have flat contact surfaces (17) with contour elements (18) and on the other hand parallel to the contact surfaces (17) have flat contact surfaces (20) with grid elements (21), the Contact surfaces (20) with the corresponding contact surfaces (20) of an identical intermediate element (10) can be connected non-positively and positively with a central screw connection (7, 22) which connects the connecting elements (8, 9) with the two identical intermediate elements (10) arranged between them ) holds together.
4. Vorrichtung nach Anspruch 1, 2 oder 3, dadurch gekennzeichnet, dass zumindest eines oder mehrere der Trägerrohre (2, 3, 4), Verbindungselemente (8, 9), Zwischenelemente (10), Adapterplatten (23, 27) und Spanneranbindungen (29, 30) aus Aluminium oder einer hochfesten Aluminiumgusslegierung bestehen.4. The device according to claim 1, 2 or 3, characterized in that at least one or more of the support tubes (2, 3, 4), connecting elements (8, 9), intermediate elements (10), adapter plates (23, 27) and tensioner connections ( 29, 30) made of aluminum or a high-strength cast aluminum alloy.
5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass die Zwischenelemente (10) aus gesenkgeschmiedeten Aluminiumtellern bestehen.5. The device according to claim 4, characterized in that the intermediate elements (10) consist of drop-forged aluminum plates.
6. Vorrichtung nach Anspruch 3 oder 5, dadurch gekennzeichnet, dass die Rasterelemente (21) an den Anlageflächen (20) des Zwischenelementes (10) aus im Wesentlichen radial verlaufenden Rillen oder aus ein oder mehreren kreisförmig angeordneten Lochrastern und/oder ein oder mehreren kreisförmigen Rillen bzw. Wölbungen bestehen, wobei kontinuierlich oder stufenweise um jeweils auch wenige Winkelgrade die beiden korrespondierenden Verbindungselemente gegeneinander verdrehbar sind.6. The device according to claim 3 or 5, characterized in that the grid elements (21) on the contact surfaces (20) of the intermediate element (10) from essentially radially extending grooves or from one or more circularly arranged hole patterns and / or one or more circular Grooves or curvatures exist, the two corresponding connecting elements being able to be rotated relative to one another continuously or stepwise by a few degrees of angle in each case.
7. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Trägerrohre (2, 3, 4) und die Ansätze (19) der Verbindungselemente (8, 9), Adapterplatten (23, 27) oder die Ansätze (31, 32) der Spanneranbindungen7. The device according to claim 1, characterized in that the carrier tubes (2, 3, 4) and the lugs (19) of the connecting elements (8, 9), adapter plates (23, 27) or the lugs (31, 32) of the tensioner connections
(29, 30) Paßbohrungen (13, 28) für Paßstifte besitzen.(29, 30) have fitting holes (13, 28) for dowel pins.
8. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, dass die Schrauben (7) und/oder die Muttern (22) der zentralen Schraubverbindung an den dem Gewinde abgewandten Enden axial hervorstehende Zentrierzapfen (38) besitzen, die jeweils in die Passbohrung (13) der Trägerrohre (2, 3, 4) hineinragen.8. The device according to claim 2, characterized in that the screws (7) and / or the nuts (22) of the central screw connection on the ends facing away from the thread have axially projecting centering pins (38), each in the fitting bore (13) Project support tubes (2, 3, 4).
9. Modulares Greifersystem, vorzugsweise Geometriegreifersystem zur Realisierung unterschiedlicher Handlingsaufgaben im Automobilbau, unter9. Modular gripper system, preferably a geometry gripper system for realizing different handling tasks in automotive engineering, below
Anwendung der in den vorhergehenden Ansprüchen definierten Vorrichtungen zur Verbindung von Trägerrohren (2, 3, 4) oder eines Trägerrohres (2, 3, 4) mit einer Befestigungseinrichtung, dadurch gekennzeichnet, dass zur Verbindung des Greifersystems mit einem Roboterarm oder einem sonstigen Betätigungssystem Adapterplatten (23, 27) mit ebenen Anlageflächen (24) und/oder Zentrierelementen (25) an dem Roboterarm oder dem Betätigungssystem anliegen und lösbar befestigt sind, die Adapterplatten (23, 27) den ebenen Anlageflächen (24) gegenüberliegende maximal halbkreis- und zylinderförmige Anlageflächen (14) besitzen, die außen an einerUse of the devices defined in the preceding claims for connecting carrier tubes (2, 3, 4) or a carrier tube (2, 3, 4) with a fastening device, characterized in that for connecting the gripper system to a robot arm or another Actuation system adapter plates (23, 27) with flat contact surfaces (24) and / or centering elements (25) bear against the robot arm or the actuation system and are detachably fastened, the adapter plates (23, 27) opposite the flat contact surfaces (24) are maximally semicircular and have cylindrical contact surfaces (14) on the outside of a
Mantelteilfläche des Trägerrohres (2) anliegen, an den Adapterplatten (23, 27) seitliche Ansätze angeordnet sind, die zur Verbindung der Adapterplatten (23, 27) mit dem Trägerrohr (2) von Rohrschellen (5) umgriffen werden und dass zur Verbindung zweier Trägerrohre (2, 3, 4) des Greifersystems Verbindungselemente (8, 9) einerseits mit einer maximal halbkreis- und zylinderförmigen Anlagefläche (14) außen an einer Mantelteilfläche des Trägerrohres (2, 3, 4) und andererseits mit einer ebenen, mit Konturelementen (16) versehenen Anlagefläche (15) an einer korrespondierenden, ebenen Anlagefläche (17) mit entsprechenden Konturelementen (18) eines Zwischenelementes (10) anliegen und jeweils zweiPart of the lateral surface of the support tube (2), on the adapter plates (23, 27) there are lateral lugs, which are connected to connect the adapter plates (23, 27) to the support tube (2) by pipe clamps (5) and that to connect two support tubes (2, 3, 4) of the gripper system connecting elements (8, 9) on the one hand with a maximally semicircular and cylindrical contact surface (14) on the outside on a partial jacket surface of the support tube (2, 3, 4) and on the other hand with a flat contour element (16 ) provided contact surface (15) on a corresponding, flat contact surface (17) with corresponding contour elements (18) of an intermediate element (10) and two each
Zwischenelementen (10), die einerseits ebene Anlageflächen (17) mit Konturelementen (18) und andererseits parallel zu den Anlageflächen (17) ebene Anlageflächen (20) mit Rasterelementen (21) besitzen, wobei die Anlageflächen (20) mit den korrespondierenden Anlageflächen (20) des baugleichen Zwischenelementes (10) verbunden sind, mit einer zentralenIntermediate elements (10), which have flat contact surfaces (17) with contour elements (18) on the one hand and flat contact surfaces (20) with grid elements (21) parallel to the contact surfaces (17), the contact surfaces (20) with the corresponding contact surfaces (20 ) of the identical intermediate element (10) are connected to a central one
Schraubverbindung (7, 22) gemeinsam mit zwei Verbindungselementen (8, 9) mit dazwischen angeordneten baugleichen Zwischenelementen (10) verbunden sind.Screw connection (7, 22) are connected together with two connecting elements (8, 9) with identical intermediate elements (10) arranged between them.
10. Modulares Greifersystem nach Anspruch 9, dadurch gekennzeichnet, dass an den Trägerrohren (2, 3, 4) an sich bekannte Spanner (11) mit Hilfe von Spanneranbindungen (29, 30) befestigt sind, wobei die Spanneranbindungen (29, 30) einseitig Ansätze (31, 32) besitzen, die mit einer halbkreis- und zylinderförmigen Anlagefläche (14) außen auf dem Trägerrohr (2, 3, 4) anliegen und mit Rohrschellen (5) befestigt sind und an den10. Modular gripper system according to claim 9, characterized in that on the support tubes (2, 3, 4) known tensioners (11) are fastened with the aid of tensioner connections (29, 30), the tensioner connections (29, 30) on one side Have lugs (31, 32) which rest with a semicircular and cylindrical contact surface (14) on the outside of the support tube (2, 3, 4) and are fastened with pipe clips (5) and to the
Spanneranbindungen (29, 30) Anbauwinkel (33) oder Anbauansätze (34) mit entsprechenden Spanneranbauflächen (12) angeordnet sind. Tensioner connections (29, 30) mounting brackets (33) or mounting approaches (34) with corresponding tensioner mounting surfaces (12) are arranged.
PCT/EP2001/012258 2000-12-23 2001-10-24 Device for connecting support pipes and modular gripper system which uses this device WO2002051694A1 (en)

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CN107876956A (en) * 2017-11-03 2018-04-06 安徽瑞祥工业有限公司 A kind of weld car carries gripping structure
CN108953976A (en) * 2017-05-17 2018-12-07 奥拉夫和安德烈德珂斯协会 By in terms of the cross section on the outside on be configured to the device of the built modular that the pipe of polygon forms
CN110103204A (en) * 2019-05-23 2019-08-09 上海永乾机电有限公司 A kind of bend linkage instrument board installation manipulator

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