WO2008014756A1 - Arrangement de préhension - Google Patents

Arrangement de préhension Download PDF

Info

Publication number
WO2008014756A1
WO2008014756A1 PCT/DE2007/001310 DE2007001310W WO2008014756A1 WO 2008014756 A1 WO2008014756 A1 WO 2008014756A1 DE 2007001310 W DE2007001310 W DE 2007001310W WO 2008014756 A1 WO2008014756 A1 WO 2008014756A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
jaw
chuck
welding
axis
Prior art date
Application number
PCT/DE2007/001310
Other languages
German (de)
English (en)
Inventor
Steffen Hailer
Original Assignee
Nelson Stud Welding Inc.
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 Nelson Stud Welding Inc. filed Critical Nelson Stud Welding Inc.
Publication of WO2008014756A1 publication Critical patent/WO2008014756A1/fr

Links

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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/002—Resistance welding; Severing by resistance heating specially adapted for particular articles or work
    • B23K11/004—Welding of a small piece to a great or broad piece
    • B23K11/0046—Welding of a small piece to a great or broad piece the extremity of a small piece being welded to a base, e.g. cooling studs or fins to tubes or plates
    • B23K11/0053—Stud welding, i.e. resistive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/20—Stud welding

Definitions

  • the present invention relates to a gripping arrangement for receiving welding studs according to the preamble of claim 1.
  • a typical case is formed by two converging at a right angle surfaces when in the resulting throat area perpendicular to one or the other surface a bolt is to be welded.
  • the object is achieved by a gripping arrangement by claim 1.
  • the gripping arrangement according to the invention is based on the recognition that the gripping center, in which the welding stud is held, can be located outside the actual center axis, which is determined by the radial movement of the jaws or the jaw chuck itself. This can be achieved in that the jaw elements used in the jaw chuck are provided in a conventional manner with gripper fingers, but these gripping fingers are shaped so that the actual gripping center is not aligned with radial displacement of the jaw members with the center of the jaw chuck.
  • Such a gripping arrangement advantageously allows the holding or feeding of welding studs close to interfering edges, since the actual gripping axis is displaced from the center of the baking chuck to an edge region of the same or even beyond.
  • the gripping arrangement provides a jaw chuck arranged on a holder or an equivalent element for receiving a number of jaw elements.
  • the jaw elements are displaceably mounted radially in the direction of a center axis of the chuck.
  • Each jaw member is according to the invention connected to a gripper fingers or integrally formed therewith to grip the welding stud during a gripping movement by radial displacement of the jaw members to the center axis out between the free gripping ends of the gripper fingers.
  • the gripper fingers are designed so that the free gripper ends to move in the context of the gripping movement on a gripping axis, which is different from the center axis of the jaw chuck.
  • the gripper assembly is designed with their gripper fingers so that the gripping axis extends outside of the jaw chuck.
  • the radial clamping movement is hereby shifted in an inventive manner from the center axis of the jaw chuck, wherein in the last-mentioned case, the gripping axis even extends outside the body of the jaw chuck or its holder.
  • the welding stud can be well and safely received with little design effort, the gripper fingers can be performed sufficiently stable up to their gripping ends.
  • the number of gripper fingers can also increase, which can be kept even better and more accurate with additional design effort of the welding bolt.
  • the gripper fingers can each be formed in one piece with the jaw elements, which are mounted so as to be radially displaceable in the jaw chuck.
  • an alternative embodiment provides that the gripper fingers are detachably connectable to the respective jaw members. This results in the advantage that the jaw chuck itself is also usable for conventional clamping or holding operations in the region of its center axis.
  • the inventive gripper assembly can be assembled without the jaw chuck should be replaced in itself.
  • a particularly simple embodiment of a gripper arrangement with three gripper fingers provides that one of the gripper fingers extends substantially straight or symmetrically over the center axis of the jaw chuck in the direction of the new gripping axis, while the other two gripper fingers have substantially hook-shaped form.
  • the particularly simple shape of the first gripper finger and the at least symmetrical possible formation of the other two gripper fingers allows a total cost and structurally simple design of the gripping assembly according to the invention.
  • the meaningful hook-like shape of the two other gripper fingers results from the clamping movement required in the radial direction and is shown in more detail in FIGS. 2 and 3.
  • the jaw chuck is pivotable relative to its holder.
  • the jaw chuck can assume any desired rotational position relative to the holder, as a result of which the variety of applications of the gripping arrangement according to the invention is considerably increased.
  • the gripping axis can be pivoted around, for example, 90 ° or 180 ° about the center axis of the jaw chuck in order to be able to weld in the vicinity of opposing or mutually angled arranged disturbing edges.
  • the Schwerikvor- gang can be performed electrically, pneumatically or by other suitable drives.
  • a pivotable jaw chuck also allows to receive the welding bolt in a first pivoting position in order subsequently to move it into a second pivoting position, in which the approach to the interfering edge is to follow (it is also conceivable, for example, to execute the necessary approximation or execution by the pivoting movement alone) Positioning the welding stud).
  • the jaw chuck can be pivoted out of its welding position into a loading position in order to receive a welding stud in this position.
  • the welding stud can be raised in the direction of the gripping axis by feeding it from the rear side of the gripper fingers facing the lining.
  • the bolt can be introduced so that it protrudes by a predetermined amount on the other side of the gripper fingers. With its free end of this protruding portion of the bolt can then be positioned and welded by appropriate positioning movement in the region of the Störkante, whereupon the grippers solve the clamping and release the bolt.
  • the bolt was quasi introduced from the back of the gripper fingers and leaves them after welding to the front.
  • a suitable device in the back of the gripper fingers thus continuously welding bolts can be supplied and clamped for the welding process without pivotal movement of the chuck between a loading and a welding position would be required (of course, the loading of the gripper fingers is also "from the front" possible so that the bolt leaves the clamping area after welding in the same direction from which it was previously used.
  • FIG. 1 is a schematic side and top view of a first embodiment of the gripping arrangement
  • Fig. 2 shows a second embodiment of the gripping assembly in a schematic side and top view and Fig. 3 is a schematic representation of different pivotal positions of the jaw chuck.
  • Fig. Ia shows a gripping assembly 1 according to the invention in the vicinity of a disturbing edge K, where a welding stud 2 is to be welded.
  • the gripping arrangement 1 provides a holder 3 which carries a jaw chuck 4.
  • the jaw chuck has three jaw elements which at the same time form three gripper fingers 5a, 5b and 5c.
  • the gripper fingers 5a, 5b and 5c are mounted so as to be radially displaceable in the direction of a center axis A of the jaw chuck, wherein the center axis A extends essentially centrally to the jaw chuck.
  • the individual gripper fingers 5a, 5b and 5c are formed so that they run in the direction indicated by three arrows radial movement with their gripping ends on a gripping axis B, there to keep the pin 2 clamped.
  • the illustrated shape of the gripper fingers so the axis in the direction of the clamping movement is carried out for holding the bolt, moved by a level with respect to the conventionally known center axis A.
  • the center axis A of the jaw chuck 4 is spaced so far from a disturbing edge K, that in the direction of this center axis a welding stud 2 could not be positioned in the manner shown.
  • FIG. Ia By the inventive displacement of the gripping axis B from the center of the jaw chuck 4 addition, however, the positioning shown in Fig. Ia is possible.
  • the bolt 2 can be brought sufficiently close to the Störkante K in the desired manner and weld there.
  • the gripping axis B still passes through the body of the jaw chuck 4, since the distance to the center axis A is completely sufficient for the positioning shown.
  • the gripping axis B lies outside the body of the jaw chuck 4.
  • the associated gripper fingers 5a, 5b and 5c according to FIG. 2b are designed to be correspondingly longer in order to ensure the spacing between the axes A and B. , FIG.
  • a further significant advantage of this embodiment is that the welding stud 2 can be fed into the clamping area from the rear side of the gripper fingers facing the jaw chuck 4, in order to leave the latter to the front, following the welding.
  • the continuous provision of new welding studs is thus considerably simplified.
  • Fig. 3a and 3b the jaw chuck 4 is shown in two different positions relative to the holder 3.
  • Fig. 3a shows the chuck 4 in a loading position I, in which welding studs, not shown, the clamping area along the gripping axis B can be supplied. Alternatively, the entire assembly could be moved with its orientation I in a Aufhahme Bachelor to be supplied there with a welding stud or actively absorb such.
  • the jaw chuck 4 is pivoted relative to the position I by 90 ° in a welding position II, in which the actual welding is to take place.
  • a feeding device could therefore provide welding studs in the region of the gripping axis B according to position I, whereas the actual welding process takes place after pivoting of the baking chuck 4 into the welding position II, where the feeding device interferes less, for example.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Manipulator (AREA)
  • Pressure Welding/Diffusion-Bonding (AREA)

Abstract

L'invention concerne un arrangement (1) de préhension destiné à recevoir des boulons (2) à souder comprenant un mandrin (4) à mâchoires disposé sur un support (3) pour recevoir un certain nombre d'éléments de mâchoire. Selon l'invention, les éléments de mâchoire sont logés de manière à pouvoir coulisser dans le sens radial en direction d'un axe A central du mandrin (4), chaque élément de mâchoire étant relié avec un doigt (5a, 5b, 5c...) de préhension ou réalisé d'une seule pièce avec celui-ci, pour pouvoir saisir le boulon (2) à souder entre les extrémités (6a, 6b, 6c) de préhension libres des doigts (5a, 5b, 5c...) de préhension lors d'un mouvement de préhension par déplacement radial des éléments de mâchoire en direction de l'axe A central du mandrin (4) à mâchoires. Toujours selon l'invention, les doigts (5a, 5b, 5c...) de préhension sont configurés pour que les extrémités (6a, 6b, 6c) de préhension libres, dans le cadre du mouvement de préhension, se déplacent sur un axe B de préhension qui est différent de l'axe A central du mandrin (4) à mâchoires.
PCT/DE2007/001310 2006-08-01 2007-07-24 Arrangement de préhension WO2008014756A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202006011893.4 2006-08-01
DE200620011893 DE202006011893U1 (de) 2006-08-01 2006-08-01 Greifanordnung

Publications (1)

Publication Number Publication Date
WO2008014756A1 true WO2008014756A1 (fr) 2008-02-07

Family

ID=37112070

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2007/001310 WO2008014756A1 (fr) 2006-08-01 2007-07-24 Arrangement de préhension

Country Status (2)

Country Link
DE (1) DE202006011893U1 (fr)
WO (1) WO2008014756A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011076591A1 (de) * 2011-05-27 2012-11-29 Bolzenschweißtechnik Heinz Soyer GmbH Vorrichtung und Verfahren zum automatischen Bolzenschweißen
DE102013209768A1 (de) 2013-05-27 2014-11-27 Bayerische Motoren Werke Aktiengesellschaft Bolzenschweißkopf mit schlittengeführtem Ladeschieber

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3414430C1 (de) * 1984-04-17 1985-06-05 OBO Bettermann oHG, 5750 Menden Bolzenspannzange an einem Bolzenanschweissgeraet
DE3436615C1 (de) * 1984-10-05 1985-12-05 Emag Maschinenfabrik Gmbh, 7335 Salach Als Greiferfutter dienendes Dreibacken-Spannfutter

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3414430C1 (de) * 1984-04-17 1985-06-05 OBO Bettermann oHG, 5750 Menden Bolzenspannzange an einem Bolzenanschweissgeraet
DE3436615C1 (de) * 1984-10-05 1985-12-05 Emag Maschinenfabrik Gmbh, 7335 Salach Als Greiferfutter dienendes Dreibacken-Spannfutter

Also Published As

Publication number Publication date
DE202006011893U1 (de) 2006-10-05

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