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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/02—Gripping heads and other end effectors servo-actuated
  • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
  • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/08—Gripping heads and other end effectors having finger members
  • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
  • B25J15/106—Gripping heads and other end effectors having finger members with three or more finger members moving in parallel relationship
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
  • B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J9/105—Programme-controlled manipulators characterised by positioning means for manipulator elements using eccentric means
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
  • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams

Definitions

• the invention relates to a gripping mechanism for machines, robots and handling equipment with at least one movable gripper finger, which is driven as a coupling of a guide transmission by two drive shafts, crank, belt or pinion or sprocket or sprocket and the gripping finger from the front working side pans back to the side.
• Gripping mechanisms whose gripping fingers are set in motion by a drive shaft, move their gripper fingers either rotationally by a rotary joint which is mounted in the frame, called Winkelgreifer, or parallel as a coupling of a Gelenkparallelogramms, called parallel gripper.
• the angle grippers have the advantage of being able to pivot their gripping fingers out of the working area in front of the gripper housing in the opened state. Other objects can be transported undisturbed past the gripper. However, they have the great disadvantage of applying their gripping fingers at different object sizes at different angles to the object, which makes the design of the jaws and the use of the gripper for different sized gripping objects difficult and severely limits.
• the parallel gripper which lead their gripper fingers as coupling a Gelenkparallelogramms, in turn have the disadvantage that their gripping fingers not or not completely from the work area in front of the gripper housing to swing aside, since the Gelenkparallelogramm in an unstable position, deck or stretched position, device , in which the gripper fingers exert no force on the gripping object and can continue to run in this position antiparallel.
• the object of the invention is to create a gripping mechanism whose gripping finger pivots completely away from the working area in front of the gripper body, in each gripping position, i. even in the cover and stretched position safely and without tilting attacks, to combine the widest possible application of the angle and parallel gripper together.
• Each gripper finger is guided at two points either by two hinges or by a swivel joint and a link.
• a handlebar At the two hinges or at a rotary joint and in the backdrop of the gripper finger engages in each case a handlebar, which in turn is connected to a driven gear shaft (crankshaft, gear shaft, pulley shaft, sprocket).
• the drive shafts are driven by means of an actuating unit pneumatically, hydraulically or by electric motor.
• the scenery can also be in one of the drive shaft driven by the handlebar, while there are two swivel joints on the gripper finger.
• the scenery can also be replaced by another handlebar with double-sided hinges, a so-called binary member.
• parallelogram arrangement of the two driven links with the drive member of the actuating unit and the gripping finger can be dispensed with the backdrop or on the binary member, since the Gelenkparallelogramm is clearly circulatable even with two driven handlebars.
• the drive shaft is divided into at least two parts.
• the two-sided bearing journals of the drive shafts can be formed separately as neck bearings on the driven links.
• the driven middle part of the drive shaft can be formed smaller in diameter than the diameter of one of the two bearing journals and inserted into the gripper housing during assembly through the larger bearing bore of the gripper housing.
• the second bearing pin sits in this case as a neck bearing directly on the driven handlebars.
• the second bearing pin sits in this case as a neck bearing directly on the driven handlebars.
• the axial bearing of the drive shaft is preferably carried out by a support-support storage, which can be performed in X or O arrangement.
• the thrust bearing surfaces are located between the end faces of the driven middle part of the drive shaft and the gripper housing, i. within the gripper housing.
• the thrust bearing surfaces on the driven links are coaxial with the neck bearings outside the gripper housing.
• axial sealing rings are expediently placed which hermetically seal the gripper housing and prevent the ingress of dust and dirt into the gripper housing.
• a gripping mechanism has a gripping finger, which is guided by means of two handlebars mounted on one or both sides of the drive shafts on a preferably circular path and works as a clamping device against a stationary finger or machine part.
• the drive shaft has a handlebar mounted on one side, preferably the one neck bearing with or without axial bearing is located on this handlebar.
• the second neck bearing forms a freely rotating simple rotary part with axial teeth or holes, with or without thrust bearing surfaces, as an abutment or it is an integral part of the driven middle part of the drive shaft. Both bearings, neck bearings and abutments, have a common axis and form the fixed frame axis of rotation of the drive shaft.
• the driven handlebar consists of two handlebar halves mounted on both sides of the drive shaft
• the two radial bearings with their axial toothing, with or without thrust bearing surfaces, as a neck bearing are preferably an integral part of the two handlebar halves.
• the housing of such a designed gripping mechanism can be made of the solid 95, cast in one piece or made of an extruded profile. It has a closed cavity for receiving the drive unit and laterally arranged around the drive unit, open or U-shaped spaces for receiving the drive shafts. After assembly of the drive unit and the introduction of the inner parts of the drive shaft in the for
• neck bearings are inserted with or without handlebars on one or both sides from the outside into the bearing bores of the housing and axially fixed with the middle part of the drive shaft by an axial toothing or by means of holes and pins form-fitting.
• a unilateral link can form a free-running abutment, the second neck bearing of the drive shaft. Due to the division of the drive shaft in at least two parts, driven middle part and link, as well as by the division of their axial teeth or pins and holes, the position of the driven link with respect to the position of the drive shaft in different
• the end faces of the central part of the drive shaft are designed outside of the toothed surfaces as a thrust bearing surface for a support-support bearing of the X-arrangement. They are supported against the Axialla 115 used in the housing.
• the entire torque of the drive shaft is transmitted on one side of the handlebar.
• a second link is mirrored to the drive shaft and secured to the outside of the housing with the other half of the split grip.
• the two gripper finger parts are connected at their tips by the wider jaw. Due to the division of the finger,
• the four driven handlebar parts together with the two finger halves and the jaw carrier on one side and the two mounted in the gripper housing middle parts of the drive shaft on the other side result in a self-contained bending and torsionally stiff finger mechanism.
• 130 drive shafts are loaded symmetrically on both sides.
• the bending and torsional moment acts as a tensile or compressive load in each handlebar, which enormously increases the load capacity of the gripper.
• the bearings are located outside the bearing surfaces at the end of the neck bearings, but below the powered handlebars or underneath
• the position of the driven links relative to the drive shaft in the context of the tooth pitch or the pitch of the pins and holes can be changed as desired, to adapt the gripping area of individual gripping fingers the application case.
• a gripping mechanism with two or more movable gripper fingers exist correspondingly two drive shafts per gripper fingers, which are placed concentrically around the actuator unit to move all gripping fingers forcibly and synchronously with a single actuator unit.
• the gripping mechanism can be operated pneumatically, by electric motor, hydraulically or otherwise.
• the actuator drives either the two drive shafts of each gripper finger or it drives only one drive shaft, which in turn drives the second drive shaft by a link, a belt or toothed belt, a toothing or a chain.
• each finger mechanism would have its own drive, which would also be such as e.g. can be coupled together by springs in order not to securely grip even non-centrally positioned parts or geometrically non-symmetrical parts.
• Such a designed gripping mechanism leads each of its gripping fingers by 155 two driven links or handlebar pairs as a coupling of a multi-link linkage safely and clearly on the stretch and cover layer of its transmission links without tipping or jamming. This makes it possible for each the gripper fingers realize another range of motion to over 180 ° and swing it even with parallel movement of the work area in front of the gripper away 160 and keep the space in front of the gripper housing for other tasks.
• Fig. 1 shows a longitudinal section through a gripping mechanism according to the invention with two drive shafts per gripper fingers, which are driven by a slide and a coupling 165 of a sliding-crank mechanism.
• Fig. 2 shows a longitudinal section through a gripping mechanism according to the invention with two toothed drive shafts per gripper fingers, which are driven by a toothed slide a gear-rack-and-pinion transmission.
• Fig. 3 shows a longitudinal section through a gripping mechanism according to the invention with two toothed drive shafts per gripper finger, the first being driven by a slider-crank mechanism, and the second being driven by the first drive shaft via a belt or a chain.
• Fig. 4 shows a cross section through a driven and three-part designed Kur 175 ing shaft of the gripping mechanism according to the invention with a pair of arms, which is pivotally connected to a gripping finger.
• Identical parts have the same number or the same letter. Different indices identify different areas or different designs or multiple arrangement of the same element.
• the gripping mechanism has a stable gripper housing (1) which is secured to the flange of the robot.
• an actuating unit not shown, the pneumatic, hydraulic or electric motor, the slide (2a) placed in a translational movement.
• the slide (2a) drives by means of the coupling (3) the preferably more
• crankshafts (5a) which are positively but separably attached to the links (10a).
• the links (10a) lead at their ends the gripping fingers (11a) articulated. While the upper arm (10a) is connected to the gripping finger (11a) by a pivot, the lower arm (10a) guides another Point of the gripper finger (11a) in a backdrop (14a).
• the links 190 (10a) may be of different lengths or the crankshafts (5a) may perform different angles of rotation to give the gripping finger (11a) additional rotation during the opening or closing operation.
• the gate (14a) can also be attached to one of the two links (10a). So that the gripper finger (11a) is guided on two pivot joints. In parallel and the same length arrangement of the two links (10a) can be completely dispensed with the backdrop on the gripper finger or on the handlebars.
• the gripper finger (11a) guided on two guide rods (10a) can move clearly and safely even in its stretched 200 or cover layer with the handlebars (10a) and thereby exert forces and moments on the gripping object without tilting.
• the slide (2a) of the actuator can be driven pneumatically, hydraulically or by e-motor. It can be disassembled in two separate drives in tandem or coaxial arrangement, coupled with one another in a positive, force or frictional engagement, in order to drive the two links (10a), for example by spring force with deceleration or completely separate from one another.
• the lid (13) hermetically seals off the gear compartment, so that the gripping mechanism is completely sealed.
• the linearly driven slide (2b) of the actuating unit with its toothed rack (4) sets two preferably multi-part gear or pinion shafts (5b) into rotational movement.
• the radial bearings (6) of the pinion shafts (5b) are either directly attached to the pinion shaft (5b) or they are as a neck bearing an integral part of the handlebars (10a, 10b), with the aid of an axial toothing, which is also known as a type of rack and pinion in Form of holes 215 and pins (8) can be performed with the pinion gears (5b), adjustable in angle, are connected.
• the upper link (10a) is pivotally connected at its end to the gripping finger (11b).
• the lower link (10b) has at its end a link (14b), in which engages the bearing pin of the gripper finger (11b). Both driven handlebars (10a, 10b) clearly guide the gripper finger (11b) beyond its cover and extended position.
• the upper crankshaft (5c) has a toothing for a chain or belt or toothed belt drive (16) and at the same time drives the lower sprocket or belt pulley shaft (5d).
• the chain or belt drive (16) can also be replaced by a handlebar, which engages with its ends 225 hinged to the two drive shafts (5c, 5d), not shown.
• the scenery (14a, 14b) has been replaced here by a binary member (12) with two swivel joints. Thus eliminating the milling and hardening of the backdrop and possibly existing sliding block.
• the driven link (10a) is on both sides of the driving center
• Each handlebar half (10a) includes a radial bearing as a neck bearing (6), an axial sealing ring (9) and possibly also a thrust bearing surface (7b) for a support-support bearing of the O arrangement.
• the middle part of the drive shaft, the crank (5 a), forms together with the neck bearings (6) of the pair of links (10 a) a complete crankshaft
• the pair of links (10a) supports and centers with its neck bearings (6) the middle part of the drive shaft, whether crankshaft, gear shaft, belt shaft or chain shaft, and from which by means of the axial teeth or the pins (8) and the associated holes a bend - and torsionally stiff drive shaft.
• the axial bearing surfaces (7a) of the drive shaft are preferably mounted on the end faces of the central part of the drive shaft and serve for axially supporting the drive shaft in the X-arrangement. They are supported against the inside collar of the radial plain bearing with collar, which is inserted inside the housing (1).
• the plain bearings can also be produced by rolling bearings.
• the pair of links (10a) engages with its free end pivotally in the finger halves (11a), which are connected by the jaw carrier (15) and held at a distance.

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

Priority Applications (5)

Applications Claiming Priority (2)

Publications (3)

Family

ID=40225584

Family Applications (1)

Country Status (6)

Cited By (1)

Families Citing this family (8)

Citations (2)

Family Cites Families (26)

• 2007
  • 2007-08-21 DE DE102007039398A patent/DE102007039398B4/de not_active Expired - Fee Related
• 2008
  • 2008-08-19 DE DE112008002910T patent/DE112008002910A5/de not_active Withdrawn
  • 2008-08-19 EP EP08801187A patent/EP2190632B1/de active Active
  • 2008-08-19 JP JP2010521298A patent/JP5567479B2/ja active Active
  • 2008-08-19 WO PCT/DE2008/001364 patent/WO2009024137A2/de not_active Ceased
  • 2008-08-19 AT AT08801187T patent/ATE510663T1/de active
  • 2008-08-19 US US12/531,280 patent/US8459709B2/en active Active

Patent Citations (2)

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