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
  • B25J9/104—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
  • B25J9/109—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 devices with at least one movable gripper finger, which is driven by at least one drive shaft, crank, gear, toothed belt or sprocket, 5.
• the drive shaft, crank, gear, Toothed belt or sprocket shaft designed in several parts and is axially and radially mounted on both sides by a fixed-lot or a support-support bearing in the frame so that at least one of the two-sided bearing pin of the drive shaft as a separate neck bearing on a gripper finger and / or on a Handlebar of the gripping mechanism is adsbil det, which drives the gripper finger, and the centering of the parts of the drive shaft relative to each other and the transmission of torque from the drive shaft to the gripper fingers or other elements of the gripping mechanism by frontal axial gearing or axial pinning of the parts each other.
• the gripping fingers are offset by a crank or a gear in rotary motion 5, usually have a crank or gear shaft with double-sided journals in one piece, the shaft ends for the purpose of transmitting the torque from the gear and the torque by means of known shaft Transfer hub connections to other members of the gripper mechanism.
• the housing of such gripping mechanisms consists of several parts which are screwed together. These are expensive to manufacture and they are especially expensive to install.
• the power flow from the gripper finger runs over the fastening elements of the housing parts and tries to press them apart.
• the attachment and transmission of the torque between the crank or gear shaft of one part and the other members of the gripping mechanism is fixedly connected to a certain position of the drive shaft.
• the present invention seeks to manufacture the housing with its forces and moments transmitted parts bending and torsional and0 montage and inexpensive one-piece and beyond the connection between the driving member, crank, gear, chains or pulley and the driven member of the gripping mechanism simple, safe and secure stiff and variable in twisting angle to allow the widest possible application of the same gripping mechanism. This object is achieved with the features specified in claim 1.
• the drive shaft is divided into three sections, a driven middle part as a crank or toothed, chain or pulley with double-sided axial teeth and with or without thrust bearing surfaces for a support-support bearing in X-arrangement and two separate journals as a neck bearing in separate parts of the Gripping mechanism with axial toothing and with or without thrust bearing surfaces alternatively for a support-support bearing of the drive shaft in O arrangement.
• the axial toothing of the parts which can also be designed as a drive shaft toothing by means of holes and pins, ensures the positive connection PHg and centering of the parts relative to each other and for the torsionally rigid and still variable in the angle of rotation transmission of torque from one part to another part the drive shaft.
• the two-sided bearing pin of the drive shaft may also have axial through holes, which serve for the passage of the pins from the bores of the middle part of the drive shaft to the holes of the driven gripper finger or the handlebar, which drives the gripper finger.
• the drive shaft can be made of two parts (a middle drive part together with a journal and a one-sided gripper finger together with a neck bearing), or up to five parts (a first gripper half, a first journal, a middle drive part, a second one Bearing pin and a second gripper half) consist, all of which are connected by axial pinning, preferably continuously with long pins.
• connection of the parts of the multi-part drive shaft or the multi-part rotation axis with each other can also be frictionally carried out by tapered shaft-hub connections.
• the advantage of a frictional connection is firstly that the parts can be connected continuously relative to one another, and secondly, this connection reacts in the event of accidental collision during use as a kind of slip clutch and protects the parts against breakage.
• an inventive gripping mechanism has a unilaterally or on both sides of the multi-part designed drive shaft, crank, gear, Riemenrad- or Kettenradwelle, mounted movable gripper fingers, which works as a clamping device against a stationary gripper or machine part.
• the gripping mechanism has a gripping finger attached to the drive shaft on one side, at least one neck bearing with or without an axial bearing surface is located on this gripper finger.
• the second neck bearing forms a freely rotating simple rotary part as an abutment with axial toothing, with or without thrust bearing surface.
• Both neck bearings, finger bearings and abutments have a common axis and form the axis of rotation of the drive shaft. If the gripping mechanism has a gripping finger mounted on both sides of the drive shaft, then the two radial bearings with frontal axial toothing, with or without thrust bearing surface, are accommodated as neck bearings in the two finger halves or in driven link parts which drive the gripper finger.
• the housing of such a designed gripping mechanism can be made of the solid or cast in one piece. It has two interconnected cavities for receiving the actuator unit such as pistons and piston rod for the pneumatic actuation on the one hand and for receiving the drive shaft in a toothed shaft or the entire gear unit in joint drives, on the other. After mounting the actuator and the introduction of the gear unit without neck camp in the designated cavities, the cavities are closed with appropriate lids and fasteners or plugs. Finally, from the outside, the gripper fingers or the driven handlebar parts with the neck bearings located therein on both sides or on one side with abutments on the other side in the drilling -A-
• the end faces of the middle part of the drive shaft are designed as thrust bearings for a support-support bearing of the X-arrangement. They are supported against the bearing collar of the slide bearing inserted from the inside into the housing.
• the axial support-support bearing of the drive shaft or the axis of rotation are their A-
• a second gripper half or handlebar half is used in mirror image to the first to the inner parts of the drive shaft and attached outside of the gripper housing with an intermediate piece as a jaw carrier or swivel-joint with the gripper finger instead of 115 Widerlager.
• Both finger or handlebar parts together with the jaw carrier or gripper fingers on one side and the middle part or parts of the drive shaft 120 or the rotation axis on the other side result in a self-contained bending and torsion-proof gripper finger or finger mechanism.
• the drive shaft is loaded symmetrically on both sides in this case. The torsional moment is halved for each side.
• the position of the gripper fingers or the driven link as output member relative to the central part of the drive shaft as a drive member in the frame 130 of the front tooth pitch or the pitch of the pin holes can be changed as desired to adapt the gripping area of individual gripping fingers the application.
• a gripping mechanism with two or more movable gripper fingers exist corresponding number of multi-part drive shafts 135 and / or rotary axes according to the invention, which are placed concentrically around the actuator unit to be forcibly operated synchronously with a single drive.
• a further advantageous embodiment of the invention provides gripping mechanisms with two driven drive shafts per movable gripper fingers.
• the gripper members also called handlebars, which are fastened on one or both sides with the multi-part drive shafts, with the neck bearings, at their free ends guide the gripper finger as coupling of a joint transmission. While the first link connected to the first drive shaft is pivotally connected to the gripper finger, the second link connected to the second drive shaft is pivotally connected to the gripping finger by a link or by means of a smaller link, a binary link.
• the scenery can be located in the gripper finger or in the handlebar, which is connected to the drive shaft. It can take any path shapes, in addition to pivot the gripping finger during its movement within certain limits.
• Such a gripping mechanism designed with two synchronously driven shafts per gripper finger reliably guides the gripper finger as a coupling of a multi-articulated joint mechanism through and over the stretch and cover layer of the gripper finger with the driven links without tilting or jamming. This makes it possible to realize a range of motion that goes far beyond the
• the second link driven by the second drive shaft also guides the gripper finger through a simple pivot. Does not have the four-bar linkage, consisting of the gripper fingers, connecting piece of the two drive shafts and the two driven by the drive shafts links through its stretch and cover layer
• Go through 165 it can be dispensed with one of the two drive shafts and these are replaced by a revolving axis of rotation.
• Fig. 1 shows a longitudinal section through the housing of the gripping mechanism according to the invention with two pneumatically driven multi-part designed 170 drive shafts.
• Fig. 2 shows the cross section through a three-piece crankshaft as the drive shaft of a gripping mechanism according to the invention with one-sided finger arrangement.
• Fig. 3 shows the longitudinal section through the housing of a gripping mechanism according to the invention with an at least two-piece designed gear or Rit- 175 zelwelle as a drive shaft and a rack connected to a cylinder-piston unit as a drive unit.
• Fig. 4 shows the cross section through a three-piece crankshaft as the drive shaft of a gripping mechanism according to the invention with finger assembly on both sides and a jaw carrier as a connector of the two finger halves.
• Fig. 5 shows the front view in the gear compartment of a gripping mechanism according to the invention with four three-piece drive shafts for four gripping fingers arranged on both sides.
• Fig. 6 shows a longitudinal section through a gripping mechanism according to the invention, each with two multi-part crankshafts designed as drive shafts per 185 gripper finger.
• Fig. 7 shows a longitudinal section through a gripping mechanism according to the invention, each with two multi-part gearwheels as drive shafts per gripper finger.
• Indices 190 indicate different areas, different designs or multiple arrangement of the same element.
• the gripping mechanism has a housing (1) with two coaxial cavities (2a, 2b).
• a piston-rod unit (3) is accommodated as an actuating unit and sealed off with the cover (11a).
• the gear unit consisting of at least one slider-crank mechanism or at least one gear-rack unit or a worm-worm wheel unit housed.
• the piston rod drives by means of slide (4a) and coupling member (5) to the central part of the three-piece designed drive shaft (6) as a crankshaft.
• the torque is from the middle
• the middle part of the drive shaft (6) has on both sides two flat surfaces with the holes for the pins (8) and can thus be introduced through the one-sided opening of the gripper housing in the gear housing (2b). Parts of these flat surfaces can be used as
• the gear chamber (2b) may also be a simple bore in which a toothed shaft is located as a drive shaft (6) which is driven by a toothed piston rod.
• the drive shaft (6) consists of three parts (6a, 6b, 6c) and has a support-support-bearing of the X-arrangement.
• the crank (6a), on both sides has two surfaces (7a, 7b), which serve as thrust bearing surfaces of the support-support bearing. In the middle of these bearing surfaces are on both sides bores, which receive the neck bearing (6b) of the gripper finger and the abutment (6c) by means of pins (8) center and on these pins or by means of a different Vernierungsart the torque of the drive shaft (6) on the gripping
• the radial bearing of the drive shaft (6) in the gripper housing (1) is mounted on the one hand as a neck bearing (6b) on the gripper finger (10) and on the other hand on a separate abutment (6c).
• the pre-assembled gear consisting of the slide (4a), coupling (5) and cranks (6a), through the front opening in the gripper housing (1) insert, with the piston rod of the actuator
• the support-support-bearing of the drive shaft can also be realized in O arrangement.
• the thrust bearing surfaces are located on the neck of the gripper finger (10) and the abutment (6c) outside of the housing within the Axialdichtringe (9).
• the gripping fingers (10) each by a two- or three-piece
• toothed drive shaft (6d) a gear shaft, driven.
• a slide rack (4b) which drives the toothed drive shaft (6d) and with it the gripping finger (10).
• the rack (4b) and the toothed drive shaft (6d) can also be replaced by a worm and a worm wheel to a rotary drive
• the toothed drive shaft (6d) is mounted axially and radially in the gripper housing (1), wherein the neck bearing (6b) forms part of the gripper finger (10) on this and the abutment (6c) separately on the opposite side of the Greiffingers is located. With two-piece design of the toothed drive shaft (6d) is located
• the toothed central part either on the neck bearing (6b) or on the abutment (6c).
• the division of the toothed drive shaft can also be done within the toothed region in a straight toothing, so that the toothing is composed of two halves, which are pinned together axially or otherwise secured. With two pitches of the toothed drive shaft (6d), the shark
• the gripping finger consists of two halves (10a, 10b) which are arranged on both sides 250 of the housing and are fastened detachably to one another outside the housing area with the aid of the jaw carrier (10c).
• Each gripper half (10a, 10b) includes a neck bearing (6b) of the drive shaft, crankshaft or gear shaft, an axial seal (9) and in O arrangement also a thrust bearing surface of the support-support bearing.
• the middle part (6a) of the drive shaft together with the 255 finger parts (10a, 10b) and the jaw carrier (10c) forms a closed, bending and torsion-resistant unit.
• the gripper finger halves (10a, 10b) support and center with the aid of their integrated neck bearing (6b) and their pins (8) or axial toothing the middle part (6a) of the drive shaft and form with its thrust bearing surfaces (7) and the jaw carrier (10c) a completely closed, bending and 260 torsion stiff gripper finger, which is relative to its drive shaft, crank or gear shaft, in the context of the pitch of the pins (8) adjustable in angle.
• a plurality of gripping fingers (10) can be arranged around the central actuating unit (3) and all driven pneumatically, hydraulically or electrically synchronously by means of a single centrally arranged slide (4c) and a crank or gear shaft.
• two multi-part drive shafts (6) here designed as crankshafts, each drive a link (10d), at the ends of which a gripping finger (14a) is articulated. While a handlebar is connected by a rotary joint with the gripper finger, the second link engages with its bearing pin in
• the links (10d) may be of different lengths or the cranks (6a) may perform different angles of rotation to give the gripping finger (14a) additional rotation during the opening or closing operation. Due to the track shape of the link (13a), an additional movement can also be made possible for the gripper finger, in each case
• the link (13a) can also be attached to one of the two links (10d), so that the gripping finger (14a) has only two pivot joints. In parallel and the same length arrangement of the two links (10d) can be dispensed with the scenery on the gripper finger (14a) or the handlebar (10d).
• the scenery (13a) can also be on the external drive of one of the two handlebars From
• the linear actuator (4d) can be driven pneumatically, hydraulically or by electric motor. It drives the cranks (6a) of the drive shafts (6) via the coupling links (5) and can be disassembled in two separate drives in tandem or coaxial arrangement and positively, positively or frictionally coupled together 290 to the two links (10d) partly together and partly separately from each other to drive.
• the lid (11c) hermetically seals off the gear compartment so that the entire gripping mechanism is completely sealed.
• the radial bearings of the toothed drive shafts (6d) are mounted as a neck bearing (6b) on the links (10d, 10e) and connected by means of holes and pins (8) with the toothed part of the drive shaft, adjustable in angle.
• the handlebar (10d) engages with its end pivotally on the gripper finger (14b).
• the handlebar (10 e) has at its end a gate (13 b), in which the
• the gate (13b) can be replaced by a binary link consisting of a small link with a swivel joint on both sides, not shown. Kinematically, this gripping mechanism behaves similar to that described in FIG.
• the drive of the second drive shaft can also be dispensed with under the same conditions.
• the drive of the second drive shaft can also be effected by a toothed belt or a chain via the first drive shaft.

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)
• Load-Engaging Elements For Cranes (AREA)
• Jigs For Machine Tools (AREA)

Priority Applications (5)

Applications Claiming Priority (2)

Publications (3)

Family

ID=40254764

Family Applications (1)

Country Status (6)

Cited By (2)

Families Citing this family (12)

Citations (3)

Family Cites Families (25)

• 2007
  • 2007-08-21 DE DE102007039399A patent/DE102007039399B4/de not_active Expired - Fee Related
• 2008
  • 2008-08-19 US US12/531,285 patent/US8235438B2/en active Active
  • 2008-08-19 JP JP2010521299A patent/JP5603772B2/ja active Active
  • 2008-08-19 DE DE112008002849T patent/DE112008002849A5/de not_active Withdrawn
  • 2008-08-19 WO PCT/DE2008/001365 patent/WO2009024138A2/de not_active Ceased
  • 2008-08-19 EP EP08801188A patent/EP2190633B1/de active Active
  • 2008-08-19 AT AT08801188T patent/ATE516118T1/de active

Patent Citations (3)

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