Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
  • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
  • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
  • F15B15/08—Characterised by the construction of the motor unit
  • F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
  • F15B15/1414—Characterised by the construction of the motor unit of the straight-cylinder type with non-rotatable piston
  • F15B15/1419—Characterised by the construction of the motor unit of the straight-cylinder type with non-rotatable piston of non-circular cross-section
• • 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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
  • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
  • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
  • B23Q7/043—Construction of the grippers
• • 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
  • B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams

Definitions

• the invention relates to an automation component or clamping device with a base housing, with at least one in a jaw guide of the base housing
• Piston surface and having a piston arranged transversely to the piston surface extending piston rod, wherein the piston is coupled in movement with the jaw.
• the invention also relates to an associated piston.
• automation components are in particular gripping devices, linear modules or axes, conveying or lifting devices or the like into consideration.
• Automation component in the form of a parallel gripper with a basic housing and two adjustable jaws, which are slidably mounted in the base housing in a jaw guide, previously known.
• the jaws are adjustable by means of a wedge-hook gear, wherein the
• Keilhakengetriebe is adjustable via an oval, guided in the main body piston.
• centroid is in plan view of the
• Piston surface within the circumference of the piston rod Although occurs due to the distance of the center of gravity of the central longitudinal axis during an actuation a tilting moment; However, this will - as it acts within the scope of the piston rod - directly into the piston rod
• the base housing may in particular comprise a cylinder with a cylinder wall formed by the base housing.
• a piston-cylinder unit is provided which is designed as a hydraulic or pneumatic adjusting device for the jaw. A movement coupling of the piston or the piston rod with the jaw can
• the piston surface has an axis of symmetry, wherein the centroid is on the axis of symmetry. If axial symmetry is present, the focus is always on the
• Shifting direction of the jaw runs.
• a tilting moment of the piston transversely to the displacement direction has a particularly negatively negative effect.
• the piston surface is expanded starting from an elliptical shape in the direction of a small half-axis.
• the small semi-axis may extend in particular transversely to the direction of displacement of the jaw.
• the small half-axis corresponds to the shortest half-diameter of the piston, while the large half-axis corresponds to the largest half-diameter of the piston. It is conceivable that the piston rod circular cylindrical
• the piston rod can in particular a
• centroid can be spaced 0.5 mm to 1.5 mm, in particular 1 mm from the central longitudinal axis.
• the piston may have a polygonal outer contour in plan view; This also allows the best possible utilization of the available basic housing area. In order to achieve a better seal, the corners can be made rounded.
• the outer contour can describe a curve whose curvature is rectified at each point, that is to say has the same sign and / or whose curvature does not become zero at any point, wherein a curvature corresponds to zero of a straight line.
• the individual segments which describe the outer contour can be tangent-continuous and / or curvature-continuous and / or
• centroid can be spaced parallel and / or transversely to the direction of displacement of the jaw from the central longitudinal axis.
• center of gravity only transversely to the displacement direction of the jaw of the
• Piston has a particularly minor influence.
• the surface of gravity parallel and / or transverse to a housing wall of the base housing from the central longitudinal axis may be spaced.
• Tensioner In particular, the invention is achieved by a piston with a arranged thereon
• the centroid of the piston surface of the piston is spaced from the central longitudinal axis of the piston rod.
• Figure 1 is a perspective view of a
• Automation component in the form of a
• Figure 2 is a plan view of the parallel gripper according to
• FIG. 1 A first figure.
• Figure 3 shows a cross section through the parallel gripper according to
• FIG. 4 shows a piston with piston rod arranged thereon for the parallel gripper shown in FIGS. 1 to 3;
• Figure 5 is a plan view of the representation of FIG.
• FIG. 6 shows a bottom view of the illustration according to FIG. 4.
• FIG. 1 shows a gripping device 2 designed as a parallel gripper. This comprises a basic housing 4 with in a jaw guide 8 extending in the longitudinal direction 6 for two gripper jaws 10 (see FIG. 1
• Longitudinal 6 can be inserted into the jaw guide 8 and slidably mounted therein.
• the longitudinal direction 6 also corresponds to the displacement direction 6.
• On an upper side of the gripper jaws 10 mounting openings for releasably attaching gripper finger elements in the broadest sense are provided, which will not be further described here.
• sensor grooves 40 are provided, on which position sensors can be arranged.
• a cylinder space 12 is provided in the base housing 4, the cylinder base 14 of the cylinder space 12 having an opening 16 opening into the jaw guide 8. From Figure 3 shows that a piston 18 is guided in the cylinder chamber 12 slidably.
• the piston 18 has a piston surface 20. This corresponds to the of
• a piston rod 22 is arranged, which is transverse to Piston surface 20 extends.
• the piston rod 22 passes through the opening 16 of the bottom 14 of the cylinder chamber 12.
• the cylinder chamber 12 is above a cylinder cover 36th
• the piston rod 22 is by means of a
• Screw 38 screwed to the piston 18.
• the piston surface 20 has a center of gravity 24 is spaced from the central longitudinal axis 26 of the piston rod 22. As can be seen in Figures 2 and 6, the centroid 24 of the piston surface 20 is within the circumference u of the piston rod 22.
• the piston rod 22 is formed circular cylindrical with a diameter d, wherein the centroid 24 by the distance e of 2 - 10% of Diameter of the piston rod is spaced from the central longitudinal axis 26.
• the piston 18 or the piston surface 20 has an axis of symmetry 30. Consequently, the centroid 24 lies on the axis of symmetry 30.
• the axis of symmetry 30 extends transversely to the displacement direction 6 of the jaws 10. So is the
• Centroid 24 transversely to the direction of displacement 6 spaced from the central longitudinal axis 26.
• FIG. 4 two wedge hooks which are mirror-symmetrical to the symmetry axis 30 on the piston rod 22 are shown 31, each with a web portion 32 and a hook portion 34 is arranged.
• the wedge hooks 31 cooperate with corresponding guide grooves of the gripper jaws 10, so that this wedge hook gear a
• Motion coupling of the gripper jaws 10 is provided with the piston 18.
• the piston-cylinder unit comprising the piston 18 and the cylinder chamber 12 thus forms a hydraulic or pneumatic actuating device for the gripper jaws 10.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Robotics (AREA)
• Physics & Mathematics (AREA)
• Fluid Mechanics (AREA)
• General Engineering & Computer Science (AREA)
• Manipulator (AREA)
• Pistons, Piston Rings, And Cylinders (AREA)
• Actuator (AREA)

Priority Applications (5)

Applications Claiming Priority (2)

Publications (1)

Family

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Family Applications (1)

Country Status (7)

Families Citing this family (5)

Citations (7)

Family Cites Families (15)

• 2015
  • 2015-09-21 DE DE102015218063.8A patent/DE102015218063A1/de not_active Ceased
• 2016
  • 2016-09-02 JP JP2018515073A patent/JP6820325B2/ja active Active
  • 2016-09-02 WO PCT/EP2016/070780 patent/WO2017050544A1/de not_active Ceased
  • 2016-09-02 EP EP16766499.4A patent/EP3353427B1/de active Active
  • 2016-09-02 KR KR1020187010201A patent/KR102204138B1/ko active Active
  • 2016-09-02 US US15/761,860 patent/US10525602B2/en active Active
  • 2016-09-02 CN CN201680054874.2A patent/CN108026946B/zh active Active

Patent Citations (7)

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