DE3306526A1 - Gripping device - Google Patents

Abstract

The invention relates to a gripping device having a housing block (1) in which a working piston (4) can be driven in both directions by alternating supply of pressure medium, in particular compressed air. The working piston (4) drives at least two gripper fingers (14, 15) which are moved by at least two pins (16, 17) kinematically connected to the working piston (4). These pins (16, 17) are arranged directly above the working piston (4) and are movable radially with respect to the latter. As a result, the housing (1) can be constructed to be outwardly sealed to pressure medium and the entire device can be of extremely space-saving and compact design. Hose lines are no longer absolutely necessary for assembly (Fig. 1). <IMAGE>

Description

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Eattunog The invention relates to a gripping device for workpieces or other handling parts, with one in a housing by pressure medium pressure actuatable, longitudinally displaceable and sealingly guided working piston in a cylinder, which is in drive connection with bolts to which grippers are assigned.

State of the art Such gripping devices are considered to be pneumatic powered grippers most widely used. However, there will be Fixtures usually used for small or very small workpieces. the Most of the prior art constructions are air pressure opened while the gripping force is applied by a spring. Mostly they are equipped with lever-like fingers. The disadvantage is that it is usually very low Gripping force. In addition, the movement of the finger changes with different Workpiece diameters the gripping center. The consequence is that each a new gripping center must be programmed, which is extremely cumbersome and is time consuming and therefore costly. At z. B. portal chargers or single loaders this is a particularly time-consuming process.

Another serious disadvantage of previously known constructions by Gripping devices is that they are very susceptible to contamination. Because of the low Such devices can only be used to a limited extent with gripping force. In addition, a must additional effort for cleaning and maintenance as well as electrical monitoring be driven, as a loss of gripping force usually leads to failure of the entire Plant leads, which causes corresponding costs.

The previously known gripping devices with greater gripping force are constructed like clamping tools with a steel body and screwed-on cylinders. [! is Due to the large dimensions, such constructions are only used in very few cases Not insertable.

The tracking of the compressed air supply lines has proven to be particularly disadvantageous proven. For a gripping device with z. 13. two grippers and a turning device are z. rs. Up to six hoses required, with up to four hoses at all times have to make a swivel movement of 180 degrees. This is extraordinary Stress on the hoses, which often leads to hose rupture and thus failure the system leads.

Hydraulically operated gripping devices can indeed use greater forces apply and have significantly smaller ßauab measurements, but must also a hydraulic unit can be provided. It is well known that the for this Required valves, screw connections, pipes and the like. Are considerably more expensive than that comparable elements required in pneumatically operated gripping devices this kind.

Another disadvantage of hydraulically operated gripping devices is to see that every replacement of parts or small leaks too lead to considerable contamination of the area around the gripping device.

Therefore, such hydraulically operated gripping devices are in Food area and when assembling items to be kept clean in general Cannot be used or can only be used to a limited extent.

The different hydraulic behavior must also be taken into account operated gripping devices with changing oil temperatures, z. B. during the Start-up phase.

The feeding of the supply hoses is often because of the thicker ones armored hoses are even more problematic than with pneumatically operated devices this kind.

Gripping devices driven by an electric motor would be advantageous, which, however, are still in the development phase. They are also disruptive in proportion huge 13aucale dimensions and the high cost. In addition, the electrical power supply lines be specially protected and guided.

The state of the art also includes vacuum and magnetic grippers that but only for special applications, i.e. for a narrowly limited area of application, are usable.

OBJECT The invention is based on the object of a gripping device according to the generic term of claim 1 can also be used for heavy workpieces close. The gripping device should either be hydraulic or pneumatic to be operated. In addition to avoiding the disadvantages associated with the prior art supply hoses for operating the gripping device should no longer be essential to be required.

Solution The object is given by the claim 1 Features solved.

Some advantages The invention not only solves the underlying Task, but also has the advantage that it can be extremely compact. Any supply lines in the form from ch 1 uh before sir, that is, one c r ci un g acc; I [3e n gripping device no longer absolutely necessary. Much more the channels can be arranged as channels in the materially one-piece housing be, to which other parts of the device are immediately pressure-medium-tight if necessary can be flanged. This eliminates the hose ruptures that have so far often occurred avoided. These supply channels can be arranged on the front and or on the side be, so that there is no for the arrangement of a gripping device according to the invention from the manufacture of which results in a predetermined installation position. Rather, the energy can brought up to the gripping device from any side and diverted again will. Unnecessary channels can e.g. B. be shut down by blind plugs. It is of course also possible to assign threads to the channels, see above that they can still be connected to hose connections by screwing.

The fact that the working piston can be moved radially directly below the mounted bolt is arranged, the overall height can be kept very low. In addition, the gear connection can be structurally simple, for. B. about wedge Establish mutually extending surfaces, over which the radial drive of the bolts he follows.

Since the housing is carved out of the full in the form of a gellouse block can be, it can be designed to be pressure medium-tight to the outside, so that the Soiling that was previously troublesome can no longer occur.

Further designs for designs according to claim 2 results in a particularly robust, space-saving construction.

If an embodiment according to claim 3 is selected, so can the gripping device according to the invention with its block-shaped housing in particular simply connect directly to other parts of the device.

In the embodiment according to claim 4, the bolts can directly in cylinders guided radially to one another or in one radially at right angles to the longitudinal axis of the working piston extending through cylinder, so coaxially to each other be guided slowly and sealingly. This results in a further reduction the external dimensions.

If an embodiment according to claim 5 is chosen, so leave Both tensile and compressive forces are transmitted via the bolts. In this way is it then z. B.

possible, a gripping device according to the invention to the inside as well to be used for external clamping without constructive changes to the internal parts, z. B. on the housing or on the working piston or on the [3n bolts In claim 6 is a particularly advantageous embodiment of the invention described.

In the embodiment according to claim 7, a twisting of the Gripping fingers reliably avoided. In this way, handling parts grip particularly precisely. Even high accelerators do not lead to twisting the gripper finger. These safely retain the predetermined installation position.

The embodiment according to claim 8 does not require any special Lubrication. In addition, no special maintenance intervals are required.

In claim 9, a further advantageous embodiment is E form described.

In the embodiment according to claim 1, the parts manufacture as inexpensive automatic turned parts.

Claim 11 proposes an embodiment in which, for. B. three bolts so far into each other, d. H. in the direction of the longitudinal axis of the working cylinder can be driven until they can support themselves to their maximum length.

In the embodiment according to claim 12, the working piston constantly acted on on one side by a spring element, which from the opposite side can be tensioned by pressure medium pressure. This spring element holds in the event of a pressure medium failure the gripper fingers in the sense of tensioning under force, so that additional security is achieved.

In the drawing, the invention - partly schematically - is based on exemplary embodiments illustrated. They show: FIG. 1 a section along the line I - I of FIG.

2; FIG. 2 shows a section along the line II - II of FIG.

1; 3 shows a detail view, with the bolts at a maximum have moved into each other (against each other), so that the smallest possible distance between the gripper fingers results; Fig. 4 shows a further embodiment of the invention, namely in one after the line IV - IV of FIG. 5 extending section; FIG. 5 is a plan view of FIG. 4, partly in section, and FIG. 6 shows a further embodiment of the invention, in partial representation.

With the reference numeral 1 is in the drawing in all the exemplary embodiments denotes a block-shaped housing, which can be seen from FIGS. 1 to 3 Execution form is cylindrical and flattened. Even with the Figures 4 to 6 apparent embodiment, the housing has a substantially cylindrical basic shape. In this housing block 1, the following are still described Channels and cylinders molded or

incorporated.

In the embodiment according to FIGS. 1 to 3, it is coaxial with the longitudinal axis 2 of the housing 1, a working cylinder 3 is arranged, which is about halfway the length of the housing 1 and in the direction X or

Y a working piston 4 arranged between a pressure medium-tight Housing cover 5 and a housing stop 6 arranged to be longitudinally displaceable and sealing is. The working piston 4 is pressure-tight against the pressure medium via a seal 7 inner cylinder wall sealed.

The working cylinder formed between the working piston 4 and the housing cover 5 3 can 8 pressure medium via a channel incorporated in the housing block 1 Device 9 or directly flanged to the housing block 1 in a pressure-tight manner via a threaded hole (Fig.

6) of the channel 8 screwed line (not shown) supplied will. Hoses are therefore not essential necessary. Will the reverse direction of movement of the working piston 4 is desired, then via the Pressure medium supply channel 10 pressure medium also incorporated into the housing block 1 supplied to the (Fig. 2) a suitable device 11 also pressure medium-tight ' is flanged. The device 11 is thus flanged from the housing side, while the device 9 is flanged to the lower end face of the gripping device is. However, it is also possible to use both connections, i.e. channels 8 and 10 as well 44 and 45 can be arranged either laterally or from below.

Threaded blind bores are denoted by the reference numeral 12, with which suitable device parts can be connected directly, while the Reference numeral 13 denotes a threaded connection channel to which, for. B. a hose or other rigid device can be flanged directly can. If this channel 13 is not needed, it can be silent through a blind plug be laid.

In the embodiment according to Figures 1 to 3 are diametrically opposite sides two gripper fingers 14 and 15 are provided, the by being arranged coaxially to one another, in the case of which can be seen from FIGS. 1 to 3 Embodiment essentially cylindrical bolts 16 or 17 in direction A or B synchronously, but in each case opposite to one another, thus transversely to the longitudinal axis 2 of the housing 1 are driven. The gripper fingers 14 and 15 are each through a screw is connected to the relevant 1301zen 16 or 17, in FIG. 1 only the one assigned to the gripper finger 14 Screw with the Reference numeral 18 has been provided.

The screws concerned engage in an assigned threaded blind hole a. With each of the gripper fingers 14 and 15, a suitable gripper jaw can open the inside or outside be coupled with which the handling part, for. B. a Workpiece to be gripped.

Two guide pins are coaxial with one another at right angles to the longitudinal axis 2 19 and 20 arranged, each in an opening of the associated gripping finger 14 or 15 intervene and secure it against twisting.

It can be seen from Fig. 1 also that with the working piston 4 a wedge-shaped piston rod 21 or some other drive part is connected with correspondingly inclined end-face stop surfaces of the bolts 16 and 17 is able to interact to this depending on the pressure medium applied to the piston 4 to move synchronously outwards or inwards.

The bolts 16 and 17 are pressure medium-tight by seals 22 and 23, respectively outwards from the housing block 1.

What is striking is the great leadership relationship that results from the quotient from the outer pin diameter D to the guide length L.

What is also noticeable in all the embodiments is the low level axial height of the housing 1 and the direct arrangement of the working piston 4 under the common, extending radially to the working cylinder 3 Cylinder 24 for bolts 16 and 17.

In the embodiment according to FIGS. 4 to 6, parts are the same Function the same reference numerals have been used.

This embodiment differs from that in FIG. 1 to 3 embodiment shown initially in that (Fig. 5) at a distance of 120 degrees to each other three bolts 25, 26, 27 in three meeting in the center of the axis and cylinders 28, 29 and 30 opening into one another, longitudinally displaceable and sealing are led.

For this purpose, the bolts 25 to 27 are outwardly by suitable Seals sealed, only one such seal 31 can be seen in FIG. 4 is.

The working piston 4 is designed as a disc and engages with a sleeve-like annular projection 32 in an annular chamber 33. The ring has an open inside Drilling.

As can be seen from FIGS. 4 and 5, the working piston 4 protrudes with this sleeve-shaped projection 32 on both sides of each bolt 25 and 26, respectively or 27 in two diametrically opposed to each other 1 iegend slits 34 and 35, where however, this is only illustrated for the bolt 25. The slots 34 and 35 of each bolt 25 to 27 run obliquely to the longitudinal axis 2. Also the annular projection 32, which engages in these slots 34 and 35, is arranged so that it runs tightly, so that there is a kind of link guide. In this way, the Move of the working piston 4 in direction X or Y all drci bolts 25 to 27 and these Bolt assigned gripper fingers 36, 37 and 38 synchronously, but opposite, either together towards the center, ie towards the longitudinal axis 2, or away from this, ie outwards, to be moved.

Each bolt is at its end section facing the center line 2 25 to 27 provided with a chamfer 39 or 40, which is located on the longitudinal center axis of each bolt 25 to 27 hit so that it tapers at its end. As a result, the bolts 25 to 27 can move when the gripper fingers 36 to 38, move inward as much as possible.

With the reference numeral 41 is a further device with channels 42 and 43, which correspond to corresponding channels 44 and 45 in the housing 1. The device 41 is also directly flanged on in a pressure-tight manner. Hose lines are completely omitted here.

The reference numerals 46, 47, 48 and 49 denote threaded fastening holes, with which suitable device parts can be connected by flanging.

In the illustrated embodiments, the working piston 4 is one-sided loaded under bias by a spring element 50, so that it has the tendency move in direction X.

Those described in the description and in the claims as well as features shown in the drawing can be used both individually and in any combinations for the implementation of the invention be essential.

Bibliography DE-OS 30 43 687 DE-OS 29 44 540 DE-OS 29 04 377 DE-OS 28 54 359 GB-PS 20 75 893 JP-A2 1 26 668-76 JP-A2 1 38 271-79 DE-Z: VDJ-Z 1977, No. 14, July, 5.714 DE-Z Z w F 1982,2 pp. 75-81 DE-Z MM 88, 1982, 23, pp. 649-650 List of reference symbols 1 housing, housing block 2 longitudinal axis 3 working cylinder 4 working piston 5 housing cover 6 Housing stop 7 Seal 8 Pressure medium supply channel 9 Device 10 Pressure medium supply channel 11 Device 12 Threaded blind hole 13 Connection channel 14 Gripper finger 15 16 Bolt 17 18 Screw 19 Guide pin 20 21 Piston rod or drive part 22 Seal 23 24 cylinder 25 Liolzcn 26 27 28 cylinder 29 30 31 gasket 32 Ring projection 33 ring chamber 34 slot 35 36 gripper finger 37 38 39 chamfer 40 41 Device 42 Channel 43 "44" 45 "46 Fastening threaded hole 47 t, 48" 49 "50 spring element D diameter L length X direction of movement Y"

Claims (12)

F> atentawnsprüche gripping device for workpieces or other Handling parts, with one that can be actuated in a housing by means of pressure medium pressure, longitudinally displaceable and sealing in a cylinder guided working piston with The bolt is in drive connection, to which gripping fingers or the like are assigned, if necessary, characterized in that the working cylinder (3) with the working piston (4) directly is arranged below the plane of movement of the bolts (16, 17 or 25 to 27) and that laterally and / or frontally in the housing (1) channels (z. B. 8, 10, 44, 45) are arranged are and at least the upper housing part in which the bolts (z. B. 16, 17) are radial to the housing longitudinal axis (2) and to the working cylinder (3) are displaceable to the outside is designed to be pressure-tight. 2. Gripping device according to claim 1, characterized in that the Housing (1) is designed as a flat, materially one-piece housing block, on which the unneeded connection channels (e.g. B. 8) by [31indstopfen o. The like. Are shut down. 3. Gripping device according to claim 1 or 2, characterized in that that the housing (1) directly with one end face and or side face on the other Supply channels (e.g. 42, 43) or Device parts (z. B. 9) is flanged. 4. Gripping device according to claim 1 or one of the following, characterized characterized in that the bolts (z. B. 16, 17) are cylindrical on their outer surface are trained. 5. Gripping device according to claim 1 or one of the following, characterized characterized in that the working piston (4) the bolts (16, 17) both for transmission able to drive by both tensile and compressive forces. 6. Apparatus according to claim 1 or one of the following, characterized in that that the entire housing block (1) is pressure-tight to the outside as well as dust and is dirt-tight or encapsulated. 7. Apparatus according to claim 1 or one of the following, characterized in that that each gripping finger (z. n. 14, 15) one in the £ ej0Ijuscblock (1) transversely to the direction of movement (X or Y) of the working piston (4) arranged guide pins (19 or 20) to prevent rotation the relevant gripping finger (14, 15) is assigned. 8. Gripping device according to claim 1 or one of the following, characterized characterized in that all movable internal parts can be lubricated via the pressure medium are. 9. Gripping device according to claim 1 or one of the following, characterized characterized in that the working piston (4) is materially integral with that of the bolts (16, 17) driving piston rod (21) or a drive part is formed. 10. Gripping device according to claim 1 or one of the following, characterized characterized in that both the housing block (1), the working piston (4), the bolts (14, 15), as well as all other parts of the gripping device designed as turned parts or consist of further processed turned parts. 11. The device according to claim 1 or one of the following, with three Radially guided bolts evenly offset from one another over the circumference, which drive the gripping fingers, characterized in that the gripping pins (25, 26, 27) at their ends facing the longitudinal axis (2) on opposite sides with chamfers (39, 40) are provided in such a way that they up to or immediately to the longitudinal axis (2) of the housing (1) can move and support. 12. The device according to claim 1 or one of the following, characterized characterized in that the working piston (4) on one side under the restoring force of a Spring element (see above), which is activated by pressure medium from the opposite side is tensionable.