• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A gripper (1) for gripping and holding an object has at least two gripping jaws (2) movable relative to each other and a drive for opening and closing movement of the gripping jaws ( 2). At least one of the gripping jaws (2) has several fingers (3) arranged one beside the other, respectively individually adjustable in the direction of opening or closing against a return force. The gripping jaws (2) are respectively designed in one piece (fig 1).
    公开号:BE1019328A3
    申请号:E2010/0279
    申请日:2010-05-07
    公开日:2012-06-05
    发明作者:Thomas Unmuth；Robert Steinebrunner
    申请人:Zahoransky Ag；
    IPC主号:
    专利说明:

    The invention relates to a gripper for gripping and holding an object, with at least two gripping jaws movable relative to one another and with a drive for an opening and closing movement gripping jaws, at least one of the gripping jaws having a plurality of fingers arranged next to each other, which can be individually adjusted in the opening or closing direction against a restoring force.
    Such gripping tongs are known in many configurations and are used to move objects from one place to another. For example, toothbrushes may be moved from a treatment device or a supply of brushes to a downstream processing device. The field of use of such gripping tongs is however not limited to the manufacture of brushes.
    The object to be grasped is held by clamping between opposing gripping jaws. The problem in this case lies in the fact that the object can according to its shape tilt laterally and can no longer, if necessary, be deposited in the desired position. To solve this problem, two gripping pliers or a gripper with two pairs of gripping jaws that hold the object in multiple positions can be used. However, this entails high costs, and the working speed is reduced by the higher mass of the doubled number of gripping jaws to be moved.
    Alternatively, a gripper may be used which has a gripping jaw with a gripping finger and an opposing gripping jaw with two gripping fingers. Such a three-point system makes it possible to better hold an object but there is however a risk here that the object, for example a toothbrush with a curved brush body, rotates inside the gripper, this which complicates again a deposit of the object, for example in a stacking magazine.
    To solve the problem that the object can be damaged when the gripping jaws grab it with too much force, it is already known in practice gripping clamps whose gripping jaws have several fingers individually adjustable against a force recall.
    For profiled objects in particular, the problem with simple gripping tongs is that the object is subjected, in the event of a restraint force that is too low, to the action of a gripping jaw in one place and in that There is no contact between the object and the grasping jaw in certain places. By increasing the retaining force, the grasping jaw can be brought against the regions of the object that have not been grasped at first. This however increases the pressure on the places of the object that were already previously in contact with the grip jaw. This may result in pressure marks on the object or damage. Such pressure actions on the object are to be avoided, especially when the gripper is used in the processing of foodstuffs.
    Thanks to the advanced gripping tongs with individually adjustable fingers, the gripping jaws can be moved closer to one another to grasp an object, the individual fingers being able to be placed on the outer contour of the object depending on the object. ci in the case of a profiled object, for example a toothbrush, and being individually deflected against a restoring force when the retaining force increases so that, on one side, the object is held at each place in the gripping area and that, on the other hand, there is no place on the object, the application of a force that is high enough that it can be damaged or that pressure marks may form. The individual fingers may differ to varying degrees depending on the contour of the object. Safe and reliable holding of an object in a defined position with a holding force that is sufficient to hold the object without damaging it is thus possible.
    Previously known gripping tongs with gripping jaws having individually adjustable fingers are, however, expensive to manufacture since each finger must be individually mounted. This makes their manufacture more expensive. In addition, the gripping jaws have, due to the connecting elements necessary for the adjustable mounting of the fingers, a comparatively high weight, which limits the maximum possible working speed of the gripper.
    The problem therefore consists in providing a gripper of the type mentioned at the beginning with which an object can be grasped and held securely without there being a risk of damage to the object and whose manufacture is simple and a low cost.
    The solution according to the invention to this problem is that the gripping jaws are designed in one piece with their fingers.
    Thanks to the one-piece design of the entire gripping jaw with its fingers, a complex assembly of the individual fingers in a base area is not necessary and the manufacture of the gripping jaws can thus be done quickly and to a lesser extent. cost. In addition, the gripping jaws are designed in a particularly stable manner, since there are no connection points that could loosen. In addition, the gripping jaws have a low weight so that higher transport and processing speeds are possible.
    A preferred embodiment provides that the grip jaws are preforms manufactured by a plastic laser sintering process. In this process, even complex parts can be manufactured simply and inexpensively. Because the gripping jaws are made entirely of plastic, they have a low weight and the gripper can be moved quickly.
    Depending on the nature and shape of the object to be held, it may be sufficient that only one of the jaws has individually adjustable fingers. However, all the gripping jaws preferably have individually adjustable fingers. A grip and an even more secure hold without risk of damage to an object are possible.
    A preferred embodiment provides that the fingers are respectively held by a section of elastically deformable material on a base region of the gripping jaw. Thus, by a simple construction, one can obtain the adjustability of the fingers against a restoring force, which reduces the manufacturing costs of the gripping jaws.
    The sections of elastically deformable material may be respectively made linearly or preferably approximately in the shape of a circular arc.
    To prevent excessive deflection of the fingers and thereby an inadvertent breakage of the section of elastically deformable material, it is appropriate that a stop member is each time associated with the fingers to limit their travel distance. This travel stroke limitation can act in both directions so that the fingers are protected against excessive deflection when using the gripper as an inner gripper as well as as an outer gripper.
    The abutment members are preferably structural parts of the one-piece gripping jaw.
    In this case, the stop members can respectively engage in a receiving zone of the gripping jaw in one piece which limits their travel stroke.
    Thus, for the travel stroke limitation, there is no separate element that must be applied to the gripping jaw, which requires expensive mounting and which would increase the weight of the gripping jaw. Since the elements of the travel stroke limitation are part of the one-piece gripping jaw, they are formed together with the gripping jaw during manufacture of the gripping jaw.
    The gripping jaws may be held on a support piece pivotally or linearly translatable.
    In this case, it may be advantageous for the gripping jaws to be detachably connected to the support member, respectively. Therefore, it is possible to provide the gripper for the treatment of different objects by changing the gripping jaws. In addition, a gripping jaw can be quickly replaced in the case of damage, for example by wear.
    To avoid excessive force acting on the object to be held by a too large approximation of the gripping jaws, a force which could no longer be compensated by the adjustable fingers, it is appropriate that a limitation of the displacement stroke is provided for the gripping jaws at least in their closing direction.
    To form the limitation of the displacement stroke for the gripping jaws, there can be provided thereon at least one abutment surface which cooperates with an abutment surface of an opposite gripping jaw. When the maximum closing position is reached, the abutment surfaces collide and thus prevent further approximation of the gripping jaws.
    These abutment surfaces are also areas of the one-piece gripping jaws so that separate elements are not needed.
    For objects of simple shape, the fingers can be respectively designed in a similar way.
    To capture and hold objects of complex shape, it is however appropriate that the fingers are designed differently and have on their contact surfaces an outer profile adapted to the shape of the object to hold and / or different widths.
    Each finger may have a three-dimensional external profile, adapted to the shape of the part of the held object that is in contact with the finger concerned so that, even in the case of highly profiled objects, none of the fingers is excessively deflected against its restoring force or there is no risk that individual fingers may not participate in the necessary deflection due to the limitation of their travel stroke. The number of points of contact between the fingers and the object is multiplied with respect to non-profiled fingers - ideally, the fingers are in contact with their entire surface with the object - so that the risk of there being pressure marks on the object is further reduced. In this case, the fingers can be designed with different widths to reproduce complex profiles.
    Usually, the gripper is approached from the object to be grasped from above. To prevent the object and / or the same gripper from being damaged when the gripper is lowered on the object by incorrect positioning and the free ends of the fingers touch the latter, it is advantageous that the gripper gripping has a damping system acting in the direction of the positioning movement with respect to the object to be grasped. When the fingers touch the object and the gripper is still close to the object, for example because the object is not exactly in the intended position, the gripper can spring and force applied on the object by the gripper can therefore be reduced. Damage to the object or the same gripper can thus be avoided.
    For universal orientation of the gripper and for depositing objects with different orientations or for depositing the objects in another orientation, it is appropriate that a rotary drive is provided for the gripper.
    A gripper has preferably two opposed gripping jaws. However, other embodiments are also conceivable, for example three-point clamps, a gripping jaw being offset against two other gripping jaws spaced from one another.
    Exemplary embodiments of a gripper according to the invention will be explained in more detail below on the basis of the drawings.
    Fig. 1 shows a perspective view of a gripper according to the invention,
    Fig. 2 shows a view of the front side of the gripper of FIG. 1,
    Fig. 3 shows a view of the long side of the gripper of FIG. 1,
    Fig. 4 shows a perspective view of another embodiment of a gripper,
    Fig. 5 shows a sectional representation of the gripper of FIG. 4,
    Fig. 6 shows a view of the long side of the gripper of FIGS. 4 and 5,
    Fig. 7 shows a perspective view of a gripping jaw with profiled fingers and FIG. 8 shows a side view of a pair of gripping jaws corresponding to the gripping jaw of FIG. 7.
    A grasping forceps, designated in its entirety by 1, intended to grip and hold an object, not shown, has, according to FIGS. 1 to 6, two grasping jaws opposite to each other, movable relative to each other. the other. By means of a drive not shown, the gripping jaws 2 can be moved linearly between an open position and a closed position (arrow Pf 1, Fig. 1). To do this, the gripping jaws 2 are mounted on a support piece 4 by means of a connecting arm 5.
    The gripping jaws 2 are respectively integral plastic parts, which can in particular be manufactured by a plastic laser sintering process. As a result, the gripping jaws 2 are simple to manufacture and have a low weight for high stability.
    The two gripping jaws 2 have respectively several fingers 3 arranged next to each other which can be adjusted individually against a restoring force. The fingers 3 are respectively held for this purpose on a base region 7 of the gripping jaw 2 via a section of elastically deformable material 6, approximately in the shape of an arc of a circle (FIG. 4, 5, 7, 8). As is apparent in particular from the perspective views according to FIGS. 1 and 4 as well as from the detailed representation of a gripping jaw according to FIG. 7, each finger 3 has its own section of elastically deformable material 6 so that each finger 3 can be deviated separately, regardless of the degree of deflection of other fingers 3. It is thus possible to grasp and hold shaped objects, for example brush bodies, the individual fingers 3 deviating more or less strongly depending on the profile of the object and, on the one hand, the object is thus touched and securely held in all respects and, on the other hand, the force and pressure exerted on the object are not at any point so strong that the object is damaged or pressure marks remain on it.
    This improved retention of the object can be further optimized when, as shown in Figures 7 and 8, the fingers are designed differently and have on their contact surfaces a profile 8 adapted to the shape of the object to retain against which the object can come to rest by complementarity of form. It can be seen in FIG. 7 that the fingers also have different widths (b1, b2).
    To prevent the fingers 3 from being damaged by excessive deflection, a receiving region 10 having an approximately U-shaped cross-section in which the fingers 3 of the gripping jaw 2 are provided on the base region 7 is provided each time. concerned respectively with a stop element 9. When the maximum permitted deflection angle is reached in either direction, the abutment element 9 strikes one of the sides of the receiving region 10 and a subsequent deflection is thus prevented.
    For the gripping jaws 2 themselves, it is also provided a limitation of the displacement stroke. For this purpose, the gripping jaws 2 respectively have L-shaped sections engaging one into the other.
    To limit the travel in the closing direction, the outer side of a free limb L of one gripping jaw 2 cooperates with an abutment surface 12b of the other gripping jaw 2 (Fig. 1, 2 , 4, 5).
    A limitation of the displacement stroke in the opening direction of the gripper 1 is formed by the free limbs of the L of the L-shaped sections 11 of the gripping jaws 2, free limbs which are opposite each other. and serve as abutment surfaces 13a, 13b.
    As can be seen in particular in Figures 1,2,4, 5, 7 and 8, the travel stroke limitations with their associated elements 9, 10, 11, 12a, 12b, 13a, 13b are also part of the jaws of gripping 2 made in one piece. The general functionality of the travel limitations of the fingers 3 and the gripping jaws 2 as well as the adjustability of the fingers 3 are purely given by the gripping jaw made in one piece without separate elements having to be applied to the jaw. gripping jaw 2 or that the gripping jaw must cooperate, for example, with separate abutment members. The manufacture of the gripper 1 and the aforementioned functionalities are thus achieved in a particularly simple manner.
    In the case of the gripper 1 according to Figures 4 to 8, it is advantageous with respect to the configuration according to Figures 1 to 3 that the two gripping jaws 2 are designed identically and that, by the offset mounting of 180 ° on the support piece, the L-shaped sections 11 arrive in the position necessary to form the movement stroke limitation. Only a variant of the gripper is needed, which simplifies manufacturing and assembly and, as a result, reduces production costs.
    The gripping jaws 2 can be respectively releasably connected to the support part 4 of the gripper 1 by means of screws 14. As a result, the gripping jaws 2 are replaced quickly and simply, for example to grasping forceps 1 for entering another object.
    The gripper 1 according to Figures 1 to 3 has a damping system 15 acting in the direction of the positioning movement (Pf2) relative to the object to be grasped. As a result, the support piece 4 can spring with the gripping jaws 2 when the fingers 3 strike a stop, for example when the gripper 1 has been incorrectly positioned or an object to be gripped is misplaced. and that the fingers are pressed on it. Damage to the gripper 1 on the one hand and the object on the other hand are thus prevented. The damping system 15 is formed by a pressure spring in the case of the gripper 1 according to Figures 1 to 3.
    A rotary drive 16 for the gripper 1, with which the gripping jaws 2 can be rotated to securely grip objects arranged, for example, in different orientations or to deposit objects in a different orientation than that in which they were taken, is also shown in Figures 1 to 3.
    权利要求:
    Claims (16)
    [1]
    1. Gripper (1) for gripping and holding an object, with at least two gripping jaws (2) movable relative to one another and with a drive for opening and closing movement of the jaws gripper (2), at least one of the gripping jaws (2) having a plurality of fingers arranged next to each other, respectively individually adjustable in the open or closed position against a restoring force, characterized in that the jaws grippers (2) are respectively designed in one piece with their fingers (3).
    [2]
    Gripping pliers according to claim 1, characterized in that the gripping jaws (2) are preforms produced by the plastic laser sintering process.
    [3]
    Gripper according to claim 1 or 2, characterized in that each of the gripping jaws (2) has individually adjustable fingers (3).
    [4]
    Gripper according to one of Claims 1 to 3, characterized in that the fingers (3) are respectively held on a base region (7) of the gripping jaw (2) via a section of elastically deformable material.
    [5]
    Gripper according to Claim 4, characterized in that the sections of elastically deformable material (6) are respectively designed approximately in the shape of an arc of a circle.
    [6]
    6. gripper according to any one of claims 1 to 5, characterized in that a stop member (9) is each time associated with the fingers (3) to limit their travel stroke.
    [7]
    Gripper according to one of claims 1 to 6, characterized in that the abutment elements (9) are structural parts of the gripping jaw (2) in one piece.
    [8]
    Gripper according to one of Claims 1 to 7, characterized in that the abutment elements (9) engage respectively in a receiving zone (10) of the gripping jaw (2) of a single piece, which limits their travel distance.
    [9]
    Gripper according to one of claims 1 to 8, characterized in that the gripping jaws (2) are respectively held on a support member (4) pivotally or linearly translatable.
    [10]
    Gripping pliers according to one of Claims 1 to 9, characterized in that the gripping jaws (2) can be detachably connected to the support part (4), respectively.
    [11]
    Gripping pliers according to one of Claims 1 to 10, characterized in that a movement stroke limitation is provided for the gripping jaws (2) at least in their closing direction.
    [12]
    Gripping pliers according to one of Claims 1 to 11, characterized in that, in order to form the travel path limitation for the gripping jaws (2), they have respectively at least one abutment surface (12a). 13a) which cooperates with an abutment surface (12b, 13b) of an opposing gripping jaw (2).
    [13]
    Gripper according to one of Claims 1 to 12, characterized in that the fingers (3) are similarly designed respectively.
    [14]
    Gripper according to one of Claims 1 to 12, characterized in that the fingers (3) are designed differently and have on their contact surfaces a profile (8) adapted to the shape of the object. to hold and / or different widths (b1, b2).
    [15]
    Gripper according to one of Claims 1 to 14, characterized in that the gripper (1) has a damping system (15) acting in the direction of the positioning movement with respect to the object. to seize.
    [16]
    Gripper according to one of Claims 1 to 15, characterized in that a rotary drive (16) is provided for the gripper (1).
    类似技术:
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    法律状态:
    2022-02-09| MM| Lapsed because of non-payment of the annual fee|Effective date: 20210531 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102009021558.1A|DE102009021558B4|2009-05-14|2009-05-14|tongs|
    DE102009021558|2009-05-14|
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