• 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:
    Gripper (10) with a gripper frame (12) and with at least one relative to the gripper frame (12) movable gripping jaw (14, 16), wherein in the gripper frame (12) relative to the gripper frame (12) along a drive track (A) movable drive part (22) is provided, with which the gripper jaw (14, 16) is coupled for common movement, that the gripper jaw (14, 16) relative to the gripper frame (12) moves when the drive member (22) relative to the gripper frame ( 12), characterized in that the gripper jaw (14, 16) is connected to the drive member (22) by a handlebar tape (18, 20) operatively connected about a bending axis (B18, B20) to the drive track (A) and a longitudinal direction of the handlebar tape (18) forms an angle, preferably a right angle, is elastically deformable.
    公开号:CH710520B1
    申请号:CH01635/15
    申请日:2015-11-10
    公开日:2019-07-15
    发明作者:Cavegn Martina
    申请人:Hamilton Bonaduz Ag；
    IPC主号:
    专利说明:

    The present invention relates to a gripper with a gripper frame and with at least one gripper jaw movable relative to the gripper frame, wherein in the gripper frame a relative to the gripper frame along a drive path movable drive part is provided with which the gripper jaw is so coupled for common movement, that the gripper jaw moves relative to the gripper frame when the drive member is moved relative to the gripper frame.
    A generic gripper is known for example from US 2009/0 179 445 A1. In this prior art model, two gripper jaws are each rotatably articulated about parallel axes to a part of the gripper frame called a "gripper head". The two gripper jaws are each coupled via a further link with an axially movable actuator, each of these links is hinged at one end to the actuator and the other end to the respective gripper jaw. All axes of rotation at the articulation points are parallel in the illustrated embodiment. By axial adjustment thus a gripping gap between the gripper jaws can be reduced or increased.
    Another gripper is known from DE 20 2013 103 352 U2. This gripper corresponds in its kinematics to the aforementioned from US 2009/0 179 445 A1 known gripper with the difference that the gripper jaws are driven by an actuator for rotation about their respective pivot point, while the additional link at one end with the gripper head or the gripper frame and at the other end with each one of the gripper jaws are rotatably coupled about parallel axes of rotation. The cooperating with the actuator longitudinal end of the gripper jaws is not only rotatory, but also translationally displaced by the actuator, so that it comes to each other by appropriate displacement of the actuator to an approach of the gripping jaws together or to a distance.
    It is an object of the present invention to improve the known from the prior art grippers in terms of their manufacturing and assembly costs.
    This object is achieved according to the invention by a gripper of the type mentioned, in which the gripper jaw is connected to the drive part by a handlebar tape which operatively about a bending axis with the drive track and a longitudinal direction of the handlebar tape an angle, preferably a right Angle, including, bending elastically deformable.
    By the use of a bendable elastically deformable handlebar tape operatively a pivot point can be saved, is provided on the rotatable in the prior art technicians about a rotation axis link. Where, in the prior art, a rotary joint is to be formed, according to the invention, the bending elasticity of the handlebar tape and the deformation thereof are used to displace the at least one gripper jaw.
    In addition, the deformation energy stored in the deformation of the handlebar tape can be used for gripping, ie for biasing the gripper jaw to the object to be gripped. The gripping force is advantageously defined by the flexural rigidity of the handlebar tape, thereby consuming gripper force limiting means, such as slip clutches, can be omitted.
    In order to make the at least one handlebar tape operatively bending elastic deformable, it has in the direction along the bending axis on a larger cross-sectional dimension than orthogonal to the bending axis. This leads to an advantageous for the present bending moment area moment of inertia. The substantially larger longitudinal dimension of the handlebar tape compared to the described cross-sectional dimension also preferably runs both orthogonally to the bending axis and orthogonal to the cross-sectional area of the cross-sectional dimensions underlying the above cross-sectional dimensions.
    In the present case, it is mentioned that the longitudinal direction of the handlebar tape and the bending axis include an angle, preferably a right angle, or that the drive track with the bending axis an angle, preferably a right angle, includes, so this does not mean that the specified paths, directions or axes intersect. This will be the case even in very few cases. Rather, the drive track and the bending axis or the longitudinal direction of the handlebar tape and the bending axis to each other will be skewed. The inclusion of an angle between said tracks, directions or axes is then done by comparing the respective direction vectors. This can be thought of practically in such a way that, for example, the drive track along a distance line between the drive track and bending axis in the bending axis moves into parallel, so that the parallel shifted drive track with the bending axis has a common point of intersection. Thus, the parallel shifted drive track and the bending axis clamp a plane in which the angle enclosed between the parallel shifted drive track and the bending axis is to be measured. For the longitudinal direction of the handlebar tape and the bending axis and the angle enclosed between them, the corresponding mutatis mutandis applies.
    A variable stiffness of the gripper can be obtained that an effective bending length of the handlebar tape is variable depending on the relative position between the drive part and gripper frame. In this case, the stiffness of the same is usually lower with a greater effective bending length of the handlebar tape. That is, when the length of the bendable handlebar tape portion orthogonal to the bending axis becomes shorter, the rigidity of the gripper increases as a whole.
    A different effective bending length of the handlebar tape can be obtained, for example, characterized in that the handlebar tape has a bendable and a non-bendable longitudinal portion, wherein the total length of non-bendable and bendable portion is substantially the total length of the handlebar tape. The non-bendable handlebar tape section, for example, therefore can not be bendable, because a bending movement is structurally prevented. This can be realized constructively, for example, by providing a support device on the gripper frame, in which the degree of freedom of movement of the handlebar tape relative to the gripper frame is limited such that movement of the handlebar tape with a movement component orthogonal to the handlebar tape longitudinal direction and / or orthogonal to the bending axis in the support device is. The support device may be, for example, a frame component surrounding the non-bendable handlebar tape section on the outside. The handlebar tape can thus be drawn into the support device as in a sleeve and pushed out of this. It is sufficient to provide the support device only locally at that place, from which a bending movement of the handlebar tape is to take place. The support device may therefore be an orifice which passes through the handlebar tape, wherein in the section between the drive member and support device a bending movement of the handlebar tape is prevented with a movement component orthogonal to Lenkerbandlängsrichtung, however, such a bending movement in the handlebar tape section between the support device and gripper jaw possible is. A relative movement of the handlebar tape relative to the support device in the handlebar tape longitudinal direction should always be possible apart from any arresting states.
    In this respect, depending on the relative position between the drive part and gripper frame different effective bending length of the handlebar tape can be realized that the handlebar tape in a travel range between the drive part and the support device only has a degree of freedom along the drive path and in a bending region between the support device and the gripper jaw additionally has a Biegeverformungsfreiheitsgrad to the bending axis. It has already been mentioned above possible embodiments of the support device. Another possibility of an embodiment of the support device is to provide the gap with the support device in which a portion of the handlebar tape is received, wherein the gap width direction is oriented orthogonal to the bending axis and corresponds approximately to the dimension of the handlebar tape portion orthogonal to the bending axis. The gap width can be slightly larger in order to avoid unnecessary friction between handlebar tape and support device. For example, a clearance fit can be provided between the handlebar tape and the support device, in order to allow the lowest possible relative movement of the handlebar tape portion relative to the support device, but at the same time to prevent a bending movement in the region of the support device.
    Such a gap can for example be realized in that the support device has a support member which is opposite to the inter-assembly of a handlebar tape portion a Stützgegenteil in a handlebar tape longitudinal direction and / or in a direction orthogonal to the bending axis.
    To be able to influence with the drive member not only the position of the jaw, but also their orientation relative to the gripper frame, such as relative to the drive track, can be further provided that the gripper jaw is connected to the drive part by another handlebar tape, which operatively about a further bending axis, which forms an angle, preferably a right angle with the drive track and a longitudinal direction of the further bar tape, is elastically deformable, wherein preferably the bending axis and the further bending axis are oriented parallel to each other and wherein particularly preferably an effective bending length the other handlebar tape is variable depending on the relative position between the drive part and gripper frame. For the other handlebar tape the above applies to the handlebar tape accordingly, which is why the advantages associated with the individual corresponding matching training of handlebar tape and other handlebar tape is not discussed again.
    With reference to the above possibilities for realizing a depending on the relative position between the drive part and gripper frame changeable effective bending length may be provided on the gripper frame another support device on which the degree of freedom of movement of the further handlebar tape is limited relative to the gripper frame such that movement of further handlebar tapes with a movement component orthogonal to the longitudinal direction of the further bar tape and / or orthogonal to the further bending axis in the further support device is prevented, wherein preferably the further bar tape in a displacement region between the drive part and the further support device only has a degree of freedom of movement along the drive path and in one Bending area between the further support device and the gripper jaw additionally has a Biegeverformungsfreiheitsgrad to the other bending axis.
    For the further support device, the above said support mutatis mutandis applies accordingly. In particular, the further support device-as already described in detail above for the support device-can provide a gap in which a portion of the further handlebar tape is received. It can - as is the case for the support member described above - the further bar tape are moved in its longitudinal direction as low friction through the gap, thereby changing the effective bending length, whereas provided by the further support gap width substantially the dimension the further bar tape orthogonal to the bending axis substantially corresponds to or is slightly larger than this. Reference is made here to the above lecture on clearance fit, which is also applicable here. Therefore, according to an advantageous development of the present invention, it can be provided that the further supporting device has a further supporting part which, with the interposition of a section of the further handlebar tape, faces a further supporting counterpart in a direction orthogonal to the longitudinal direction of the further bar tape and / or in a direction orthogonal to the further bending axis , Where in preferred the support device and the further support device, in particular the support member and the further support member and / or the Stützgegenteil and the other Stützgegenteil are integrally formed.
    To achieve the smallest possible number of components, which must be mounted separately in order to realize the presently discussed gripper, the support device and the further support device may be at least partially formed in one piece. In this case, in particular the support member and the further support member and additionally or alternatively the Stützgegenteil and the other Stützgegenteil be formed integrally.
    For possible defined orientation of the gripper jaw relative to the gripper frame, in particular for example the drive track, at the same time given alternative Ausweichmöglichkeit the gripper jaw in the bending direction to prevent about excessive gripping forces, it can be provided that the handlebar tape at a pivot point about a rotation axis rotatable on the Gripper jaw is articulated and / or that the other handlebar tape is hinged at a further articulation about a further axis of rotation rotatably on the gripper jaw.
    Especially the mentioned alternative possibility can be provided in particular simply and effectively, that the rotation axis and the further rotation axis are arranged parallel to each other.
    A parallelogram-like gripper arrangement, in which the relative orientation of the gripper jaw relative to the gripper frame does not change by displacement of the drive member relative to the gripper frame, can be obtained, that the support device has a support location and that the further support device has a further support location, from which Support locations release the support devices cooperating with each handlebar tape in a direction to the gripper jaw toward bending about their respective bending axis, wherein measured along the drive path distance of the support location and the other support location from each other equal to the distance along the drive track measured the axis of rotation and the other The axis of rotation is from each other and wherein preferably additionally measured along the drive track distance of the support location of the rotation axis equal to the measured along the drive track distance of the further support location of the other Rotation axis is.
    Characterized in that in the direction of the drive part to the gripper jaw from the support location or from the other support location each bending movement of the respective support location associated handlebar tape is released, the support sites act much like swivel joints, so it under the above-mentioned distance relationship to the advantageous Parallel gripper design comes.
    In order to facilitate the bending of the handlebar tape to the respective bending axis, the handlebar tape and / or the other handlebar tape may have their thickness dimension as the shortest dimension, preferably the bending axis orthogonal to the thickness direction of the handlebar tape and / or the other bending axis orthogonal to the thickness direction of further handlebar bands runs. This corresponds essentially to the above information on the cross-sectional dimension of the handlebar tape.
    A compact, little space demanding and at the same time very rigid gripper construction is advantageously obtained by the one bar tape surrounding the other bar tape in a direction orthogonal to the longitudinal and the thickness direction of the other bar tape outside band width. As a result, the dimension of the entire handlebar tape construction is increased in the widthwise direction advantageously coinciding with the direction of the bending axis, resulting in a rigid construction which permits substantially only one bend about the bending axes but no bending about an orthogonal bending axis undesirable to the desired bending axis.
    In principle, it is conceivable that the drive track has any desired shape. However, the drive track is preferably a straight drive axle, so that the drive with the drive track can preferably be configured by a spindle drive. In this case, a spindle nut of the spindle drive may be the driving part. The longitudinal axis of the spindle is then the drive track at the same time. In order to enable the gripper jaw sufficient movement space orthogonal to the drive track, can further be provided that the handlebar tape and / or the further handlebar tape, at least in a course section of the supporting device or the further support device for gripper jaw from the drive axis curves away. Preferably, the entire course section from the support device to the gripper jaw is a curved section of the handlebar tape. The axis of curvature is preferably parallel to the bending axis.
    In principle, it can be thought that the gripper has only a single gripper jaw, which engages against a rigidly connected to the gripper frame Gegengreiferfläche. Preferably, however, the gripper is a pincer-shaped gripper having two approachable and again removable gripper jaws and a plurality of, preferably an even number of, more preferably a pair of handlebar bands, of which at least two located on respectively different sides of the drive axle and with are coupled to different gripper jaws, and that it has a plurality of, preferably an even number of, more preferably a pair of further handlebar bands, at least two of which are located on respective different sides of the drive axle and coupled with different gripper jaws, more preferably an arrangement from gripper jaws, handlebar tapes and support device, most preferably also from further handlebar tapes and further support device, is formed mirror-symmetrically with respect to a plane containing the drive axis mirror symmetry plane.
    The second gripper jaw can be connected analogously to the first gripper jaw with the drive part, that the above to the first gripper jaw said also applicable to the now presented second gripper jaw. This means that each gripper jaw can preferably be connected to a handlebar tape and another handlebar tape with the same drive part. A supporting part or supporting opposite part of a supporting device associated with a gripper jaw can be formed in one piece with a supporting part or supporting counterpart of a supporting device associated with the respective other gripper jaw. It is also conceivable that the handlebar tape groups both gripper jaws use a common support device, as well as they can use a common drive part.
    In order to allow the softest possible gripping of objects with the gripper discussed here, it is advantageous if at least one gripper jaw, preferably both gripper jaws, in the direction of the drive track, in particular drive axle, two spaced-apart investment formations for attachment to one having cross-cutting object, wherein preferably all investment formations exhibiting system axial region of the gripper jaw and an Anlenkorte exhibiting Anlenk-axial region in the direction of Antriebsbahnd, in particular drive axis, do not overlap and wherein particularly preferably the abutment axial region is further away from the gripper frame than the Anlenk Axialbereich.
    In order to prevent misunderstandings, with respect to the axiality on the drive track, in particular drive axle, related axial thrust area only between the two axially outermost investment formations run and these just include and should also also with respect to the axiality on the drive track, In particular drive axle, related Anlenk-axial region only between the axially outermost Anlenkorten extend and this just barely.
    Then, when the abutment axial region is arranged further away from the gripper frame than the articulation axial region, the abutment axial region can be brought into abutment with the object to be gripped by shortening the effective bending length, without the articulation axial region and the resulting bar tape collide with the object to be gripped.
    The present invention will be explained below with reference to the accompanying drawings. It shows:
    1 is a perspective view of an inventive gripper with other actuators,
    Fig. 2 is a perspective view of an inventive embodiment of a gripper of the present
    Registration with omission of parts of the gripper frame,
    3 shows the view of FIG. 2, but with a different relative position of the drive part relative to the gripper frame,
    4 is a detail view of the drive part and parts of the support structure of Fig. 3,
    5 is a plan view in partial section of the inventive embodiment of FIGS. 2 and 3,
    Fig. 6 shows the inventive gripper of Fig. 2 to 5 during a gripping operation and
    Fig. 7 shows the gripper according to the invention of Fig. 6 after completion of the gripping operation.
    In Figs. 1 to 7 an inventive embodiment of the gripper of the present application is generally designated 10.
    The gripper 10 has a gripper frame 12 and a relative to this movable gripping jaw 14.
    Preferably, the gripper 10 has a further gripping jaw 16, which may be formed substantially mirror-inverted to the gripper jaw 14.
    Since in the present example - as it is advantageous for the present invention and therefore preferred - the gripper is mirror-symmetrical with respect to a longitudinal center plane, only the gripping jaw 14 in relation to the gripper frame 12 is explained below. For the further gripper jaw 16, what has been said about gripper jaw 14 applies correspondingly, taking into account the above-mentioned mirror symmetry condition.
    The gripper jaw 14 may be connected to the handlebar frame 12 via a handlebar band 18, which may be operationally and in accordance with its intended purpose, and possibly also by way of another, also operationally and in accordance with the intended bending elastic handlebar band 20.
    More specifically, the handlebar tapes 18 and 20 are fixedly connected to a drive part 22 in the form of a spindle nut of a spindle drive 23, which comprises a by an electric motor drive 24 for rotation drivable spindle 26 (see in particular Fig. 2 to 7).
    The spindle 26 extends along its axis of rotation, which is also drive track A of the drive member 22, along which the drive member 22 can move depending on the spindle movement. An extension of the formed as a straight drive axle drive track A is shown in Fig. 1. In the present example, the above-mentioned mirror symmetry plane contains the drive track A.
    As shown in Fig. 1, the gripper 10 may be coupled with moving means that allow its position change in space. In the present example, the gripper 10 is rotatably received on a first movement part 28 about a rotation axis R1. In order to achieve the most stable possible support of the gripper on the moving part 28, this is preferably fork-shaped and holds the gripper 10 between its fork-shaped legs. A displacement of the gripper 10 about the movement axis R1 is effected by a further electric motor 30, the driving force and movement of which is transmitted via a belt drive 32 to a drive pulley 34 concentrically surrounding the movement axis R1.
    Further, the moving member 28 may be pivotally received on a second moving part 36 about a movement axis R2 orthogonal to the first movement axis R1. Again, the pivoting movement about the movement axis R2 can be effected by a motor 38 by means of a belt drive 40.
    The handlebar tapes 18 and 20 are bent in the outside of the gripper frame 12 located bending portion 42 and 44 preferably about curvature axes K18 and K20 of the extended imaginary drive path A away.
    Further, the bending portions 40 and 42, which extend between a later-explained support device and the gripper jaw 14 to a bending axis B18 and B20 bendable. Supplements "18" and "20" to the bending and bending axes indicate the assignment of the respective axle to the respective handlebar tape.
    The bending axis B20 is closer to the gripping jaw 14 than the bending axis B18.
    The bending axes B18 and B20 are advantageously parallel to each other. Likewise, the axes of curvature K18 and K20 are preferably parallel to each other. Further, the bending axes and the axes of curvature are preferably parallel to each other.
    The handlebar tape 18, which is designed for the sake of an advantageously low space requirement zweistrebig with the struts 18a and 18b, between which a gap space is provided, in which the other handlebar tape 20 can find room, preferably also zweistrebig with the struts 20a and 20b is executed.
    The handlebar tape 18 is hinged to the gripping jaw 14 about a rotational axis D18. Preferably, the axis of rotation D18 is parallel to the bending axis B18. Likewise, the further handlebar tape 20 is pivotally connected to the gripper jaw 14 about a rotation axis D20. Again, the axis of rotation D20 is preferably parallel to the bending axis B20 and thus also parallel to the axis of rotation D18.
    As can be seen in Figs. 2 and 3, provides a support device 44 for a defined bending behavior of the handlebar straps 18 and 20. From the support device is facing the viewer of Figs. 2 and 3, only a T-shaped support member 46 to recognize, which inhibits a bending movement of the gripper jaw 16 leading bar bands in a bending direction orthogonal to the drive track A and the bending axes B18 and B20. The cooperating with the handlebar tapes 18 and 20, not shown in FIGS. 2 and 3 support member 50 (see FIGS. 4 to 7), taking into account the above-mentioned mirror symmetry condition corresponding to the support member 46 from.
    The support member 50 is located with the interposition of longitudinal sections of the handlebar straps 18 and 20 a Stützgegenteil 48 opposite, which is also Stützgegenteil for the support member 46.
    The transverse leg of the T-shaped support member 46 and 50 for the bar bands 18 and 20 forming support portion 52 acts due to the strut-like design of the handlebar tape 18 exclusively with the handlebar tape 18 and with its struts 18a and 18b together. This support portion 52 defines the bending axis B18 around which the bending portion 40 of the handlebar tape 18 located between the support portion 52 and the gripper jaw 14 is bendable.
    In the located between the drive member 22 and the support member portion 52 Verahrabschnitt 54 of the handlebar tape 18, the handlebar tape 18 is displaceable only along the drive track A relative to the gripper frame 12, but not orthogonal thereto bendable about the bending axis B18.
    The narrow leg 56 of the T-shaped support member 50 (see the T-shaped support member 46 of the further gripping jaw 16 leading bar bands in Figs. 2 and 3) forms a preferably integrally formed with the aforementioned support member portion 52 further support member portion 56th which cooperates due to the strut-like design of the handlebar tape 18 only with the other handlebar tape 20 and the position of the bending axis B20 defined by which the further handlebar tape 20 in its bending portion 42 is bendable. Again, between the drive member 22 and the further handlebar tape 20 associated support member portion 56 a Verfahrabschnitt 58 is formed, in which the handlebar tape 20 is displaceable only along with the drive member 22 along the drive track A, but is not bendable about the bending axis B20.
    Those locations of the support portions 52 and 56, respectively, at which the respective handlebar bands 18 and 20 merge along the drive track A from their respective Verahrabschnitt 54 and 58 in their respective bending section 40 and 42, are hereinafter referred to as support locations S18 and S20 denotes.
    As shown in Fig. 5, the distance of the support locations S18 and S20 along the drive track A from each other corresponds to the distance X of the bending axes B18 and B20 along the drive track from each other. X is therefore the axial distance of the support locations S18 and S20 or of the bending axes B18 and B20 relative to the drive track or drive axle A, respectively.
    This axial distance X of the support locations S18 and S20 from each other corresponds to the axial distance Y of the axes of rotation D18 and D20 from each other. Also, this axial distance is to be measured for comparison purposes along the drive track A. Furthermore, the axial distance Bi of the handlebar bands 18, 20 to the rotation axis Di with i = 18, 20 is preferably the same for both steering belts.
    By the equality of the above-mentioned axial distances a parallel gripper is obtained, in which the relative orientation of the gripping jaw 14 to the gripper frame 12 or more precisely to the drive track A with the displacement of the drive member 22 along the drive track A does not change.
    Since the drive member 22 relative to the support locations S18 and S20 of the support member 50 and the support member sections 52 and 56 is displaced, with the movement of the drive member 22 along the drive axis A, the length of the respective bending sections 40 and 42 and thus the effective bending length of the handlebar bands 18 and 20 variable. Despite variability of the effective bending length of the handlebar tapes 18 and 20 is due to the Parallelogrammlenkereigenschaft while maintaining the above Axialabstandsbeziehung the support locations S18 and S20 on the one hand and the axes of rotation D18 and D20 on the other hand, an invariance of the orientation of the gripper jaw 14 of the respective effective bending length of the handlebar bands 18 and 20 reached.
    As can further be seen in FIG. 5, the gripper jaw 14 has two contact formations 60 and 62 provided at an axial distance from one another. These are arranged so that an abutment axial region 64, which extends in the axial direction between the investment formations 60 and 62 and just encloses them, does not overlap with a Anlenk-axial region 66, which in the axial direction between the axes of rotation D18 and Extends D20 and their respective Anlenkformationen and just covers this. Preferably, the articulation axial region 66 is permanently closer to the gripper frame 12 than the abutment axial region 64. As shown in FIGS. 6 and 7, a particularly advantageous gripping behavior can be achieved, represented by the example of a pipette tip carrier 68, which is located between the gripper jaws 14 and 16 is seized.
    As shown, first comes (see Fig. 6) located on the projecting end of the jaw 14 investment formation 60 in abutment against a side wall of the pipette tip support 68. Upon movement of the drive member 22, starting from the position shown in Fig. 6 to the drive motor 24 out comes, without canceling the investment engagement of the investment formation 60 and the investment formation 62 in abutting engagement with the side wall of the Pipettierspitzenträgers 68 (see Fig. 7). The articulation axial region 66 and the handlebar bands 18 and 22 emanating therefrom do not collide with the object to be gripped due to the relative position of abutment axial region 64 and articulation axial region 66 relative to one another.
    The existing in the handlebar bands 18 and 20 and the unspecified handlebar bands of the jaw 16 existing bending stress generated between the jaws 14 and 16 gripping force.
    Another advantage of the gripper shown here with flexible handlebar bands lies in the provided by the flexible handlebar bands 18 and 20 overload protection function. Destruction of the object to be gripped by excessive gripping forces is practically impossible with the gripper 10 according to the invention. Would the drive member 22 is drawn too deep into the gripper frame 12, the flexibility of the handlebars 18 and 20 would avoid damage to the object to be gripped, provided that its integrity and stability is greater than the gripping forces generated by the flexural rigidity of the handlebars 18 and 20.
    权利要求:
    Claims (15)
    [1]
    1. Gripper (10) with a gripper frame (12) and with at least one relative to the gripper frame (12) movable jaw (14, 16), wherein in the gripper frame (12) relative to the gripper frame (12) along a drive track (A) movable drive part (22) is provided, with which the gripper jaw (14,16) is coupled for common movement, that the gripper jaw (14, 16) then moves relative to the gripper frame (12) when the drive part (22) relative to Gripper frame (12) is moved, characterized in that the gripper jaw (14, 16) to the drive part (22) by a handlebar tape (18, 20) is connected, which operatively about a bending axis (B18, B20), with the drive track (A) and a longitudinal direction of the handlebar tape (18, 20) forms an angle, preferably a right angle, is bendable elastically deformable.
    [2]
    2. gripper (10) according to claim 1, characterized in that an effective bending length of the handlebar tape (18, 20) depending on the relative position between the drive part (22) and gripper frame (12) is variable.
    [3]
    3. gripper (10) according to claim 2, characterized in that the gripper frame (12) is provided a support device (44) in which the degree of freedom of movement of the handlebar tape (18) relative to the gripper frame (12) is limited such that movement of the Bar tape (18, 20) with a movement component orthogonal to the handlebar tape longitudinal direction and / or orthogonal to the bending axis (B18) in the support device (44) is prevented.
    [4]
    4. gripper (10) according to claim 3, characterized in that the handlebar tape (18, 20) in a Verfahrbereich (54, 58) between the drive part (22) and the support device (44) only one degree of freedom along the drive track (A) and in a bending region (40, 42) between the support device (44) and the gripper jaw (14, 16) additionally has a Biegeverformungsfreiheitsgrad to the bending axis (B18, B20).
    [5]
    5. gripper (10) according to claim 3 or 4, characterized in that the supporting device (44) has a support member (46, 50), which interposition of a handlebar tape portion a Stützgegenteil (48) in a handlebar tape longitudinal direction and / or in a Bending axis (B18, B20) is opposite to the orthogonal direction.
    [6]
    6. Gripper (10) according to any one of the preceding claims, characterized in that the gripper jaw (14, 16) with the drive part (22) by another handlebar tape (20) is connected, which operatively about a further bending axis (B20), the with the drive track (A) and a longitudinal direction of the further handlebar tape (20) forms an angle, preferably a right angle, elastically deformable bending elastic, wherein preferably the bending axis (B18) and the further bending axis (B20) are oriented parallel to each other and wherein Particularly preferably, an effective bending length of the further handlebar tape (20) is variable depending on the relative position between the drive part (22) and gripper frame (12).
    [7]
    7. gripper (10) according to claim 6, characterized in that the gripper frame (12) is provided a further support device (44) on which the degree of freedom of movement of the further handlebar tape (20) relative to the gripper frame (12) is limited such that a Movement of the further handlebar tape (20) is prevented with a movement component orthogonal to the longitudinal direction of the further handlebar tape (20) and / or orthogonal to the further bending axis (B20) in the further support device (44), wherein preferably the further handlebar tape (20) in a displacement area (58) between the drive part (22) and the further support device (44) only one degree of freedom along the drive path (A) and in a bending region (42) between the further support device (44) and the gripper jaw (14, 16) additionally one Free bending deformation degree around the other bending axis (B20).
    [8]
    8. gripper (10) according to claim 7, characterized in that the further supporting device (44) has a further support member (50), which interposition of a portion of the further handlebar tape (20) another Stützgegenteil (48) in a direction to the longitudinal direction further handlebar bands (20) and / or in a direction opposite to the further bending axis (B20) orthogonal direction, wherein preferably the support device (44) and the further support device (44), in particular the support member (50) and the further support member (50) or / and the support yoke member (48) and the further support yoke member (48) are integrally formed.
    [9]
    9. gripper (10) according to one of claims 6 to 8, characterized in that the handlebar tape (18) at a pivot point about a rotation axis (D18) is pivotally connected to the gripper jaw (14, 16) hinged and / or that the further handlebar tape (20) at a further articulation about a further axis of rotation (D20) is pivotally connected to the gripper jaw (14, 16), wherein preferably the axis of rotation (D18) and the further axis of rotation (D20) are arranged parallel to each other.
    [10]
    10. gripper (10) according to any one of claims 3 to 5 and according to claim 9, the latter referred back to the claim 7 or 8, characterized in that the supporting device (44) has a supporting location (S18) and that the further supporting device (44) a further support location (S20), from which support locations (S18, S20) the support devices (44) cooperate with each handlebar tape (18, 20) in a direction to the gripper jaw (14, 16) towards the bend about their respective bending axis ( B18, B20), the distance of the support location (S18) and the further support location (S20) measured along the drive track (A) being equal to the distance of the rotation axis (D18) and the other measured along the drive track (A) Is the axis of rotation (D20) from each other and preferably additionally along the drive track (A) measured distance of the support location (S18) of the axis of rotation (D18) equal to the along the drive track (A) measured distance of the further Stut zorts (S20) from the further rotation axis (D20).
    [11]
    11. gripper (10) according to one of claims 6 to 10, characterized in that the handlebar tape (18) and / or the further handlebar tape (20) as the shortest dimension have their thickness dimension, wherein preferably the bending axis (B18) orthogonal to the thickness direction of Bar tape (18) and / or the further bending axis (B20) is orthogonal to the thickness direction of the further bar tape (20).
    [12]
    12. gripper (10) according to one of claims 6 to 11, characterized in that the one handlebar tape (18, 20) in an orthogonal to the longitudinal and the thickness direction of the other bar tape (18, 20) width direction outside the other bar tape (18, 20) is arranged.
    [13]
    13. gripper (10) according to one of claims 6 to 12, characterized in that the drive track (A) is a rectilinear drive axle (A), wherein preferably the handlebar tape (18) and / or the further handlebar tape (20) in one Extending portion of the support device (44) or further support device (44) to the gripper jaw (14), preferably in the entire course section of the drive axis (A) curves away, preferably about a bending axis (B18, B20) parallel axis of curvature (K18, K20 ).
    [14]
    14. gripper (10) according to claim 13, characterized in that it comprises two gripper jaws (14, 16) and a plurality of, preferably an even number of, more preferably a pair of handlebar bands (18), of which at least two on each located on different sides of the drive shaft and with different gripper jaws (14, 16) are coupled, and that it has a plurality of, preferably an even number of, more preferably a pair of further handlebar tapes (20), at least two on each of different sides the drive axle located and with different gripper jaws (14,16) are coupled, with particular preference an arrangement of gripper jaws (14, 16), handlebar tapes and support device (44), most preferably from other handlebar tapes and other support device (44), mirror-symmetrically with respect a mirror symmetry plane containing the drive axis (A) is formed.
    [15]
    15. gripper (10) according to claim 14, characterized in that at least one gripper jaw (14), preferably both gripper jaws (14, 16), in the direction of the drive axis (A) two spaced-apart investment formations (60, 62) for conditioning at an object to be gripped (68), wherein preferably all an investment formations (60, 62) having Anlage-axial region (64) of the gripper jaw (14) and a Anlenkorte exhibiting Anlenk-axial region (66) in the direction of the drive axis (A ) and wherein particularly preferably the abutment axial region (64) is arranged further away from the gripper frame (12) than the articulation axial region (66).
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    同族专利:
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    CH710520A2|2016-06-30|
    DE102014226317A1|2016-06-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US1839805A|1930-07-11|1932-01-05|Phillip O Sampson|Tool|
    US3481641A|1967-06-23|1969-12-02|Universal Technical Products I|Grasping implement|
    US5895084A|1997-02-19|1999-04-20|Mauro; George|Cam operated microgripper|
    US20070241573A1|2006-04-13|2007-10-18|Li-Yu Teng|Power operated pick-up tool|
    US20090179445A1|2008-01-15|2009-07-16|Coville William E|Rotating gripper assembly utilizing stepper motors|
    DE202013103352U1|2013-07-25|2013-08-06|Yan Zhang|Mechanical hand|DE102016223156A1|2016-11-23|2018-05-24|Bayerische Motoren Werke Aktiengesellschaft|Gripping device for gripping non-dimensionally stable workpieces|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102014226317.4A|DE102014226317A1|2014-12-17|2014-12-17|Flexible gripper, especially parallel gripper|
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