Gripping device

Abstract

2. Gripping device comprising at least a multi-segment gripping jaw (10, 12) which is movably articulated to a support device (14) and with a drive device (16) for moving the respective gripping jaw (10, 12) relative to the support device (14), characterized in that the respective gripping jaw (10, 12) has a movable gripping structure (18) with an outer structure (20) for receiving compressive forces and with an inner structure (22) for receiving tensile forces, which is adjacent to a gripping space (24) and that individual coupling elements (26) are provided, which are each movably articulated to the inner (22) and outer structure (20), which terminate in a common base (28) of a predefinable length, which is pivotably mounted on a pivot axis (30) on the support device (14).

Description

[0001] The invention relates to a gripping device comprising at least one multi-membered gripping jaw which is movably hinged to a support device and having a drive device for moving the respective gripping jaw relative to the support device.

[0002] EP 2 241 403 B1 discloses a holding and / or spreading tool with at least two jaws opposite one another with respect to a gap, of which at least one jaw is movable with respect to the other jaw, wherein at least two jaws opposite one another with respect to a gap are formed by a flexible manipulator tool with a distal end movable relative to a proximal end in at least one manipulation plane, with at least two cheeks extending spaced apart from one another, flexible at least in the manipulation plane and extending from the proximal end to the distal end, which cheeks are connected to one another between the proximal end and the distal end by a tensile hinge element in a shear-movable manner and are held spaced apart from one another at the proximal end,wherein one cheek is designed to be rigid and the other cheek to be tensile, and the tensile-resistant cheek is connected at its distal end to the rigid cheek in a tensile-force-transmitting manner, wherein at least one cheek is designed to be drivable in its longitudinal direction at the proximal end, wherein the mutually facing, at least rigid cheeks adjacent to the intermediate space or the mutually facing, at least tensile-resistant cheeks of the two manipulator tools adjacent to the intermediate space are brought together at the proximal end.

[0003] The linear drive movement for the flexible manipulator tool is carried out by traction devices or push rods connected to the cheek, which results in a small space requirement, so that the manipulator tool is particularly suitable for compact and thin, elongated tools.

[0004] EP 2 735 406 B1 discloses a gripping device for gripping objects, comprising at least two gripping units which can be moved by a working movement between a release position and a gripping position gripping the object, wherein the gripping units each have gripping elements which are equipped with active elements which, in the gripping position, are in contact with the object to be gripped, wherein the active element has an active member made of flexible material which adapts to the contour of the object to be gripped, and wherein a tensioning device which has at least one shock absorber for an improved gripping process is provided for tensioning the active member when it is in contact with the object to be gripped.

[0005] Based on this prior art, the object of the invention is to create a gripping device that can be used in a variety of ways and has a high degree of adaptability with regard to the goods to be gripped.

[0006] A gripping device having the features of patent claim 1 in its entirety solves this problem.

[0007] Because, according to the characterizing part of patent claim 1, the respective gripping jaw has a movable gripping structure with an outer structure for absorbing compressive forces and an inner structure for absorbing tensile forces, which is adjacent to a gripping space, and because individual coupling links are provided, each of which is movably hinged to the inner and outer structure, which terminate in a common base of predeterminable length, which is pivotally mounted on a pivot axis on the support device, a compact and easily constructed gripping device can be created that is extremely versatile and highly adaptable to the goods to be gripped and thus handled. In particular, even sensitive goods, such as goods with scratch- or pressure-sensitive surfaces, can be easily moved with the gripping device, in particular transferred from one location to another.The inventive solution creates a relatively small gripping space, allowing the respective feed movement for holding or releasing the goods to be gripped to be short, allowing gripping processes to be initiated and released extremely quickly. It has also been demonstrated that the goods or objects to be handled can be stored closer together while still allowing them to be moved with the gripping device, which increases efficiency. Objects or goods with a wide variety of external contours can also be gripped securely.

[0008] The gripping device can be formed from at least one fixed and at least one movable gripping jaw with the gripping structure; however, a gripping device with gripping jaws of essentially the same design is preferably provided, so that an overall symmetrical design for the gripping device results, which benefits a uniform introduction of force from the carrying device to the goods to be gripped.

[0009] In a further preferred embodiment of the gripping device according to the invention, the gripping structure tapers towards its free end, and the outer and inner structures are hingedly connected to one another at this free end. This results in a type of isosceles triangle, at least in an initial state, which enables force introduction and distribution in a particularly advantageous manner. The outer structure is preferably formed from individual structural members that are pivotally connected to one another along connecting axes, enabling unobstructed operation.

[0010] In a preferred embodiment of the gripping device according to the invention, the respective structural member is formed from at least one pair of parallel connecting webs, which are penetrated at a predetermined distance from one another at their ends by at least one of the connecting axes. The respective connecting axes between two adjacent structural members serve for the articulated engagement of pairs of coupling members that bridge the space between the outer and inner structures. This creates a type of inherently stable, movable, lightweight supporting structure.

[0011] In a further preferred embodiment of the gripping device according to the invention, the inner structure has an outer skin in the form of a single- or multi-layer band, which is articulated by means of additional connecting axes to the pairs of coupling links that establish the tensile connection between the outer and inner structures. Thanks to the flexible outer skin of the inner structure, which thus also limits the gripping space, a particularly gentle gripping of the potentially fragile item to be gripped is possible.

[0012] In a further preferred embodiment of the gripping device according to the invention, it is provided that when a directed force is applied to the outer structure of the gripping jaw by means of the drive device, by pivoting the base about the pivot axis of the support device in the direction of the free end of the gripping structure, the inner structure arches around a pressure range of a predeterminable size and narrows the free gripping space for the purpose of holding third-party components. In this way, the curvature of the respective gripping jaw is virtually automatically predetermined during its closing process, and even goods with very different free cross-sections can be securely gripped in this way by the inner structure at least partially resting freely against the outer surface of the goods. In this way, the goods to be handled can also be almost enclosed, if necessary.

[0013] In another particularly preferred embodiment of the gripping device according to the invention, the drive device comprises a cable drive with at least one control cable that pivots the base of the gripping jaw about the pivot axis on the support device for the gripping process, actuated by traction. The cable drive allows for direct power control of the gripping device with a very low operating weight.

[0014] Particularly preferably, the respective control cable is fixedly connected to the support device at one free end and can be wound up in a rewindable manner by means of a shaft at its other free end. Between the free ends of the control cable, the cable is guided over individual deflection pulleys, one of which engages the base for the purpose of initiating the pivoting movement of the base about the pivot axis on the support device by actuating the cable drive to effect a gripping process. Guiding the respective control cable over a deflection pulley gear results in a functionally reliable design of the entire gripping device.

[0015] Preferably, it is further provided that, after the shaft has been released by a release device, the respective gripping jaw can be reset from its respective gripping state to its initial state by means of a reset device. The reset device preferably consists of an energy storage device, such as a tension spring, which is charged during gripping and releases its energy again during the release process to support the gripping process.

[0016] The invention further relates to a gripping device comprising at least one multi-element gripping jaw which is movably hinged to a support device and having a drive device for moving the respective gripping jaw relative to the support device, wherein the drive device has a cable drive, with at least one control cable for carrying out a gripping process in which the respective gripping jaw is pivoted about a pivot axis on the support device by means of traction. In addition to simple guidance of the cable drive, preferably by means of a deflection pulley gear, only small masses need to be moved to trigger a gripping movement, so that little energy is required to operate the drive device. The respective control cable can be easily assembled and disassembled within the frame of the gripping device, which helps to reduce the overall assembly effort.Furthermore, the cable drive allows high actuation forces to be transmitted to the respective gripping jaw. This has no equivalent in the state of the art.

[0017] In the following, the gripping device according to the invention is explained in more detail using an exemplary embodiment according to the drawing. In this diagram, not to scale, the Fig. 1 in the form of a perspective front view and partly as an exploded view, the gripping device as a whole; Fig. 2 shows an enlarged section of the gripping device after Fig. 1; Fig. 3 a frontal plan view of the perspective representation of the gripping device according to the Fig. 1; but without handle for a winding shaft; Fig. 4 and Fig. 5 in the form of a model principle representation of the gripping device in the open and closed state.

[0018] The Fig. 1 with its front view comprises two gripping arms or gripping jaws 10, 12, which are essentially structurally identical. The respective gripping jaw 10, 12 is movably hinged to a support device designated as a whole by 14. Furthermore, a drive device designated as a whole by 16 serves to move the respective gripping jaw 10, 12 relative to the support device 14. The respective gripping jaw 10, 12 has a movable gripping structure 18 with an outer structure 20 for absorbing compressive forces and with an inner structure 22 for absorbing tensile forces. The respective inner structure 22 is adjacent to a gripping space 24, which in the unactuated initial position after the Fig. 1 is tapered towards the upper end of the support device 14. Furthermore, individual arcuate coupling elements 26 of different lengths are provided, which are arranged in pairs in a functional plane and are each movably connected to the inner structure 22 and the outer structure 20. Both the inner structure 22 and the outer structure 20 terminate in a common base 28 of a predetermined length, which is designed in the manner of a rocker and is pivotally mounted on a pivot axis 30 on the support device 14. The corresponding initial state according to the Fig. 1 to 3, where the gripping device is not actuated, corresponds to the principle diagram according to the Fig. 4.

[0019] The respective gripping structure 18 tapers towards its free, lower end 32 in the direction of view of the figures, and at this free end 32, the outer structure 20 is pivotally connected to the inner structure 22 via a connecting axis 34. The outer structure 20 is further formed from individual structural members 36, which are adjacent to one another in pairs and are also pivotally connected to one another along connecting axes 34. As can be seen further from the Fig. 1, the respective structural member 36 is formed from a pair of connecting webs 38 running parallel to one another, which are each penetrated at the end by a connecting axis 34 at a predeterminable axial distance from one another, wherein the respective connecting axis 34 between two adjacent structural members 36 serves for the articulated engagement of pairs of coupling members 26 which span the space 40 between the outer structure 20 and the inner structure 22 in a bridge-like manner at the edge.

[0020] The inner structure 22 has an outer skin in the form of a single- or multi-layer band 42, which is articulated to the pairs of coupling links 26 by means of additional connecting axes 44, comparable to the one connecting axes 34, which in this respect establish the tensile-resistant connection between the outer structure 20 and the inner structure 22. Fabric bands or belts can preferably be used as the band 42. These bands, when sewn or glued together, leave pocket-like recesses through which the additional connecting axes 44 can be inserted. All structural members 36 and coupling links 26, as well as the connecting axes 34 and 44, are made of solid metal materials or plastic. Since the coupling links 26 primarily absorb tensile forces, they can also be designed as fabric bands or belts.

[0021] When a compressive force is applied to the outer structure 20 of the respective gripping jaw 10, 12 by means of the drive device 16 by pivoting the base 28 about the pivot axis 30 of the support device 14 in the direction of the free end 32 of the gripping structure 18, the inner structure 22 arches around a pressure area 46 of a predeterminable size and the free gripping space 24 is narrowed in the direction of the surroundings and towards the respective free end 32 in order to hold the item 48 to be gripped. The gripping or holding process in question is carried out on an item 48 with a circular cross-section in Fig. 5, where starting from the starting position after the Fig. 4 the opposing pressure areas 46 of gripping jaws 10, 12 come into contact with the material 48. For this purpose, the base 28 of the gripping jaw 10 pivots clockwise as viewed in the direction of the figures, and for the gripping jaw 12, counterclockwise.

[0022] For the movement of the gripping jaws 10, 12 from their initial position to the Fig. 4 into the actuated gripping position after the Fig. 5, the drive device 16 has a cable drive 50 with individual control cables 52 of equal length.

[0023] As in particular the Fig. 2 shows, the respective control cable 52 is fixed with its one free end 54 to a fixed point 56 of the support device 14. Starting from this fixed point 56 in the form of a transverse web 57, the respective control cable 52 then extends around a first deflection pulley 58 upon reversal of direction and then, again with reversal of direction, around a second deflection pulley 60. After passing the second deflection pulley 60, the respective control cable 52 is guided with its other free end 64 in the direction of a shaft, in particular winding shaft 62, and is fixed in a stationary manner in a disk-shaped wheel body 66 which is firmly seated on the winding shaft 62, which in turn can be rotated clockwise by means of an attachable handle 68 for winding up part of the control cable 52.

[0024] How the Fig. 2, the wheel body 66 has individual locking pawls 70 on its outer circumference, which can be brought into releasable engagement with a locking lug 72, which is held in locking engagement with an adjacent locking pawl 70 of the wheel body 66 by means of a force device 74, preferably using spring force. However, if the handle 68 is turned clockwise by hand, as viewed in the direction of the figures, the winding shaft 62 and the attached wheel body 66 also rotate clockwise. The sawtooth-like locking pawls 70 on the outer circumference of the wheel body 66 thereby lift the spring-loaded associated locking lug 72, which then automatically engages a sawtooth undercut preceding in the rotation sequence, thus preventing an opposite movement of the shaft 62, i.e., counterclockwise. In this way, only one winding of the respective control cable 52 is provided, which is thus shortened in its free length.However, if the aforementioned locking device 70, 72 is released, the control cable 52 can be unwound from the shaft 62 again, which then returns to its . Fig. 1 to 4, which will be explained in more detail below. In a preferred embodiment, the locking disc and cable drum are separate components.

[0025] The two rotatably guided deflection pulleys 58, 60 for each control cable 52 form a type of deflection gear, wherein, viewed in the direction of the figures, the lower second deflection pulley 60 maintains its position on the support device 14, for which purpose it is fixed stationary on the support device 14 with its rotation axis 75. In contrast, the upper, or first deflection pulley 58 is fixed to the base 28 or rocker, respectively, at a location opposite the pivot axis 30, so that as the respective control cable 52 shortens, the upper first deflection pulley 58 moves in the direction of the lower second, stationary deflection pulley 60, which is particularly evident from the illustrations according to the Fig. 4 and Fig. 5. During the downward deflection roller movement, the first deflection roller 58 exerts a compressive force on the outer structure 20 and the inner structure 22 is inevitably subjected to a tensile force, so that the two gripping jaws 10, 12 take up their gripping position according to the Fig. 5. In order to minimize wear on the respective control cable 52 during its traction operation by means of the handle 68 and the winding shaft 62, the respective deflection rollers 58, 60 are rotatably mounted on the support device 14 and on the outer structure 20. Furthermore, the traction operation for the respective control cable 50 is Fig. 5 indicated by arrows.

[0026] For each gripping jaw 10, 12, at least one independent cable drive 50 is provided as described, and for a uniform force introduction, a corresponding cable drive 50 is provided in pairs opposite each other on both the front and rear of the gripping device, so that a total of four cable drives 50 with four control cables 52 and four pairs of deflection pulleys 58, 60 are used on one gripping device. For pivoting the first, upper deflection pulley 58, this is in turn articulated to the gripping structure 18 by means of a rotation axis 75' in the region of an adjacent connecting web 38 of the uppermost structural member 36. In this respect, a wheel body 78 corresponding to the wheel body 66 is also provided for the rear pair of control cables 52, which wheel body fixes the adjacent cable ends 64 of a rear cable pair 52; Further locking pawls (not shown) are also provided in this area for the wheel body 78.Furthermore, the disc-shaped wheel body 78 is driven synchronously with the wheel body 66, namely by actuating the winding shaft 62 by means of the attached handle 68. Furthermore, the winding shaft 62 is mounted in two bearing blocks 79 of the support device 14, with the respective wheel bodies 66 and 78 projecting outwards.

[0027] The particularly in the Fig. 2 for the front wheel body 66 is articulated on a locking bridge 80 with the further, identically designed locking lug for the rear wheel body 78, wherein the locking bridge 80 extends essentially parallel to the longitudinal axis of the winding shaft 62 in an arc shape and is used by means of a manually operable lifting device 82 against the spring action of the power device 74 to bring the respective locking lug 72 defined and simultaneously out of engagement with the respectively assignable locking pawl 70 of both wheel bodies 66, 78. For this purpose, a manually operable hand lever 84 is used, which in the direction of view towards the Fig. 2, pivots clockwise on the support device 14, thereby pulling an engagement hook 86 upwards, which takes the locking bridge 80 along via an associated guide 85 and releases the locking. Once the locking is released, the gripping jaws 10, 12 can again be freely moved from their actuated position to the Fig. 5 to its starting position after the Fig. 4 be brought under release of the previously transported and specified goods 48.

[0028] For such lifting and other handling operations, the support device 14 has a thimble 88 at its uppermost point for securing the gripping device as a whole to a conventional load or crane hook (not shown). Otherwise, the support device 14 is provided with brackets 90 as handles for pivoting and other handling of the gripping device, as well as with protective covers 92 that protect the movable parts of the gripping device.

[0029] For an improved return movement from the gripping position to the Fig. 5 into the release position after the Fig. 4, this can be supported by a return device 94, which has a return spring 96 for each pair of cable drives 50, which when the two gripping jaws 10, 12 are moved in the direction of the gripping or fixing position after the Fig. 5 are tensioned and when the locking device is released by disengaging the respective locking lug 72 from the adjacent locking pawl 70, the gripping jaws 10, 12 in their initial position after the Fig. 4 pivot back, whereby for this purpose the respective return spring 96 is articulated with one free end in the upper region 97 of the support device 14 and with its other free end at a pivot point 98 which is arranged in the central region 100 of the pivotable base 28.

[0030] The gripping device according to the invention is characterized in any case by the fact that the outer skin in the form of the outer structure 20 consists of torsion- and bending-resistant elements, be it in the form of H-elements or struts, in order to be able to dissipate the compressive forces occurring during the gripping process. The connecting lamellae in the form of the coupling links 26 are also designed to be rigid and thus tensile-resistant. The inner skin in the form of the inner structure 22 is preferably realized using a flexible material, be it in the form of a fabric belt 42 or as a belt construction. The respective gripping jaw 10, 12 is driven, as already explained, via a rotation of the base 28 or rocker, wherein the rotation axis in the form of the pivot axis 30 is arranged parallel to the gripping plane. Importantly, both the inner skin and the outer skin are rotatably suspended on this base 28 in the form of the inner structure 22 and the outer structure 20, respectively. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 2 241 403 B1

[0002] EP 2 735 406 B1

[0004]

Claims

[1] Gripping device comprising at least one multi-membered gripping jaw (10, 12) which is movably hinged to a support device (14) and provided with a drive device (16) for moving the respective gripping jaw (10, 12) relative to the support device (14), characterized by that the respective gripping jaw (10, 12) has a movable gripping structure (18) with an outer structure (20) for absorbing compressive forces and with an inner structure (22) for absorbing tensile forces, which is adjacent to a gripping space (24), and that individual coupling members (26) are present, which are each movably hinged to the inner (22) and outer structure (20), which open into a common base (28) of predeterminable length, which is pivotally mounted on a pivot axis (30) on the support device (14). [2] Gripping device according to claim 1, characterized bythat the gripping structure (18) tapers to a point towards its free end and that at this free end (32) the outer (20) and the inner structure (22) are articulated to one another. [3] Gripping device according to claim 1 or 2, characterized by that at least the outer structure (20) is formed from individual structural members (36) which are pivotally connected to one another along connecting axes (34). [4] Gripping device according to one of the preceding claims, characterized bythat the respective structural member (36) is formed from at least one pair of connecting webs (38) running parallel to one another, which are penetrated at the end by at least one of the connecting axes (34) at a predeterminable distance from one another, and that the respective connecting axis (34) between two adjacent structural members (36) serves for the articulated engagement of pairs of coupling members (26) which span the space (40) between the outer (20) and inner structure (22) in a bridge-like manner at the edge. [5] Gripping device according to one of the preceding claims, characterized by that the inner structure (22) has an outer skin in the form of a single- or multi-layer band (42) which is articulated by means of further connecting axes (44) to the pairs of coupling members (26) which establish the tensile-resistant connection between the outer (20) and inner structure (22). [6] Gripping device according to one of the preceding claims, characterized bythat when a compressive force is applied to the outer structure (20) of the gripping jaw (10, 12) by means of the drive device (16), by pivoting the base (28) about the pivot axis (30) of the carrying device (14) in the direction of the free end (32) of the gripping structure (18), the inner structure (22) arches around a pressure area (46) of a predeterminable size and narrows the free gripping space (24) for the purpose of holding the goods (48) to be gripped. [7] Gripping device according to one of the preceding claims, characterized by that the drive device (16) has a cable drive (50) with at least one control cable (52) which, for the gripping process, pivots the base (28) of the gripping jaw (10, 12) about the pivot axis (30) on the support device (14) under traction force. [8] Gripping device according to one of the preceding claims, characterized bythat the respective control cable (52) is stationary at one of its free ends (54) and can be wound up in a rewindable manner by means of a shaft (62) at its other free end (64), and that between the free ends (54, 64) of the respective control cable (52) it is guided over individual deflection rollers (58, 60), one of which deflection rollers (58) acts on the base (28) for the purpose of initiating the pivoting movement of the base (28) about the pivot axis (30) on the support device (14) by actuating the cable drive (50) to bring about a gripping process. [9] Gripping device according to one of the preceding claims, characterized by that after release of the shaft (62) by means of a release device (82), the respective gripping jaw (10, 12) can be reset from its respective gripping state towards its initial state by means of a reset device (94). [10] Gripping device comprising at least one multi-membered gripping jaw (10, 12) which is movably hinged to a support device (14) and provided with a drive device (16) for moving the respective gripping jaw (10, 12) relative to the support device (14), characterized by that the drive device (16) has a cable drive (50) with at least one control cable (52) for carrying out a gripping process in which the respective gripping jaw (10, 12) is pivoted about a pivot axis (30) on the carrying device (14) by means of a tensile force.

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