GRIPPING OR CLAMPING DEVICE, ASSOCIATED FUNCTIONAL MECHANISM AND ASSOCIATED MODULAR BOX

Description

[0001] The invention relates to a gripping or clamping device comprising a base housing, at least one base jaw, and preferably two base jaws movable toward and away from each other, wherein the at least one base jaw is coupled in motion to at least one working piston. The working piston is movable, in particular, within a working cylinder and defines a working pressure chamber, so that the base jaws are moved when pressure is applied to the working pressure chamber.

[0002] Such a gripping or clamping device is known from GB 2 147 268 A. There, the connecting section is formed by a cylindrical portion of the coupling link, which is completely located within the housing. A split bushing for securing the coupling link is provided around the cylindrical portion.

[0003] Gripping or clamping devices without a braking and / or locking unit are known, for example, from DE 100 13 022 C2 or DE 101 38 685 C1.

[0004] Furthermore, DE 2011 084 177 A1 discloses the provision of a damping element between the gripping jaw drive and the gripping jaw. DE 10 2013 211 528 A1 discloses the provision of an elastic spring element to maintain gripping force.

[0005] EP 2 581 170 A2 discloses a gripping device with a brake unit, wherein the brake unit is arranged outside a base housing. The brake unit is mounted on a shaft that interacts with racks via pinions, the racks being arranged on a movable cylinder.

[0006] The invention is based on the object of providing a gripping or clamping unit with which precise and safe gripping as well as universal use is possible in a simple manner.

[0007] This object is achieved by a gripping or clamping device having the features of patent claim 1. Consequently, it is provided in particular that the free end of the coupling member forms the connecting section for coupling the movement of the coupling member to the functional mechanism and that the base housing has an opening such that the connecting section is accessible from outside the base housing. The functional mechanism is provided for manipulating the movement and / or for determining the position of the base jaw. Furthermore, it is provided that the base housing has a receptacle for the coupling member such that the coupling member is arranged interchangeably on or in the base housing. This has the advantage that the coupling member can be designed differently depending on the functional mechanism to be provided and can be easily replaced. Different coupling members can therefore be used.It is conceivable that the coupling element is a drive element of a drive, a brake element of a brake unit, a locking element of a locking unit, a measuring element of a measuring unit, a synchronization element of a synchronization unit or a control / regulation element of a control and / or regulating unit.

[0008] By providing the connecting section, the movement of the working pistons, and thus the movement of the base jaws, can be manipulated and / or position-determined. This also includes the possibility of synchronizing and / or controlling the base jaw with other components via the functional mechanism. Manipulation can be achieved, in particular, by additional driving, additional braking, and / or by locking the coupling element, and thus the base jaws, by applying a corresponding force to the connecting section.

[0009] Such a gripping or clamping device can therefore be used universally and, depending on the requirements placed on the device, can be provided with a suitable functional mechanism via the connecting section, making the gripping or clamping device very flexible to use. Because only a corresponding functional mechanism needs to be provided, the gripping or clamping device according to the invention can be used in a wide variety of applications with different functional mechanisms.

[0010] It is also advantageous if the connecting section provides a drive profile for the rotary coupling of a rotary member on the functional mechanism side. The rotary member of the functional mechanism can then interact, in particular in a form-fitting manner, with the drive profile for the rotary coupling.

[0011] It is conceivable that the drive profile is arranged on the free end face of the coupling link or around the free end face of the coupling link. The rotary link can then be plugged onto the coupling link or inserted into it.

[0012] In order to enable a favorable interaction of the connecting section with the rotary member of the functional mechanism, it is advantageous if the free end face of the connecting section is at least largely flush with the surface of the housing.

[0013] It is also advantageous if two working pistons that can be moved parallel to one another are provided, each working piston having a coupling section, and wherein the coupling link that is movement-coupled to the two coupling sections is provided between the two coupling sections. By providing the coupling link, a synchronous movement of the two base jaws can be achieved. Nevertheless, comparatively high gripping forces can be provided because both working pistons can be subjected to a working pressure. In addition, different gripping forces can also be achieved, for example if only one working piston is subjected to the working pressure. By providing the coupling link between the two working pistons, simultaneous manipulation of the pistons and / or a determination of the position of both pistons, and thus of both base jaws, can be achieved using just one coupling link.

[0014] The movement coupling between the coupling member and the coupling section of the two working pistons can in particular be realized via a form-fitting coupling, for example in the form of a ratchet provided on the coupling member, which interacts with teeth provided on the coupling section. Another type of movement coupling is also conceivable, for example a friction or force-locking coupling, or a coupling with which moment limitation can be achieved.

[0015] The connection section in particular provides a suitable engagement profile via which the respective functional mechanism can be movement-coupled to the coupling member. The engagement profile can be realized, for example, as a ratchet, as a flat or round profile, for example as an internal hexagon or internal hexagonal round profile, as an external hexagon profile, a slot or cross-slot profile or the like.

[0016] According to the invention, the connecting section can be arranged within the housing or protrude from the housing. An arrangement within the housing has the advantage that such a gripping or clamping device can also be operated without a connected functional mechanism, and without requiring additional installation space. However, the connecting section can also protrude from the housing, so that the functional mechanism can be easily connected to the connecting section.

[0017] It has proven advantageous to provide a bearing bush for supporting the coupling link, which is detachably mounted on the housing for replacement of the coupling link. The bearing bush can, in particular, accommodate a shaft portion of the coupling link. To replace the coupling link, the bearing bush, which is attached to the base housing, for example, by means of screws, can be loosened and removed. The coupling link can also be designed such that, after removal of the bearing bush, it can be removed from the base housing along its axis of rotation.

[0018] The coupling member may further comprise an active portion that interacts with the coupling portion and at least one shaft portion with the connecting portion. As already mentioned, the active portion may, for example, comprise a toothing that interacts with a mating toothing provided on the coupling portion. The shaft portion may, for example, serve to pivotally support the coupling member, in particular to accommodate a bearing bush. The connecting portion is preferably arranged in the region of the free end of the shaft portion or in the region of the shaft portion that protrudes from the base housing.

[0019] In order to achieve a sufficient preload force, it is advantageous if an elastic preload element is provided between the coupling section and a driver provided on the respective base jaw.

[0020] The two working pistons preferably have one or two pressurizable working piston surfaces and each have a working piston rod, wherein the respective coupling section is provided on the respective working piston rod.

[0021] The coupling sections provided on the working piston rods can be designed either as a single piece with the working piston rod or as a separate component. If the coupling sections are designed as a separate component, it is advantageous if the respective working piston rod has a recess to accommodate the respective coupling section. This allows the coupling section to be arranged in a small installation space. Furthermore, forces can be transmitted reliably.

[0022] The respective coupling sections can each have an active section that interacts with the coupling member and extends into an area between the coupling member and the coupling rod. The coupling rod can, for example, have a quarter-circle cross-section, on which the coupling section is arranged. For reliable force transmission, the active section then preferably extends between the working piston rod and the coupling member, or its active section.

[0023] The object mentioned at the outset is also achieved by a gripping or clamping unit which comprises a gripping or clamping device according to the invention and which comprises a functional mechanism which is coupled to the gripping or clamping device via the connecting section of the gripping or clamping device.

[0024] The functional mechanism can preferably be arranged in a separate attachment housing, which can be attached to or secured to the base housing. This has the advantage that different functional mechanisms can be stored in different attachment housings, and that the appropriate functional mechanism can be used with the gripping or clamping device as needed.

[0025] The clamping unit according to the invention can provide a drive unit, a braking unit, a fixing unit, a measuring unit, a synchronization unit and / or a regulating and / or control unit as a functional mechanism.

[0026] The aforementioned object is also achieved by a modular system comprising a gripping or clamping device according to the invention as well as various coupling elements with connecting sections for connecting different functional mechanisms and / or different functional mechanisms for arranging the gripping or clamping device according to the invention. By providing such a modular system, different requirements can be met by the respective combination of gripping or clamping device and corresponding functional mechanism.

[0027] Further details and advantageous embodiments of the invention can be found in the following description, on the basis of which embodiments of the invention are described and explained in more detail.

[0028] They show: Figure 1 shows a perspective view of a gripping device according to the invention; Figure 2 shows a plan view of the gripping device according to Figure 1; Figure 3 a section through the gripping device according to Figure 2 along the line III; Figure 4 a section along the line IV in Figure 3 ; Figure 5 a section along the line V in Figure 2 ; Figure 6 a section along the line VI in Figure 4 ; and Figure 7 shows a longitudinal section through a functional mechanism for a gripping device according to the Figures 1 to 6 .

[0029] In the Figures 1 to 6 A gripping device 10 is shown with a base housing 12 in which two working pistons 14 are arranged to be movable in a working cylinder 15, each working piston 14 being coupled in motion to a base jaw 16. The base housing 12 has multi-tooth guides 18 for guiding the base jaws 16. A cover plate 20 is attached to the base housing 12 in the central area between the base jaws 16.

[0030] As can be seen particularly from the section according to Figure 4As can be seen, the two working pistons 14 can be moved parallel to one another along the axes 22. The working pistons 14 each further comprise a working piston rod 24, to which a coupling section 26 is fastened. The coupling sections 26 each have an active section 28 in the form of a linear toothing on the sides facing one another. The two coupling sections 26 interact via the toothing 28 with a coupling member 30, which has an active section 32 in the form of a pinion. The pinion 32 meshes with the linear toothing 28 of the coupling sections 26.

[0031] The coupling member 30 is arranged to rotate about a rotation axis 34 and synchronizes the movement of the two working pistons 14 or their working piston rods 24 and thus the movement of the base jaws 16.

[0032] As can be seen in particular from the Figures 3 and 5As can be seen, the coupling member 30 has a connecting section 36 which is flush with the outside of the base housing 12 and is accessible from outside the base housing 12.

[0033] The connecting section 36 is arranged on the free end face of the coupling member 30 and comprises a driving profile 37. The driving profile 37 can be designed as a hexagon socket or a hexagon socket, via which the coupling member 30 can be connected to a functional mechanism, as is shown, for example, in Figure 7 shown, can be connected.

[0034] The base housing 12 further has an opening 41 such that the connection section 36 is accessible from outside the base housing 12.

[0035] For suitable pivoting of the coupling member 30, a Figures 3 and 5A clearly visible bearing bush 38 is provided, which is fastened to the base housing 12 by means of fastening screws 40 in a receptacle 39 provided in the opening 41. By loosening the screws 40, the bearing bush 38 and the coupling member 30 can be removed from the receptacle 39. Depending on the intended functional mechanism, a differently designed coupling member 30 with a correspondingly designed connecting section 36 can be used.

[0036] As can be seen in particular from the Figures 4 , 5 and 6 As is clear, the working piston rods 24 have a recess 42 within which the coupling sections 26 are arranged. Figure 5 shows that the active section 28 of the coupling sections 26 lies in a region between the respective working piston rod 24 and the pinion 32 of the coupling member 30. In this region, the working piston rods 24 have a quarter-circular cross-section.

[0037] As can be seen in particular from the Figures 3 and 6 As can be seen, a driver 44 is provided on each of the base jaws 16, which is coupled in movement to the respective coupling section 26. The drivers 44 are Figure 6 shown fastening screws rigidly connected to the base jaws 16. Between the respective driver 44 and the associated coupling section 26, an elastic element 46 is provided, with which the gripping force can be maintained or which provides a preload force when gripping a component.

[0038] During operation, the working pressure chambers 50, 52 delimited by the working pistons 14 are alternately subjected to working pressure, whereby when the working pressure chambers 50 are pressurized, the base jaws 16 are moved towards one another and when the working pressure chambers 52 are pressurized, the base jaws 16 are moved away from one another.

[0039] A drive unit, for example, can be used as a functional mechanism interacting with the end section 36, which drives the coupling member 30 and thus the base jaws 16 coupled in motion to the coupling member 30. Furthermore, it is conceivable to provide a braking unit, with which the movement of the coupling member 30 and thus the movement of the base jaws 16 is braked. Furthermore, it is conceivable to provide a locking unit, with which the coupling member 30 and thus the base jaws 16 can be fixed in a position. Furthermore, it is conceivable to provide a measuring unit, with which the angle of rotation of the coupling member 30 and thus the position of the base jaws 16 can be measured. It is also conceivable to provide a synchronization unit, with which the movement of the coupling member 30 and thus the movement of the base jaws 16 is synchronized with other functional components.A regulating and / or control unit can also be provided which, depending on the rotational position of the coupling member 30, a torque acting on the coupling member 30 and / or a force acting on the coupling member, controls other functional components accordingly.

[0040] In the Figure 7 a functional mechanism 60 is shown, which is housed in a housing 62. The housing 62 can be connected to the Figure 7 The functional mechanism 60 is a positioning drive 64 with a fixing unit 66. By providing such a functional mechanism 60, a secure cooperation of the gripping device 10, as shown in the Figures 1-6 shown, can be carried out with a human person without the gripping device 10 posing any danger to the person.

[0041] The positioning drive 64 comprises a positioning cylinder 68 and a positioning piston 70 movably arranged therein. The positioning piston 70 defines a positioning pressure chamber 72. A piston rod 74 having a toothed portion 76 is provided on the positioning piston 70. The pressure-effective area of ​​the positioning piston 70 is smaller than the pressure-effective area of ​​the working pistons.

[0042] In the Figure 7 a coupling member 30 is shown which has a pinion 32 at its upper, free end, which is intended to be connected to the coupling sections 26 of the gripping device 10, as shown in the Figures 1 to 6 shown. The coupling member 30 also provides a wide pinion 78, which cooperates with the toothed portion 76 of the piston rod 74. The free end face of the connecting portion 36 protrudes above the surface of the housing (12).

[0043] The locking unit 66 can be used to lock the coupling member 30 and thus also the base jaws 16. A flange section 80 designed as a brake disc is provided at the end of the coupling member 30 facing away from the pinion 78. The flange section 80 is axially displaceable in the axial direction on the coupling member 30 or on a cylinder section 82 provided for this purpose. The flange section 80 is rotationally coupled via a spring 84 provided on the cylinder section 82, which cooperates with a receiving groove 86 provided on the flange section 80. The flange section 80 is axially displaceable in a locking cylinder 88, wherein the flange section 80 defines a locking pressure chamber 90. On the side facing away from the locking pressure chamber 90, a spring element 92 in the form of a disc spring is provided, which urges the flange section 82 against a clamping element 94 in the form of a brake disc and locks it when the locking pressure chamber 90 is depressurized.An axial bearing 96 is provided on the side of the disc spring 92 facing away from the flange section 80.

[0044] When pressure is applied to the locking pressure chamber 90, the flange section 80 is loaded toward the disc spring 92, thereby compressing the disc spring 92. Due to the provision of the axial bearing 96, the flange section 80 can be easily rotated about the axis 34 even when the disc spring 92 is compressed. Consequently, when pressure is applied to the locking pressure chamber 90, the locking unit 66 is released, and the coupling member 30 can be rotated about its axis of rotation 34.

[0045] In operation, the gripping device 10 works together with the functional mechanism 60 as follows: First, the base jaws 16 are moved into the gripping position by applying pressure to the positioning pressure chamber 72. The positioning force acting on the jaw 16 or on the top jaws provided on the base jaws 16 does not exceed a permissible limit force due to the selection of a correspondingly large pressure-effective area of ​​the positioning piston 70. The limit force can be, for example, 140 Newtons. Upon reaching the gripping position, the corresponding working pressure chamber 50, 52 is pressurized with working pressure; due to the larger pressure-effective area of ​​the pistons 14, the actual gripping force acts on the jaws 16, which can be many times higher than the positioning force.

[0046] A switching of the working pressure from the positioning pressure chamber 72 to the working pressure chamber 50 or 52 can be carried out, for example, via a switching device, wherein sensors can be provided which cause a switching when it is determined that the base jaws 16 reach their gripping positions.

[0047] After the base jaws 24 are subjected to the gripping force, the coupling member 30 is secured with the locking unit 66; the locking pressure chamber 90 is thus depressurized, whereby the disc spring 92 presses the flange section 80, and thus the coupling member 30, against the clamping element 94 and thus secures it. After the coupling member 30 is secured, the working pressure chamber 50 or 52 is depressurized. Due to the provision of the pretensioning elements 46, a sufficiently high gripping force can be provided even if a certain mechanical play exists between the flange section 80 and the base jaws 16.

[0048] To release the gripping force, the locking unit 66 can release the base jaws 16, which is achieved by applying working pressure to the locking pressure chamber 90. The jaws 16 can be retracted by applying pressure to a pressure chamber opposite the positioning pressure chamber 72 or to a correspondingly provided spring element.

[0049] By combining the gripping device 10 according to the Figures 1 to 6 and the positioning drive 64 provided in the attachment housing 62 with the fixing unit 66, a gripping unit can be provided which is suitable for human-machine collaboration.

Claims

1. Gripping or clamping device (10) having a main housing (12), and having two main jaws (16) which can be moved toward and away from each other, wherein the main jaws (16) are movement-coupled to two working pistons (14) that each delimit a working pressure chamber (50, 52), wherein the working pistons (14) each have a coupling portion (26), and wherein a coupling member (30) is provided which is movement-coupled to the coupling portions (26) and arranged to rotate about a rotation axis (22), wherein the coupling member (30) realizes a synchronous movement of the two main jaws (16), wherein the coupling member (30) has a connecting portion (36) for connection to a functional mechanism (60), wherein the free end of the coupling member (30) forms the connecting portion (36) for the movement-coupling of the coupling member (30) to the functional mechanism, wherein the main housing (12) has an opening (41) such that the connecting portion (36) is accessible from outside the main housing (12) and wherein the main housing (12) has a receptacle (39) for the coupling member (30) such that the coupling member (30) is arranged replaceably on or in the main housing (12).

2. Gripping or clamping device (10) according to claim 1, characterized in that the connecting portion (36) provides a driving profile (37) for the rotary coupling of a rotary member on the functional mechanism side.

3. Gripping or clamping device (10) according to claim 2, characterized in that the driving profile (37) is arranged on the free end face of the coupling member (30).

4. Gripping or clamping device (10) according to claim 2 or 3, characterized in that the driving profile (37) is arranged around the free end face of the coupling member (30).

5. Gripping or clamping device (10) according to any of the preceding claims, characterized in that the free end face of the connecting portion (36) is at least largely flush with the surface of the housing.

6. Gripping or clamping device (10) according to any of the preceding claims, characterized in that two working pistons (14) which can be moved in parallel with one another are provided, in that each working piston (14) has a coupling portion (26), and in that the coupling member (30) which is coupled in movement to the two coupling portions (26) is provided between the two coupling portions (26).

7. Gripping or clamping device (10) according to any of the preceding claims, characterized in that the connecting portion (36) is arranged within the main housing (12) or protrudes from the main housing (12) through the opening (41).

8. Gripping or clamping device (10) according to any of the preceding claims, characterized in that a bearing bush (38) is provided for supporting the coupling member (30), which is detachably arranged on the main housing (12) for replacing the coupling member (30).

9. Gripping or clamping device (10) according to any of the preceding claims, characterized in that the coupling member (30) has an active portion (32) which cooperates with the coupling portion (26), and at least one shaft portion having the connecting portion (36).

10. Gripping or clamping device (10) according to any of the preceding claims, characterized in that an elastic prestressing element (46) is provided between the coupling portion (30) and a driver (44) provided on the particular main jaw (16).

11. Gripping or clamping unit comprising a gripping or clamping device (10) according to any of the preceding claims and a functional mechanism (60) connected to the gripping or clamping device (10) via the connecting portion (36) for manipulating movement and / or for determining the position of the main jaw (16).

12. Gripping or clamping unit according to the preceding claim, characterized in that the functional mechanism (60) is arranged within an attachment housing (62) and in that the attachment housing (62) is arranged on the main housing (12).

13. Gripping or clamping unit according to claim 11 or 12, characterized in that the functional mechanism (60) is designed as a drive unit, braking unit, locking unit, measuring unit, synchronization unit and / or closed-loop and / or open-loop control unit.

14. Construction kit comprising a gripping or clamping device (10) according to any of claims 1 to 13 and different coupling members (30) having connecting portions (36) for connecting different functional mechanisms (60) and / or different functional mechanisms (60) for arrangement on the gripping or clamping device (10).