MULTIFUNCTIONAL LONG-ARM GRIPPING MECHANISM

Description

[0001] The invention relates to a multifunctional long-arm gripping mechanism for robots, machines, and handling devices, comprising at least one movable gripper finger that interacts with another fixed or movable gripper finger. Such a gripping mechanism is disclosed in document DE102016010190A1.

[0002] When retracted, the gripper forms a narrow, cylindrical or polygonal body that extends deep into hollow spaces along its entire length, which can be several meters. It grasps objects and workpieces individually or in groups, transports them from point A to point B, and places them down individually or together. This allows it to reach deep into the corners of boxes and retrieve or place parts without touching the box walls. Its multifunctionality allows the gripper to be equipped with multiple finger, suction, and magnetic head mechanisms to perform several tasks simultaneously or sequentially.

[0003] There are numerous gripping mechanisms that are universally applicable, and there are also numerous gripping mechanisms for specific tasks. However, when it comes to placing industrially manufactured products close together in deep boxes or stacked on top of each other during their manufacturing, transport, and storage processes, and later removing the closely packed parts individually from deep transport boxes, these gripping mechanisms are unsuitable or not well suited, because their housing or fingers collide with the neighboring part or the sides of the boxes.

[0004] DE 10 2016 220 643 A1 discloses a robot gripper (1) of the same type, comprising a gripper body (2) to which at least one radially movable gripper jaw (10) and an auxiliary suction element (13) are attached. The gripper has a central suction element (8) mounted at the end of a tubular, height-adjustable column (17). The drives (14, 15) are attached to a plate, which is fastened to the body (2) by means of three laterally positioned square rods, forming a cage. Within this cage are guide rods (not described in detail) on which a plate slides up and down, serving as the drive for the gripper arms. This robot gripper is attached to the gripper flange (3) by means of a narrow connecting element (not described in detail).The entire weight, bending moment, and torsional moment of the robot gripper with its grasped object are transferred to the narrow connecting element (not described in detail) between the gripper body (2) and the gripper flange (3). Furthermore, the three gripper arms (9.1, 9.2, 9.3) always project radially outwards in their upper region in every position and always remain far outside the cage-like structure with a large diameter, even when gripping very small objects.

[0005] CN 106 003 112 A describes a gripping mechanism with a very large gripper stroke. The gears used here are based on mechanisms such as the scissor joint and the isosceles centric push-crank mechanism with a central push rod (1) that serves as the frame for the mechanisms and is connected to the flange. This single weak connection thus determines the load-bearing capacity of the large gripper, which is very low with respect to bending and torsion.

[0006] US 2017 / 0 151 678 A1 describes a gripping mechanism with up to four gripper fingers at the end of three stacked parts, all machined from solid blocks of material. This gripping mechanism is mounted on a shaft for attachment to a machine and becomes progressively wider and heavier towards the gripper tip. It is therefore completely unsuitable for particularly long gripping mechanisms that are rigid in bending and torsion.

[0007] DE 10 2009 015 977 A1 describes a robot arm consisting of three flexible rods, along which triangular rods are arranged in tiers, maintaining a distance between the flexible rods. By shortening the length of individual flexible rods, a gripper flange tilts, and with it a gripper at the tip of the flexible rods tilts on a spatially curved surface. This robot arm exhibits very torsion flexibility.

[0008] The invention is based on the objective of creating a multifunctional gripping mechanism with a particularly long arm and large gripper stroke in such a way that it is very slim and narrow in the retracted state and yet remains rigid in terms of bending and torsion.

[0009] This problem is solved according to the invention with the features specified in claim 1.

[0010] The dependent claims represent advantageous further developments of the invention.

[0011] The gripping mechanism according to the invention is intended for robots, machines, and handling devices and comprises a (particularly long) arm and at least one movable gripper finger that interacts with another fixed or movable gripper finger. The housing of the gripping mechanism is in the form of a (particularly slim and) multi-story tower in sandwich construction, consisting of at least two cages (I, II) mounted above the gripper flange, each with two fixed cage plates that are held apart by rods, spokes, cables, and / or wires. In the retracted state, the actuators and (particularly preferably) all moving parts of the gripper are preferably located at least substantially and, in particular, almost completely or entirely within the cages.

[0012] The arm, or long arm, of the gripper mechanism encompasses the housing, which is in the form of a particularly slender tower, or the arm is at least partially, and in particular completely, provided by the housing. This tower is preferably also called a gripper tower.

[0013] For the purposes of this application, the term "slender" tower refers to a tower-like structure in which the ratio of a maximum longitudinal dimension or height to a diameter in at least one intended state is greater than 2:1, and in particular greater than or equal to 3:1, and can reach and even exceed values ​​of 4:1. A ratio greater than 2.5:1 is particularly preferred.

[0014] All moving parts and actuators are considered to be largely within the cages if, in at least one intended position, they are located more than 50%, and in particular more than 60%, and preferably more than 70% or 80%, within the cages. It is also possible and preferred that all moving parts and actuators are located more than 90%, and in particular more than 95%, or nearly or even 100%, within the cages.

[0015] For the purposes of this application, a part or actuator is located within a cage, in particular if the part or actuator is located within a cylindrical, oval, or polygonal cage volume spanned (as narrowly as possible) by the elements of the cage.

[0016] In its simplest embodiment, the gripping mechanism according to the invention has a long arm as a housing in the form of a slender tower, called a gripper tower, which consists of at least one flange and two further levels arranged above the flange, called cage plates, each of which together with each other and with the flange forms a cage that is rigid in bending and torsion. The enumeration of the cage plates begins with the first cage plate after the flange plate. Several rods, spokes, ropes, or wires are attached to one end of the flange plate. The other end is attached to a second plate, which is arranged parallel to the flange plate at a distance. The flange plate, together with the second plate and the parallel and / or intersecting rods, spokes, ropes, or wires located between them, forms a lightweight cage that is rigid in bending and torsion, the flange cage.The cavity of the flange cage primarily serves as a housing for actuators, mechanisms, and other elements and components, as well as the electronics and control modules of the gripper. The flange cage can also serve as an extension of the arm.

[0017] The interfaces for supplying the arm with energy, material and signal are located in the form of plugs and couplings on the flange plate, preferably on the circumference of the round flange or near the flange plate or through the flange plate.

[0018] The bodies or housings of the actuators, electric motors, pneumatic cylinders, or other drive systems, as well as those of the other machine elements, are mounted in one or more cages between cage plates, which in turn stiffen the gripper turret and thus the entire gripper arm. There are two types of cage plates and cages: fixed and movable. Both cage types have cage plates and cage rods. Both the fixed and movable cage plates keep the rods of the long arm at a lateral distance. They reinforce the rods against bending and stiffen them against kinking and torsion.

[0019] The cage plates can be attached to the rods, spokes, sides, etc., on one or both sides. The machine elements and actuators between the cage plates can be subjected to compression to tension the rods, spokes, ropes, wires, and threads. Alternatively, rods or tubes, preferably split, are placed between the cage plates of individual cages and pressed apart by means of a screw connection to pre-tension the outer rods, wires, ropes, or threads.

[0020] The cage bars typically also serve as guide rods for the sliding joints between the movable cage plates and fixed cage bars, and for the sliding joints between the fixed cage plates and the movable cage bars. The movable cage bars can also extend through the fixed cage plates and form a sliding joint with them. All bars can be hollow and tubular.

[0021] All cage plates, both fixed and movable, can incorporate mounting elements for joints. This means that actuators, both fixed and movable, as well as joints of other mechanisms located on the multifunctional long-arm gripping mechanism, can be attached to the cage plates. Entire cages or parts thereof serve as drives or drive elements for actuating individual fingers or groups of other mechanisms.

[0022] The cage plates are round or polygonal with radial honeycomb-shaped cutouts and are very lightweight. They contain only as much material as necessary to hold or clamp the fixed guide rods and the sliding bearings for continuous guide rods. Their outer contours can assume any geometric shape, such as circular or polygonal. The center of the gripper turret and the individual cages is generally left free of rods and spokes to accommodate supply lines, finger mechanisms, or other mechanisms. The rods and spokes are preferably positioned radially inward from the outermost edge of the gripper turret.

[0023] Depending on the task and requirements, a tower of any desired length and width, very lightweight yet rigid in bending and torsion, is constructed by stacking any number of cages in a sandwich design. This tower acts as a hollow arm and serves as the frame for a multifunctional gripping mechanism. Preferably, the circumference of the individual cage plates decreases conically with increasing distance from the flange plate. A gripping mechanism designed in this way can, when retracted, completely retract its gripper fingers, suction cups, magnetic heads, and other mechanisms, along with their actuators, within its gripper tower. It can then reach deep into the corners of boxes and into the cavities of workpieces, grip parts, perform the work, and retract again.

[0024] The actuators, which generate forces and moments, and other heavy components are housed in the first cages closer to the flange. Parts of the mechanisms that transmit forces and / or perform guiding functions, such as linkages and cranks, are generally attached or articulated within the cages further away from the flange, mounted on the movable and stationary cage plates. Their function is carried out through the spaces between the rods, wires, ropes, and threads, extending outwards from the gripper turret.

[0025] The movable cage plates and entire cages, or drive or synchronization rings guided on one side on the guide rods, are mechanically actuated by the actuators placed in the flange cage or in the other cages by means of shafts, rods, ropes, spindles, chains, belts, threads, springs, gas springs and similar drive elements, also through bores through intermediate cage plates.

[0026] The axial movement or screw movement of a movable cage plate or ring on parallel rods or wires along the gripper longitudinal axis (A) serves as a drive and / or synchronization of the mechanisms involved in the gripper function and other moving components.

[0027] Depending on the task, one or more mechanisms are positioned at different heights around the gripper tower and actuated individually or in groups to perform different tasks sequentially or simultaneously. The mechanisms can range from simple four-link kinematic chains to multi-link kinematic chains with several input and output links.

[0028] For example, three synchronously actuated finger mechanisms can grasp and handle an object, either internally or externally, while three suction mechanisms remain retracted in a waiting position. After a complete layer of parts has been placed, the finger mechanisms retract fully into the gripper tower, and the three suction mechanisms extend from the gripper tower, pick up a layer of cardboard, and place it as an intermediate or separating layer on top of the already placed layer of parts. In another scenario, the gripper with three finger mechanisms picks up a first part and, with the help of the robot, moves to the second part—a completely different part—or to an intermediate layer. The second group of finger or suction mechanisms then grasps the second part or the intermediate layer. Both parts are then placed together or sequentially at their designated locations.

[0029] For applications where the gripper is subjected to a large lateral force or torsion, or where the gripping mechanism must be completely sealed, the gripping mechanism, in its collapsed state, is inserted into a tube with an outer diameter approximately equal to that of the flange plate. The tube is oriented correctly and attached to a shoulder on the flange plate. The outer surface of the tube has corresponding windows, recesses, and slots at the points where the gripper fingers, sauna cup, magnetic head, and other mechanisms protrude. A cover, preferably conical, closes the open end of the tube and laterally secures the final cage plate with a shoulder or cone. This makes the long-arm gripping mechanism so resistant to bending and torsion that it is also suitable for horizontal applications.An elastic coating covers the entire tube from the tip to the flange, making the long-arm gripping mechanism gas-, water- and chemical-tight.

[0030] Specifically, we show: Fig. 1 Schematic representation of a flange cage consisting of a round flange plate, a second round cage plate arranged parallel to it, and an actuator clamped between the two plates as a drive unit, which is subjected to compressive stress by rods and wires, spokes, ropes, or threads running parallel to each other and perpendicular to the cage plates. Fig. 2 The frame of the long-arm gripping mechanism as a gripper tower consisting of a round flange plate, two triangular fixed cage plates, and three continuous guide rods. The flange cage (I) houses an actuator whose drive rod or drive shaft is located in the second cage (II). Fig. 3 The frame of the long-arm gripping mechanism as a gripper tower consisting of a round flange plate and two triangular cages. The actuator is attached to the fixed cage plate closest to the flange.4. The frame of the long-arm gripping mechanism as a gripper tower consisting of a round flange plate and four triangular cages. Of the triangular cage plates, two are fixed and two are movable on the guide rods. The actuator is fixed to the second cage plate and connects and moves the first and third cage plates together with its continuous drive rod or drive shaft. Fig. 5. The frame of the long-arm gripping mechanism as a gripper tower consisting of a round flange plate and two rectangular cages with four guide rods. The actuator is attached to the fixed cage plate closest to the flange. Fig. 6. The frame of the long-arm gripping mechanism as a gripper tower consisting of a round flange plate and two rectangular cages with four double rods. The actuator, together with the flange and the first cage plate, forms a very stable flange cage.Fig. 7 The frame of the long-arm gripping mechanism as a gripper tower consisting of a round flange plate and two triangular cages with three radially arranged double rods. The actuator is attached to the stationary cage plate closest to the flange. Fig. 8 The frame of the long-arm gripping mechanism as a gripper tower consisting of a round flange plate, three triangular cages with three radially arranged triangular double rods. The actuator forms a flange cage with the first cage plate. The drive rod or drive shaft of the actuator actuates the middle cage plate, which is axially displaceable on the guide rods by linear bearings. Fig. 9 The frame of the long-arm gripping mechanism as a gripper tower consisting of a round flange plate, two cage plates fixed in a trefoil shape with double corners, and six continuous guide rods.The flange cage houses an actuator whose drive rod or shaft is located in the second cage. Fig. 10 shows the frame of the long-arm gripper mechanism as a gripper tower with five cages and six guide rods. The cage plates are designed differently depending on the task. The guide rods are positioned at approximately equal intervals on an imaginary cylinder. Two axially displaceable cage plates are connected to each other by means of an actuator such that their distance from each other can be adjusted. The upper of the two axially movable cage plates, closer to the gripper flange, is connected to the main actuator, which is located in the flange cage. Fig. 11 shows a side view of the gripper tower. Fig. 10with a finger mechanism in the half-open position. The finger mechanism consists of a gripper finger, a crank, two linkages, and an axially movable cage comprising two movable cage plates as a sliding joint. Fig. 12: Side view of a variant of the long-arm gripping mechanism with a finger mechanism in the closed position and a suction mechanism, called a suction arm, in the extended position. Fig. 13: Side view of the variant of the long-arm gripping mechanism according to Fig. 12with a finger mechanism in the open position and a suction arm in the retracted position. Fig. 14: Perspective view of the long-arm gripping mechanism with three finger mechanisms for gripping parts and three suction arms for suctioning flat parts such as paper, cardboard, boxes, and similar objects. The multifunctional long-arm gripping mechanism, with a total of six gripping and suction mechanisms and four actuators, forms a very compact and narrow cylindrical body when retracted. Fig. 15: Perspective view of a variant of the long-arm gripping mechanism according to the invention with three closed finger mechanisms and three extended suction arms. Fig. 16: Perspective view of a long-arm gripping mechanism according to the invention with three open finger mechanisms and three retracted suction arms.Figure 17 shows a perspective view of another variant of the long-arm gripping mechanism according to the invention, comprising six gripper fingers and consisting of two groups of three finger mechanisms each, each designed for a different task. Three closed finger mechanisms move their gripper fingers parallel and in a perfectly straight line, while the remaining three closed finger mechanisms move their gripper fingers individually or synchronously along a coupling curve. Figure 18 shows the variant of the long-arm gripping mechanism according to the invention. Fig. 17The straight, parallel group of finger mechanisms is retracted, while the second group of finger mechanisms is in the open position. Fig. 19 shows a variant of the long-arm gripping mechanism according to the invention with six finger mechanisms in the open position. Fig. 20 shows a variant of the long-arm gripping mechanism according to the invention with six finger mechanisms. The first group of three finger mechanisms is retracted to grip a part from the inside, while the second group of three individually actuated finger mechanisms is extended to grip the same flexible part from the outside or, as shown here, to grip a different part from the inside or outside. Fig. 21 shows a variant of the long-arm gripping mechanism according to the invention with six finger mechanisms. While the first three finger mechanisms grip a round object from the outside, the other three finger mechanisms grip a different object from the inside, either simultaneously or successively.22. A gripper tower as the frame of another variant of the multifunctional long-arm gripping mechanism, consisting of a round flange plate, five trefoil-shaped cage plates, and six guide rods arranged in three pairs from the flange to the last cage plate. Viewed from the flange, the first and fourth cage plates are connected to each other by means of three additional rods to form a movable cage. This cage is mounted axially displaceable on the guide rods by linear bearings and serves as the drive for many of the gripper's mechanisms. The third cage plate is rigidly connected to the flange by means of three further guide rods that extend through the second and first cage plates to the flange. An actuator is positioned between the second and third cage plates and rigidly connected to both cage plates. The drive rod, or...The actuator's drive shaft is attached to the fourth cage plate and sets it in motion. Fig. 23 shows the same gripper tower from the... Figure 22 with an actuator whose drive rod, piston rod, rotor shaft, or spindle drive extends from the first cage plate through the second, the actuator, and the third cage plate to the fourth cage plate. While one half of the drive rod provides movement for the cage, the other half of the drive rod is used for a displacement measuring system and / or a braking system. Fig. 24 shows a three-finger long-arm gripping mechanism in a half-open state, the gripper housing of which is designed according to Figure 23The housing of a multifunctional long-arm gripping mechanism in the form of a multi-story tower consists of a flange cage, three fixed cages mounted on the flange cage, and a movable cage with two cage plates, one positioned between the first and third cage plates and the other between the fourth and sixth cage plates. Each of the fixed cages has three guide rods. The movable cage also has three guide rods, which are guided by the linear bearings of the third and fourth cage plates. Additionally, the two movable cage plates, two and five, are guided by linear bearings on the guide rods of the fixed cages.The cage plates have both joint bores or joint tabs for attaching cranks, linkages, gripper fingers and other machine elements, as well as recesses for accommodating the extendable parts and links of the gripping mechanism. Fig. 26 shows the long-arm gripping mechanism according to... Fig. 25with a six-segment finger mechanism in the retracted state. Two links of the finger mechanism are pivotally attached to the two synchronously movable cage plates number two and five. A crank pivotally connects the lower link to the sixth cage plate. Fig. 27: perspective view of two movable cage plates that are axially displaceable from one another. The distance between the two cage plates can be adjusted by an actuator, such as a pneumatic cylinder or an electric motor and spindle drive. Both cage plates have linear bearings to slide on the guide rods and mounting tabs with bores for the pivotal attachment of links, actuators, or other machine elements. Fig. 28: an axially displaceable cage consisting of two cage plates with linear bearings and three guide rods that connect the two cage plates and keep them at a distance.The lower cage plate contains a laterally sliding coupling that serves to attach an actuator to the axially movable cage. Fig. 29 shows a perspective view of a synchronization ring for three or more actuators arranged around the central axis (A). Figures 19 and 21 . Fig. 30 a long-arm gripping mechanism according to the invention with a sheathing tube which is attached to the flange plate and laterally supports at least one of the cage plates, preferably the last one.

[0031] Identical parts have the same number. Letter indices denote different versions or different sizes of the same element.

[0032] According to Fig. 1The gripper mechanism, or multifunctional long-arm gripper mechanism, has a flange cage (I) consisting of a flange plate (1), a first cage plate (2), and several rods (12) or spokes, wires, ropes, or threads (13). Between the two plates (1, 2) is an actuator (10), a pneumatic cylinder, or an electric motor, whose drive rod, piston rod, rotor shaft, or spindle shaft (11) extends through a bore in the cage plate (2) into the next cage chamber.

[0033] The rods (12), which are parallel to each other and perpendicular to the cage plates, are preferably hollow and tubular. They are inserted into the flange plate and firmly connected to it on one side, and on the other side project through corresponding holes in the cage plate (2) to the next cage plate.

[0034] The intersecting spokes, wires, ropes, or threads (13) are clamped between the two cage plates (1, 2). They run diagonally to the right and left and parallel to each other, exerting pressure on the housing of the actuator (10). This makes the flange cage (I) very lightweight and highly resistant to bending and torsion.

[0035] According to Fig. 2The gripper tower of the long-arm gripping mechanism consists of the flange plate (1a), into which, as shown in the cutout (B), three guide rods (12) are precisely inserted in sections (16) and securely screwed. An actuator (10a) is attached to the rear of the flange plate (1a). The actuator is attached at its head to a first height-adjustable cage plate (2a), through whose slotted bores (19) the guide rods (12) protrude and are clamped by means of the fastening screws (18). A joint mounting element (22a) is attached to the first cage plate (2a). Actuators, linkages, cranks, gripper fingers, suction arms, and other machine elements are fixedly or rotatably attached to this and to other joint mounting elements, which are usually attached to the cage plates. The moving part of the actuator, the piston rod, motor shaft or spindle shaft (11a), hangs freely in space.At the end of the guide rods, a second cage plate (3a) with a further fastening element for joints (22a) is attached and secured with screws. The resulting gripper tower consists of two or more cages (I, II) arranged one above the other, each with three or more rods (12) as columns. As a frame, it forms the arm and housing of a rigid, long-armed, and multifunctional gripping mechanism, in which all components, including gripper fingers, suction arms, magnetic arms, and their actuators, fit within the gripper tower when retracted. For this purpose, the cage plates (2a, 3a) have recesses (23a) between the guide rods, which are located closer to the central axis of the gripper tower than the guide rods themselves.

[0036] According to Fig. 3The first cage plate with the actuator (10a) is located approximately in the middle of the long guide rods (12). This leaves ample space in the first cage (I) for accommodating other parts of the gripping mechanism. The first cage plate (2a) keeps the guide rods (12) at a distance from each other and stiffens them against bending and kinking. It is height-adjustable. With a taller gripper tower, several height-adjustable cage plates will maintain the distance between the rods (12).

[0037] According to Fig. 4Below and above the stationary cage plate (2a) are two axially movable cage plates (5a, 6a), each with a joint mounting element (22a). Linear bearings (17) are located in the cage plates (5a, 6a), allowing the cage plates to slide over the guide rods. The actuator (10b) has a continuous drive rod (11a, 11b) that is attached to and drives the two axially movable cage plates (5a, 6a). The movable cage plates (5a, 6a), with their linear bearings (17), further stabilize and reinforce the long gripper turret against bending and torsion. Additionally, their joint mounting elements (22a) serve as drives for linkages, cranks, and other machine elements or mechanisms of the long-arm gripping mechanism. All cage plates (2a, 3a, 5a, 6a) have recesses (23a) for receiving the moving parts of the gripping mechanism.

[0038] According to Fig. 5Four guide rods (12) are inserted into the flange (1b). Accordingly, the cage plates (2b, 3b) and the connecting fastening elements for joints (22b) are rectangular in shape. The gripper fingers, suction and magnetic arms, as well as other machine elements and mechanisms, are positioned between the guide rods (12) and extend from there past the guide rods to perform their tasks.

[0039] According to Fig. 6 Four double rods (12), arranged radially outwards from the central axis of the gripper tower in two concentric squares, form a two-story gripper tower as the frame of the long-arm gripping mechanism. The actuator (10a), together with the flange plate (1c) and the cage plate (2c), forms the flange cage (I). The cage plate (2c) can also be detached from the guide rods (12), lowered, and reattached, with or without the actuator, using the screws (18), if the task requires it.

[0040] According to Fig. 7 Three double rods (12), arranged radially outwards in a double and triangular shape from the central axis (A) of the flange plate (1d), form the gripper tower as the frame of the long-arm gripping mechanism.

[0041] According to Fig. 8The actuator (10a) is located in the flange cage, clamped between the flange plate (1d) and the cage plate (2d). The drive rod, rotor shaft, or spindle shaft (11a) drives the axially movable cage plate (5b) up and down on the guide rods (12). Linear bearings, plain bearings, or roller bearings (17) are located in the cage plate (5b). These facilitate the sliding of the movable cage plate on the guide rods and, through a greater bearing width or height, allow the guide rods to be guided for a longer distance without increasing the thickness and weight of the cage plate. The movable cage plate serves as the drive for the finger mechanisms, suction and magnetic arms, and other moving parts located on the gripping mechanism.

[0042] According to Fig. 9Six guide rods (12) are arranged in pairs side by side at approximately 120° intervals on a pitch circle. The flange plate (1e) is round. The other cage plates (2e, 3e) are trefoil-shaped within the flange circle with recesses for receiving other machine parts. Fastening elements for joints (22a) are attached to the cage plates on one or both sides.

[0043] According to Fig. 10The gripper turret consists of five cages (I, II, III, IV, and V) arranged one above the other. Four guide rods (14a), which may also be hollow, extend from the flange plate (1f) to the stationary cage plate (2g) and are attached to it. Additional solid or hollow guide rods (12) are inserted into the flange plate and attached to it. The guide rods (12) pass through the linear bearings (17) of the movable cage plates (5c and 6a) and are attached to the stationary cage plate (3f). Opposite bores are located in the stationary cage plates (3f) and (4a), in which pins are positioned as spacers. The two stationary cage plates (3f, 4a) are rigidly connected to each other. They also form a closed cage with a small gap.

[0044] All cage plates are provided with tabs and holes as fastening elements for joints (21a to 21f) for the articulated connection of handlebars, cranks, couplings, and drive elements. All cage plates have recesses (23b, 23d) between the rods, spokes, cables, and wires, which serve to accommodate handlebars, cranks, and other moving components of the gripping mechanism. The cage plates are generally star-shaped and consist of honeycomb structures, which are most cost-effectively manufactured using 3D printing. They only contain material where a functional part, such as a bearing, is to be held or where a force vector acts.

[0045] The main drive (10a) is located in the flange cage (I) and actuates the first axially movable cage plate (5c) via an extension tube (11c). The first movable cage plate (5c) is connected to the second movable cage plate (6a) by the smaller actuator (10c). The small actuator (10c) adjusts the distance between the two movable cage plates (5c, 6a) as needed, thus varying the distance between the pivot points of the finger mechanism or magnetic head and suction mechanism links located on them. This allows the long-arm gripping mechanism to grant its gripper fingers, suction arms, and magnetic arms a second movement option during handling, in addition to opening and closing. The gripper fingers or suction arms and magnetic arms can therefore be pivoted inwards or outwards during movement.

[0046] The flange plate and other cage plates have connection and through holes (20a, 20b, 20c) and interfaces for energy, material and signal lines.

[0047] According to Fig. 11A finger mechanism (31, 32, 33, 34) is rotatably mounted on the fastening elements of the joints (21c, 21d, 21e) of the cage plates (5c, 6a, 3f). The actuator (10a) is attached to the movable cage (III) by the extension member (11c) and slides it up and down on the guide rods (12). The cage (III) is the slider and the drive element of the six-part finger mechanism (12, III, 31, 32, 33, 34). The two cage plates (5c, 6a) of cage (III) are connected to each other by an actuator (10c). The synchronous movement of the cage plates (5c, 6a) opens and closes the gripper finger (34) either parallel or pivoting. If the distance between the joints (21c, 21d) changes due to the actuator (10c), the gripper finger tilts towards or away from the gripper axis (A).

[0048] According to Fig. 12On the gripper turret is a finger mechanism (31, 32, 33, 34) with an inwardly cranked round gripper jaw (35). This finger mechanism is actuated by the actuator (10a) housed in the flange cage. Opposite this finger, on the gripper turret, is another mechanism, a crank arm (12, 36, 37, 38) with a suction cup (45) on its coupling (36). The small actuator (10d) is attached to the joint (21a) of the flange plate (1f) and engages the joint (41) of the crank (38) with its drive rod or shaft (11d), extending the suction cup out of and retracting from the gripper turret.

[0049] The joints (21b, 21c, 21d, 21e) on the gripper turret are arranged so closely together within the cages that, when the gripper fingers (34, 36) move between the guide rods (12) within a cylinder around the guide rods. During this movement, the cranks and linkages partially engage with each other and with the gripper fingers.

[0050] A vacuum hose (44) runs from the suction cup (45) upwards through the suction arm (36), then downwards through the energy chain (43) through the cage plate (2g) and back upwards to the connection (20b) on the underside of the flange plate (1f). The connection (20b) is connected via bores within the flange plate to the external connection (20a) on the circumferential side of the flange plate.

[0051] According to Fig. 13 The right finger mechanism has opened its round gripper jaw (35) parallel and exactly straight, while the left mechanism with the suction cup (45) has moved into an extended position and positioned itself vertically and very closely between the guide rods (12, 14a) in the recesses (23b, 23c, 23d, 23g) of the cage plates.

[0052] According to Fig. 14When fully retracted, the long-arm gripping mechanism itself, with a total of six finger and suction mechanisms, forms a narrow cylindrical body that is rigid in bending and torsion. The three round gripping jaws (35) are driven synchronously via the movable cage (III) by the actuator (10a), which is located in the center of the flange cage. The suction cup mechanisms each have their own actuators (10d), which are synchronized with each other via an additional ring (50) if required. The linkage (32) and the crank (33) retract into the gripper finger (34). In the suction mechanism, the crank (38), in the retracted state, forms a straight line parallel to the gripper's longitudinal axis (A) with the coupling (36) and the rocker arm (37). They partially overlap and are very close to the extended and folded positions. The protective cap (25) contains a wiper within a hollow cylindrical body.It protects the linear bearing against dirt and external mechanical influences.

[0053] According to Fig. 15 Several different mechanisms for different tasks can be attached to such a gripper turret. Here, three finger mechanisms are retracted and three suction mechanisms are fully extended. The mechanisms can be driven individually, in groups, or all together. Compression springs (24) are positioned on the guide rods (12) above the movable cage (III). These springs assist the mechanisms in extending from their retracted position in the open and extended positions. The power or vacuum supply lines (44) run from the flange plate (1f) downwards inside the flange cage, pass through the cage plate (2g), make a 180° turn, and from there run through the energy chain (43) and bores in the coupling (36) to the suction cup or magnetic head.

[0054] According to Fig. 16 The three suction mechanisms are retracted and the three finger mechanisms are largely opened by a straight finger movement. The caps (25) protect the bearings (17) from damage caused, among other things, by the spring (24).

[0055] According to Fig. 17 Two groups of three different finger mechanisms each are present on the gripper turret. All six gripper fingers have round, cylindrical gripping jaws (35). All six finger mechanisms are in the closed position and form a compact and long cylindrical body.

[0056] According to Fig. 18The group of three mechanisms with parallel and linear finger movement is closed, while the second group of three mechanisms with an almost circular movement of their gripping jaws is open. Depending on the requirements and task, the geometric dimensions of these mechanisms can be adjusted to ensure that the gripping jaws lie in groups in one plane or in different planes, in order to grasp or place different parts simultaneously or sequentially.

[0057] According to Fig. 19The long-arm gripping mechanism has two groups of three finger mechanisms each, both in the extended, i.e., open, state. The three mechanisms with parallel and linear finger movement are driven synchronously by an actuator via the axial movement of a cage. The other three mechanisms each have their own actuator (10d) as a drive mechanism. Their finger movement can be performed individually or, as shown here, synchronized with each other via the synchronizing ring (50). The synchronizing ring (50) has radial cams (53) on its circumference in which the pivot pin (41) of the rotary joint between the drive rod (11d) and the crank (38) is guided as a sliding joint. The synchronizing ring slides over the guide rods (12, 14a) like an axially movable cage plate. It can also be designed as a movable cage.

[0058] Fig. 20The long-arm grasping mechanism is shown with two groups of three finger mechanisms each. The first group of mechanisms with parallel and straight-line finger movement grasped a ring-shaped grasping object (51) from the inside, moved it with the help of the robot over a second, slightly larger ring-shaped grasping object (52), in order to then grasp it with the second group of finger mechanisms from the inside or from the outside as shown here and then place it together elsewhere.

[0059] Fig. 21 shows the same process as in Fig. 20 as described, however, this time the first group of finger mechanisms grasps the smaller grasping object (51) from the outside and the second group of finger mechanisms moves their grasping jaws (35) synchronously to each other through the actuators (10d) using the synchronization ring (50).

[0060] According to Fig. 22The gripper tower of a long-arm gripping mechanism consists of five cages (I, II, III, IV, V) arranged one above the other. Six guide rods (12) extend from the flange plate (1e) through the five cages to the lowest cage plate (3g), passing through all the other cage plates. The cage plate (2h) is connected to the flange plate (1e) by three guide rods (14b). The actuator (10a) is clamped between the stationary cage plates (2h, 4d). Together, they reinforce the gripper tower. Two further axially movable cage plates (5d, 6b) are connected to each other by three additional guide rods (15a) and together form a movable cage (II+ III+ IV). The movable cage is moved axially up and down by the drive rod (11a) or drive shaft of the actuator (10a). The movable cage also reinforces the gripper tower. It, in turn, serves as the drive element for the finger, suction, or magnetic head mechanisms.The movable cage plates (5d, 6b) and the fixed cage plate (3g) have fastening elements for joints (22a) on one or both sides.

[0061] According to Fig. 23 An actuator (10b) with a continuous drive rod or drive shaft (11a, 11b) is located between the fixed cage plates (2h, 4d). The second half of the drive rod or drive shaft serves for a displacement measuring system and / or emergency stop / brake system to make the long-arm gripping mechanism programmable and to ensure that the gripping mechanism does not lose the gripped object in the event of a power failure.

[0062] According to Fig. 24Three very long gripper fingers (34b) are located on the gripper tower of the long-arm gripping mechanism with five cages. The crank (33) is attached to the stationary cage plate (3g), while the two linkages (31, 32) are located on the cage plates (5d, 6b) of the moving cage. When the finger mechanisms are retracted and closed, the gripper fingers (34b) move into the recesses (23e) of the cage plates between the guide rods (12) and, together with the trefoil-shaped cage plates, form a cylindrical body whose circumcircle is no larger than the circumference of the guide rods (12). For even longer gripper fingers, e.g., several meters in length, the moving cage has multiple cage plates to which additional linkages are articulated parallel to and analogous to the two existing linkages (31, 32), providing further support to the long finger (34b).

[0063] According to Fig. 25The gripper tower of the multifunctional long-arm gripping mechanism consists of six cages (I to VI) arranged pyramidally, starting with the flange plate (1a). The cage plates have recesses (23f) for accommodating finger mechanisms and other mechanisms. The cage plates (5e, 6c) are connected to each other by three guide rods (15b) to form a cage (III, IV, V) within other cages and are axially displaceable on the guide rods (14b, 14d). The actuator (10a) drives the movable cage via its drive rod or shaft (11a), which is attached to the cage plate (6c). Mounting elements for joints (22a) complement the cage plates for fixed or axially displaceable rotary joints.

[0064] According to Fig. 26 In the closed state, a finger mechanism is located on the gripper turret of the long-arm gripper mechanism. Figure 25The crank (33) is pivotally attached to the upper mounting element (22a) of the lowest cage plate (3h). The lower link (32) is rotatably attached to the lower mounting element (22a) of the movable cage plate (5e), ​​and the upper link (31) is rotatably attached to the lower mounting element (22a) of the movable cage plate (6c). The downward movement of the movable cage (III, IV, V) by means of the actuator (10a) opens and closes the gripper finger (34c).

[0065] According to Fig. 27 The movable cage (III) is placed in the Figures (10 to 21The cage is formed from the cage rods (12) and the movable cage plates (5c, 6a), the distance between which can be changed by the actuator (10c). Both cage plates (5c, 6a) have bores for receiving linear bearings (17), which allow them to slide more easily on the cage rods or cables and, if necessary, allow their bearing axes to be adjusted to the axes of the cage rods, straight or inclined, within a certain angular range (α) all around. Both cage plates (5c, 6a) have mounting tabs with pivot bores (21c, 21d) for the articulated connection of the links (31, 32) of the finger mechanisms or other mechanisms. The cage plates (5c, 6a) are rotatable relative to each other and are attached to the actuator (10c) or its drive rod or shaft. The linear bearings (17) are secured against axial displacement in their bores by means of retaining rings (26).

[0066] According to Fig. 28Two or more axially movable cage plates (5d, 6b), which are fastened together by guide rods (15a), form an axially movable cage. The cage plates have bores for inserting linear bearings (17) and other bores (27) for the passage of additional guide rods and drive rods or drive shafts. The cage plate (5d) has a laterally two-dimensionally movable and rotatable coupling element (28) that serves to fasten the drive rod or drive shaft (11a) to the cage plate (5d) for axial movement.

[0067] According to Fig. 29The synchronization ring (50) consists of three parts, preferably made of a plastic with good sliding properties such as polyamide, which are manufactured using 3D printing. These parts are inserted into one another and pinned or screwed together. It slides over the rods (12, 14a) via its semicircular surfaces (54) and, depending on the number of actuators to be synchronized, has cams (53) extending radially outwards from the center. The pins or bearing bolts (41) connecting the actuators (10d) to the mechanisms run in the elongated holes (53), which are designed here as three double cams. The synchronization ring (50) is only attached to the cage rods from the outside when required. Therefore, the bearing points each consist of half bearing shells (54).

[0068] According to Fig. 30The entire gripper turret of the long-arm gripping mechanism is housed within a slotted tube (8), which is pinned and screwed to the flange plate (1g). The fixed cage plates, particularly the lowest ones, rest against the inner wall of the tube, supporting and reinforcing the gripper turret through the rigidity of the tube (8), in addition to the rods. An end cap (9) closes the open tube and laterally secures the last cage plate. The mechanisms of the long-arm gripping mechanism extend from their parked position through the slots in the tube, perform their function, and retract back into the tube. A rubber-elastic cover (not shown) encloses the entire long-arm gripping mechanism, making it suitable for use in cleanrooms, chemical environments, and underwater applications.

[0069] A long-arm gripping mechanism designed in this way is slim, multifunctional, and particularly suitable for assembly and handling, as well as gripping in the corners of deep holes, boxes, and cardboard boxes.

[0070] The features of the invention disclosed in the description, the drawings and the claims can be important for the realization of the invention both individually and in any combination. All disclosed features are essential to the invention. Terms used and reference number:

[0071] Flange, gripper flange, flange plate, flange cage; fixed and movable cages; cage plates; rods, spokes, wires, ropes and threads; tower, gripper tower; actuator, pneumatic or hydraulic cylinder, electric motor; drive rod: piston rod, drive shaft or spindle shaft; trefoil-shaped; crank arm: frame (rod), crank, coupling, rocker; sliding crank mechanism: frame (rod), slide, coupling, crank or rocker; gripper, gripper jaw, gripper finger; gripping mechanism: finger mechanism; suction mechanism; magnetic head mechanism; linear bearing = sliding or rolling bearing for linear motion Reference designations:

[0072] 1 The flange plate = the first cage plate 2 Second fixed cage plate 3 Third fixed cage plate 4 Fourth fixed cage plate 5 Movable cage plate connected to an actuator 6 Movable cage plate connected directly or indirectly to an actuator 7 Fixed cage plate 8 The sheathing tube 9 The tube cap 10 Actuator, pneumatic cylinder, or electric motor 11 Moving part of the actuator, piston rod, or spindle shaft 12 Long fixed rod or tube 13 Spoke, wire,Rope or thread 14 Short fixed rod or tube 15 Movable rod or tube 16 Part of the rod inserted in the cage plates (formerly the short-stroke cylinder) 17 Linear bearing 18 Mounting screw 19 Mounting slot of the hub of a fixed cage plate 20 Compressed air connections 21 Milled fasteners for joints on the flange plate (formerly bolting on the flange circumference) 22 Separate fasteners for joints (formerly bolting below the flange plate) 23 Recesses in the cage plates (formerly: mounting tabs below the flange) 24 Compression spring (joint 21b on the fixed cage plate 2) 25 Protective cap of the linear bearings 26 Retaining ring (formerly: joint 21c on the movable cage plate 5c) 27 Bore in the cage plate 6b for the drive rod(formerly No. 48) 28 Coupling of the drive rod in the cage plate 5d (formerly: joint 21d on the movable cage plate 6a) 29 Pins or screws (formerly: joint 21e on the movable cage plate 3f) 30 Released (joint 21f on the cage plate 4a) 31 Rear link of the finger mechanism 32 Front link of the finger mechanism 33 Crank of the finger mechanism 34 Gripper finger of the finger mechanism 35 Round gripper jaw 36 Coupling as suction or magnetic arm 37 Swing arm of the suction or magnetic arm 38 Crank of the suction or magnetic arm 41 Joint between the drive link (11d) and the crank (38) 42 Joint between the crank (38) and the coupling (36) 43 Energy chain 44 Energy supply lines 45 Suction cup 50 Synchronization ring or cage 51 Small ring as a gripping object 52 Larger ring as a gripping object 53 Radial cam (slotted hole)

Claims

1. Gripping mechanism for robots, machines and handling equipment with one arm and at least one movable gripper finger, acting together in a coordinated manner with another fixed or movable gripper finger, characterized by the case of the gripping mechanism in form of a slim and multi-stage tower in sandwich construction, composed of at least two cages (I and II) above the gripper flange, with two fixed cage plates (2a and 3a), with their mutual distance being maintained by rods, spokes, ropes and / or wires and the fact that actuators and all movable parts of the gripper are mainly located within the cages, when in retracted state.

2. Gripping mechanism acc. to claim 1, characterized by the fact that active and / or passive machine elements like actuators or pressure generating elements like screw drives, pneumatic or hydraulic cylinders (10a), tubes and rods are clamped between cage plates (1 and 2).

3. Gripping mechanism acc. to claim 1, characterized by the presence of cut outs (23) at the cage plates, into which the movable elements of finger, suction, magnetic head and / or other mechanisms return during retraction.

4. Gripping mechanism acc. to claim 1, characterized by, the presence of fasteners for joints, located close to the center of the cage plates, intended for attachment of movable components of the mechanisms.

5. Gripping mechanism acc. to claim 1, characterized by height adjustability of fixed cage plates (2a).

6. Gripping mechanism acc. to claim 1, characterized by axially sliding motion of at least one cage plate (5b) on the guide rods (12).

7. Gripping mechanism acc. to claim 1, characterized by axially sliding motion of at least one cage composed of at least two movable cage plates (5d and 6b) on the guide rods (12).

8. Gripping mechanism acc. to claims 6 or 7, characterized by the fact that a movable cage plate or a movable cage is used as drive for gripper fingers, suction or magnet arms or other mechanisms.

9. Gripping mechanism acc. to claims 6 or 7, characterized by the fact that an axially movable ring (50) or an axially movable cage plate (5c and 6a) or a slidable cage is used as synchronizing element for the motion of at least two mechanisms.