Gripping device

Abstract

A mechanical gripping device (10) comprising a gripping element (12) pivotably mounted about an axis of rotation; at least one first spring element (26); wherein: the gripping element (12) is provided with a first leg (14), a second leg (18) extending substantially parallel to the first leg (14), and a connecting piece (16) extending substantially orthogonally to the first leg (14) and to the second leg (18); the first leg (14) is connected to the connecting piece (16) at a first end portion of the connecting piece (16); the second leg (18) is connected to the connecting piece (16) at a second end portion of the connecting piece (16); the gripping element (12) is pivotably mounted between an open position and a closed position; and the at least one first spring element (26) urges the gripping element (12) towards the open position by means of a first spring force. The spring-loaded gripping element (12) allows the gripping device (10) to be mechanically operated cost-effectively, without additional sensors and the associated power consumption.

Description

[0001] gripping device

[0002] The following statements relate to a mechanical gripping device, in particular for a rotating device, for the positive-locking picking up and release of a component, which can be implemented mechanically, without power or sensors, cost-effectively, and reliably. Furthermore, the following statements relate to a rotating device for transporting and turning a component and a method for turning a component.

[0003] Conventional gripping devices for the positive-locking picking and unloading of a component are regularly used in automated systems. Such gripping devices require numerous sensors to monitor and control the processes. As a result, the manufacturing and operating costs of such systems are comparatively high.

[0004] There is a constant need to reduce the costs of a gripping device while simultaneously increasing functional reliability.

[0005] Based on this situation, the present task is to identify measures that enable a cost-effective and fail-safe gripping device.

[0006] The present problem is solved by the features of the independent main claim. Advantageous embodiments are specified in the subclaims. To the extent technically feasible, the teachings of the subclaims can be combined arbitrarily with the teachings of the main and subclaims.

[0007] The object is accordingly achieved by a mechanical gripping device, in particular for a rotating device, for the positively locking receiving and releasing of a component, comprising a gripping element pivotably mounted about a rotation axis for producing a positively locking fastening on at least one edge region of the component to be picked up; at least one first spring element for providing a first spring force;wherein the gripping element is designed in cross-section as a U-profile with a first leg, a second leg extending substantially parallel to the first leg and a web extending substantially orthogonal to the first leg and the second leg, wherein the first leg is connected to the web at a first end section of the web, wherein the second leg is connected to the web at a second end section of the web opposite the first end section, wherein the gripping element is pivotally mounted between an open position for receiving and releasing the component and a closed position for positively fastening the component, wherein the at least one first spring element acts on the gripping element by means of the first spring force in the direction of the open position;

[0008] The mechanical gripping device can positively accommodate differently designed components, in particular dual-mass flywheels or the like, via the gripping element which is pivotally mounted about a rotation axis.

[0009] In particular, the gripping element can positively hold an edge region of the component to be picked up between the first leg and the second leg. The gripping element can be pivoted between a closed position and an open position. In the open position, the cross-sectional profile of the first leg extends along its longitudinal extent in the direction of the component to be picked up. This allows the component to first contact the first leg during pickup by the gripping element and to be supported on the first leg. By the weight of the component to be picked up acting on the first leg, the gripping element can be pivoted into the closed position, wherein the web and the second leg are engaged laterally from the component and positively fasten at least the edge region of the component to the gripping device from two additional directions.In particular, this allows the second leg to be positioned positively on the component. The at least one first spring element acts on the gripping element by means of the first spring force in the direction of the open position. This aligns the gripping device in its initial position for receiving a component. The weight of the component to be picked up acting on the first leg counteracts the first spring force. The first spring force can, in particular, be smaller than the weight of the component to be picked up. This ensures that the gripping element is reliably pivoted from the open position to the closed position while a component is being picked up.Thanks to the spring-loaded gripping element, the gripping device can be operated purely mechanically, without additional sensors and the associated power consumption, thus enabling a safe and cost-effective gripping device.

[0010] Advantageous aspects are explained below, and preferred modified embodiments are described further below. Explanations, particularly regarding advantages and definitions of features, are essentially descriptive and preferred, but not limiting, examples. If an explanation is limiting, this will be expressly stated.

[0011] The gripping element is essentially formed as a U-shaped profile. Such profiles typically have two parallel legs and a web extending orthogonally to the legs. The term "essentially" also encompasses slight deviations from the aforementioned alignment of + / - (plus / minus) 5 degrees, which are generally within the tolerance range for a person skilled in the art. The legs and the web are, in particular, formed as a single piece or at least connected to one another by a material bond.

[0012] The at least one first spring element can be a helical spring, in particular a compression spring. Compression springs have the advantage that they can provide a sufficiently high spring force for use with the gripping device, even after a break.

[0013] In a preferred embodiment of the above, it is provided that the at least one first spring element bears directly or indirectly against the first leg. The at least one first spring element can in particular be arranged laterally of the first leg or directly or indirectly bear below the first leg on a contact surface which is arranged on a side of the first leg facing away from the second leg. The at least one first spring element can in particular be arranged at least partially embedded in a support element. As a result, the at least one first spring element can be partially or completely compressed within the embedding. As a result, the first leg can rest at least partially, in particular with its contact surface, on the support element in the closed position of the gripping element.

[0014] In particular, it is provided that the first spring force acts on the gripping element via the first leg toward the open position. By arranging the at least one first spring element on the first leg, the weight of the component to be picked up and the first spring force can act simultaneously on the first leg and thus at least partially compensate for each other.

[0015] In a preferred embodiment of the above, the cross-sectional profile of the second leg is shorter along its longitudinal extent than the cross-sectional profile of the first leg along its longitudinal extent. The shorter design of the second leg prevents the component from tilting when inserted into the gripping device. This ensures that initially only the first leg comes into contact with the component to be picked up. This makes picking up the component, in particular, easier.

[0016] Preferably, the cross-sectional profile of the first leg is at least twice as long, in particular at least three times as long, and most preferably at least four times as long as the cross-sectional profile of the second leg along its longitudinal extent. The length specifications refer to a length starting from the surface of the web facing the distal end sections of the legs. In principle, the shorter the second leg is compared to the first leg, the smaller the pivot angle can be set between the closed position and the open position of the gripping element. A small pivot angle favors a space-saving gripping device and the use of smaller spring elements.In a preferred embodiment of the above, the first leg has a support surface facing the second leg for positively supporting a first side surface of the component to be received. Preferably, the second leg has a contact surface facing the first leg for positively supporting a second side surface of the component to be received, facing away from the first side surface.

[0017] In particular, it is provided that the cross-sectional profile of the first leg has a distal end section starting from the web. It is particularly preferably provided that the support surface of the first leg has a rounded portion in the region of the distal end section to improve the sliding properties of the receiving surface during pivoting of the gripping element. By forming a rounded portion at the distal end section of the support surface, the first leg can slide better on a surface to be supported on the component to be picked up. In particular, when pivoting the gripping element from the open position into the closed position, the first leg slides with its support surface, in particular in the region of the rounded portion, from the outer edge region of the component to be picked up towards its inner edge region.It is preferably provided that the support surface is designed such that the weight of the component to be received acts on the gripping element in an open position in the region of the distal end section of the receiving surface, in particular in the region of the rounding, in the direction of the closed position.

[0018] In a preferred embodiment of the above, the axis of rotation of the gripping element is designed as a straight line of intersection between a central transverse plane of the first leg in the cross-sectional profile and a central frontal plane of the web in the cross-sectional profile. In particular, the axis of rotation runs through the first end section of the web. The transverse plane of the first leg extends essentially parallel to the support surface and the contact surface and runs centrally through the first leg. The frontal plane of the web extends essentially orthogonal to the transverse plane and parallel to the outer surfaces of the web. The frontal plane also runs centrally through the web. The transverse plane and the frontal plane intersect in the region of the first end section of the web and together form a straight line of intersection that corresponds to the axis of rotation of the gripping element.This allows the first leg and the web to pivot around a common axis of rotation.

[0019] Preferably, the rotation of the gripping element from the open position to the closed position involves a pivot angle of a maximum of 45 degrees, in particular a maximum of 40 degrees, and particularly preferably a maximum of 35 degrees. A small pivot angle can reduce the required installation space of the gripping device and the size of the components used, for example, the spring elements.

[0020] In a preferred embodiment of the above, it is provided that a displaceably mounted locking element for positively locking the gripping element in the closed position; at least one guide element for guiding the locking element; at least one second spring element for providing a second spring force; at least one actuating element extending parallel to the guide element for displacing the locking element; wherein the locking element is displaceably mounted on the at least one guide element parallel to the longitudinal extent of the web in the cross-sectional profile in the closed position of the gripping element, wherein the locking element is displaceably mounted between a retracted position and an extended position, wherein the at least one second spring element acts on the locking element by means of the second spring force into the extended position,The actuating element is directly or indirectly connected to the locking element. By applying the second spring force to the extended position of the locking element, the gripping device can mechanically lock the gripping element in a positive-locking manner upon reaching the closed position. By pressing the actuating element, the locking element can be moved into the retracted position and the locking can be released again. This allows the gripping element to be pivoted back into the open position. In particular, the gripping element can be pivoted back into a position in which the weight of the component, as a result of rotation of the component, only acts on the second leg.

[0021] In particular, it is provided that in the open position of the gripping element, the web positively blocks a displacement of the locking element from the retracted position towards the extended position.

[0022] Preferably, the actuating element is designed to move the locking element into the retracted position.

[0023] The at least one second spring element can be a helical spring, in particular a compression spring. Compression springs have the advantage that they can provide a sufficiently high spring force for use with the gripping device, even after a break.

[0024] In a preferred embodiment of the above, it is provided that the at least one guide element has a stop element for limiting the displacement of the locking element along the guide element. It is preferably provided that the second spring element is arranged coaxially on the guide element. In particular, it is provided that the locking element is displaceably mounted on the guide element between the second spring element and the stop element. The coaxial arrangement of the at least one guide element and the at least one second spring element saves installation space and eliminates the need for an additional component for guiding the spring element. The at least one second spring element can apply the second spring force to the locking element from the retracted position to the extended position. The maximum displacement can be determined by the position of the stop element.This allows the extended position of the locking device to be precisely adjusted by attaching the stop element to the guide element.

[0025] In a preferred embodiment of the above, the locking element has at least one rolling element, at least one bearing element, and / or at least one sliding element for contacting the web. The locking element is preferably provided with at least one recess for receiving the at least one rolling element, the at least one bearing element, and / or the at least one sliding element. The rolling, bearing, and / or sliding elements allow the locking element to be moved parallel to the web from a retracted position to the extended position and vice versa with less effort. Friction between the locking element and the web, which promotes wear, can thus be avoided. In particular, the at least one second spring element can be made smaller because the rolling, bearing, and / or sliding elements require less spring force to move the locking element.

[0026] In particular, it is provided that the locking element has, at least in sections, a contact surface which is designed obliquely to the direction of displacement of the locking element for surface contact with the web in an open position of the gripping element. The obliquely designed contact surface can prevent point-like loading by the web and locking element. The contact surface is designed in particular such that the web rests essentially flat on the contact surface when the gripping element is in an open position. As a result, the force transmitted to the web as a result of the first spring force and the force transmitted to the locking element as a result of the second spring force can be distributed over a large area across the contact surface. Displacement of the locking element in the direction of the extended position is prevented by the positive contact on the part of the web.

[0027] The object is further achieved by a rotating device for transporting and turning a component with at least one gripping device as described above, comprising a support element rotatably mounted on a housing for turning the component, wherein at least one gripping device is arranged on the support element for positively receiving and releasing the component.The object is further achieved by a method for turning a component with a previously described turning device, comprising the following steps: receiving at least one edge region of a component by the gripping element in an open position; pivoting the gripping element from the open position into a closed position as a result of the at least one gripping element being acted upon by the weight of the component to be picked up; locking the gripping element by moving the locking element into the extended position; turning the support element; actuating the at least one actuating element to move the locking element into the retracted position; pivoting the gripping element from the closed position into the open position; releasing the component from the at least one gripping device.

[0028] It is preferred that the sequence of process steps can be varied, unless technically required in an explicit order. However, the aforementioned sequence of process steps is particularly preferred.

[0029] A preferred technical solution is explained in more detail below with reference to the accompanying drawings using preferred embodiments. The term "figure" is abbreviated to "Fig." in the drawings.

[0030] In the drawings

[0031] Fig. 1 is a perspective front view of a gripping device, Fig. 2 is a perspective rear view of the gripping device according to Fig. 1 .

[0032] The described embodiment is merely an example which can be modified and / or supplemented in many ways within the scope of the claims.

[0033] Fig. 1 shows a perspective front view of a gripping device 10 for the positively locking receiving and releasing of a component, wherein the gripping device 10 has a gripping element 12 mounted so as to be pivotable about a rotation axis. The gripping element 12 is designed as a U-profile with a first leg 14, a second leg 18 extending substantially parallel to the first leg 14, and a web 16 extending substantially orthogonally to the first leg 14 and the second leg 18. The gripping element 12 is mounted so as to be pivotable between an open position for receiving and releasing the component and a closed position for the positively locking fastening of the component. In Fig. 1, the gripping element 12 is shown in an open position. A first spring element 26 urges the gripping element 12 towards the open position by means of a first spring force.The first spring element 26 rests directly against a contact surface 24 of the first leg 14. The first leg 14 is inclined slightly upward, and the web 16 and the second leg 18 are inclined backward. The second leg 18 is shorter than the first leg 14, whereby a component can be placed directly onto a support surface 20 of the first leg 14 from a vertical direction. By applying pressure to the support surface 20 using the weight of the component, the gripping element 12 can be pivoted directly into a closed position. The web 16 and the second leg 18 pivot in the direction of the component to be clamped. The second leg 18 has a contact surface 22 facing the first leg 14 for positively supporting the component to be picked up. The gripping device 10 is arranged on a rotatably mounted support element 28 for turning the component.For this purpose, the gripping element 12 has a recess 32 extending through the first leg 14 and the web 16 for guiding and pivotably mounting the gripping element 12 on the support element 28.

[0034] The gripping device 10 additionally has a displaceably mounted locking element 34 for positively locking the gripping element 12 in the closed position. For this purpose, the locking element 34 is displaceably mounted on two guide elements 36, each between a stop element 44 and a second spring element 38 arranged coaxially on the guide element 36. The locking element 34 is displaceably mounted between a retracted position, in which the second spring element 38 is compressed, and an extended position, in which the locking element 34 is moved up to the stop element 44. In an open position of the gripping element 12, the web 16 positively blocks any displacement of the locking element 34 from the retracted position.In a closed position of the gripping element 12, the locking element 34 can be moved parallel to the plane of extension of the web 16 into the extended position, locking the gripping element 12 in the closed position. In this configuration, the positively fastened component can be safely transported and / or turned. Via two actuating elements 42, which are operatively connected to the locking element 34, the locking element 34 can be moved into the retracted position against the second spring force, thereby releasing the locking of the gripping element 12 and allowing the gripping element 12 to be pivoted back into the open position by virtue of the first spring force.

[0035] Fig. 2 shows a perspective rear view of the gripping device 10 according to Fig. 1. The gripping element 12 is now in the closed position and the locking element 34 is in the extended position. The locking element 34 has two recesses 46 for receiving a rolling, sliding, and / or bearing element 48 for contacting the web 16.

[0036] List of reference symbols

[0037] Gripping device Gripping element first leg Web second leg

[0038] Support surface Contact surface Contact surface First spring element Support element Curvature

[0039] Recess locking element guide element second spring element actuating element stop element

[0040] Recess rolling, sliding, bearing element

Claims

Claims 1. A mechanical gripping device, in particular for a rotating device, for the positively locking pickup and delivery of a component, comprising a gripping element (12) pivotably mounted about a rotation axis for creating a positively locking attachment to at least one edge region of the component to be picked up; at least one first spring element (26) for providing a first spring force;wherein the gripping element (12) is designed in cross-section as a U-profile with a first leg (14), a second leg (18) extending substantially parallel to the first leg (14), and a web (16) extending substantially orthogonally to the first leg (14) and the second leg (18), wherein the first leg (14) is connected to the web (16) at a first end section of the web (16), wherein the second leg (18) is connected to the web (16) at a second end section of the web (16) opposite the first end section, wherein the gripping element (12) is pivotally mounted between an open position for receiving and releasing the component and a closed position for positively fastening the component, wherein the at least one first spring element (26) acts on the gripping element (12) by means of the first spring force in the direction of the open position.; 2. Mechanical gripping device according to claim 1, wherein the at least one first spring element (26) bears directly or indirectly against the first leg (14), wherein in particular the first spring force acts on the gripping element (12) via the first leg (14) in the direction of the open position.

3. Mechanical gripping device according to claim 1 or 2, wherein the cross-sectional profile of the second leg (18) along its longitudinal extent shorter than the cross-sectional profile of the first leg (14) along its longitudinal extent, wherein in particular the cross-sectional profile of the first leg (14) is at least twice as long, in particular at least three times as long, particularly preferably at least four times as long as the cross-sectional profile of the second leg (18) along its longitudinal extent.

4. Mechanical gripping device according to one of the preceding claims, wherein the first leg (14) has a support surface (20) facing the second leg (18) for positively supporting a first side surface of the component to be received, wherein in particular the second leg (18) has a contact surface (22) facing the first leg (14) for positively supporting a second side surface of the component to be received, said second side surface facing away from the first side surface, wherein in particular the cross-sectional profile of the first leg (14) has a distal end section starting from the web (16), wherein in particular the support surface (20) of the first leg (14) has a rounding (30) in the region of the distal end section to improve the sliding properties of the receiving surface during the pivoting of the gripping element (12), wherein in particular the support surface (20) is designed such thatthat the weight of the component to be picked up acts on the gripping element (12) in an open position in the region of the distal end section of the receiving surface, in particular in the region of the rounding (30), in the direction of the closed position.

5. Mechanical gripping device according to one of the preceding claims, wherein the axis of rotation of the gripping element (12) is designed as an intersection line of a central transverse plane of the first leg (14) and a central frontal plane of the web (16), wherein in particular the axis of rotation runs through the first end section of the web (16), wherein in particular the rotation of the gripping element (12) from the open position into the closed position has a pivot angle of maximum 45 degrees, in particular a maximum of 40 degrees, particularly preferably a maximum of 35 degrees.

6. Mechanical gripping device according to one of the preceding claims, comprising a displaceably mounted locking element (34) for positively locking the gripping element (12) in the closed position; at least one guide element (36) for guiding the locking element (34); at least one second spring element (38) for providing a second spring force; at least one actuating element (42) extending parallel to the guide element (36) for displacing the locking element (34);wherein the locking element (34) is displaceably mounted on the at least one guide element (36) parallel to the longitudinal extent of the web (16) in the closed position of the gripping element (12), wherein the locking element (34) is displaceably mounted between a retracted position and an extended position, wherein the at least one second spring element (38) acts on the locking element (34) by means of the second spring force into the extended position, wherein the actuating element (42) is directly or indirectly connected to the locking element (34), wherein in particular the web (16) in the open position of the gripping element (12) positively blocks a displacement of the locking element (34) from the retracted position towards the extended position, wherein in particular the actuating element (42) is designed to displace the locking element (34) into the retracted position.; 7. Mechanical gripping device according to claim 6, wherein the at least one guide element (36) has a stop element for limiting the displacement of the locking element (34) along the guide element (36), wherein in particular the second spring element (38) is arranged coaxially on the guide element (36), wherein in particular the locking element (34) is displaceably mounted on the guide element (36) between the second spring element (38) and the stop element.

8. Mechanical gripping device according to claim 6 or 7, wherein the locking element (34) has at least one rolling element, at least one bearing element and / or at least one sliding element for contacting the web (16), wherein in particular the locking element (34) has at least one recess for receiving the at least one rolling element, the at least one bearing element and / or the at least one sliding element, wherein in particular the locking element (34) has, at least in sections, a contact surface which is designed obliquely to the direction of displacement of the locking element (34) for the surface contacting of the web (16) in an open position of the gripping element (12).

9. Rotating device for transporting and turning a component with at least one gripping device (10) according to one of claims 1 to 7, comprising a support element (28) rotatably mounted on a housing for turning the component, wherein at least one gripping device (10) is arranged on the support element (28) for positively receiving and releasing the component.

10. A method for turning a component with a turning device according to claim 9, comprising the following steps: - receiving at least one edge region of a component by the gripping element (12) in an open position; - pivoting the gripping element (12) from the open position into a closed position as a result of the at least one gripping element (12) being acted upon by the weight of the component to be picked up; - locking the gripping element (12) by moving the locking element (34) into the extended position; - turning the support element (28); - actuating the at least one actuating element (42) to move the locking element (34) into the retracted position; - pivoting the gripping element (12) from the closed position to the open position; - releasing the component from the at least one gripping device (10).

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