Transport device

Abstract

The invention relates to a transport device for transporting workpieces, in particular housing flanges, comprising a first claw and a second claw for holding a workpiece, and a holding element from which the transport device can be suspended. The holding element is connected to the claws by means of a coupling linkage. The coupling linkage comprises a first rocker arm, a second rocker arm, a first coupling link, and a second coupling link. The first claw is arranged on the first rocker arm, and the second claw is arranged on the second rocker arm. The first coupling link is pivotable relative to the holding element about an upper pivot axis, and the second coupling link is pivotable relative to the holding element about the upper pivot axis. The upper pivot axis extends in a longitudinal direction.

Description

[0001] Transport device

[0002] Description:

[0003] The invention relates to a transport device for transporting workpieces, in particular housing flanges, which comprises a first claw and a second claw for holding a workpiece.

[0004] A drive unit for machines consists of an electric motor and a mechanical gearbox. The electric motor drives the machine via the gearbox. During assembly of the drive unit, the housing parts of the gearbox and the electric motor are connected to each other. The housing parts of both the gearbox and the electric motor each have a housing flange, which are fastened together.

[0005] The housing components of the gearbox and the electric motor, including the housing flanges, are joined together at a designated workstation and therefore must first be transported to said workstation. Transport devices for these housing components and their flanges are known.

[0006] From DE 90 12 798 U1 a gripping and turning device for circular plates, in particular for cast iron manhole covers with concrete filling, is known.

[0007] A transport device for transporting rollers is known from US Patent 2,959,444 A.

[0008] A holding device for a cutting tool is known from WO 2022 / 183238 A1.

[0009] A holding device for lifting objects is known from WO 2011 / 008091 A1.

[0010] From DE 74 11 330 U a transport gripper for manipulating heavy parts, especially concrete pipes, is known.

[0011] From DE 102021 108 566 A1 a handling device for vertically moving and rotating ring-shaped objects is known.

[0012] ISI \ EIDOPAT 22.07.2025 The invention is based on the objective of further developing a transport device for transporting workpieces.

[0013] The problem is solved by a transport device with the features specified in claim 1. Advantageous embodiments and further developments are the subject of the dependent claims.

[0014] A transport device according to the invention for transporting workpieces, in particular housing flanges, comprises a first claw and a second claw for holding a workpiece and a holding element on which the transport device can be suspended. The holding element is connected to the claws by means of a linkage mechanism. The linkage mechanism has a first rocker arm, a second rocker arm, a first coupler, and a second coupler. The first claw is arranged on the first rocker arm, and the second claw is arranged on the second rocker arm. The first coupler is pivotable about an upper pivot axis relative to the holding element, and the second coupler is pivotable about the upper pivot axis relative to the holding element. The upper pivot axis extends in a longitudinal direction.

[0015] The transport device according to the invention enables the fast and safe transport of workpieces, in particular workpieces with circular cross-sections such as housing flanges of motor housings or gearbox housings. Manual transport of housing flanges is avoided, and work efficiency during the assembly of motors and gearboxes is increased.

[0016] According to an advantageous embodiment of the invention, the linkage is designed as a four-bar linkage. The first link is pivotable about a first pivot axis relative to the first rocker arm, the second link is pivotable about a second pivot axis relative to the second rocker arm, the first link is pivotable about the upper pivot axis relative to the second linkage, and the first rocker arm is pivotable about a lower pivot axis relative to the second rocker arm.

[0017] A four-bar linkage has a defined number of mechanical degrees of freedom and is therefore flexible in accommodating a workpiece while simultaneously being robust against disturbances. According to an advantageous embodiment of the invention, the first pivot axis, the second pivot axis, and the lower pivot axis each run parallel to each other and parallel to the upper pivot axis in the longitudinal direction.

[0018] Thus, movement of the couplings and swing arms in a plane perpendicular to the pivot axes is possible.

[0019] According to an advantageous embodiment of the invention, the transport device has an electric drive for driving the first swing arm around the lower pivot axis relative to the second swing arm.

[0020] According to an advantageous embodiment of the invention, the first claw is rotatable about a first axis of rotation relative to the first rocker arm. According to an advantageous embodiment of the invention, the second claw is rotatable about a second axis of rotation relative to the second rocker arm.

[0021] Preferably, the first and second axes of rotation are aligned. This allows a workpiece held between the claws in the transport device to pivot about the axes of rotation.

[0022] According to an advantageous embodiment of the invention, the first axis of rotation and the second axis of rotation each extend in a transverse direction.

[0023] The transverse direction runs perpendicular to the longitudinal direction.

[0024] According to an advantageous embodiment of the invention, means for fixing the first claw in a defined rotational position relative to the first arm are provided on the first claw and on the first arm. According to an advantageous embodiment of the invention, means for fixing the second claw in a defined rotational position relative to the second arm are provided on the second claw and on the second arm.

[0025] Thus, a workpiece held between the claws in the transport device can be fixed in a defined position, particularly a horizontal position, relative to the transport device during transport. To place the workpiece at a workstation, it can be rotated back into a vertical position.

[0026] According to an advantageous embodiment of the invention, the means for fixing each comprise a convex protrusion and a concave depression, which are arranged such that in the defined rotational position the protrusion engages in a form-fitting manner in the depression.

[0027] According to an advantageous embodiment of the invention, the transport device has at least one electric drive for driving the claws around the axes of rotation.

[0028] According to an advantageous embodiment of the invention, the first rocker arm and the second rocker arm are connected to each other by means of at least one spring element.

[0029] The spring element is, for example, a coil spring or a torsion spring.

[0030] According to an advantageous embodiment of the invention, the at least one spring element acts on the first rocker arm and the second rocker arm in such a way that the first claw is moved away from the second claw.

[0031] Preferably, two spring elements are provided, which are designed as tension springs. The spring elements compensate for the force of gravity that pulls the arms and claws downwards. Thus, the claws remain at a specific distance from each other when the transport device is suspended from the holding element.

[0032] According to an advantageous embodiment of the invention, the claws each have an upper plate and a lower plate which run parallel to each other and which are spaced apart such that the workpiece to be transported can be received between the upper plate and the lower plate. The upper plate and the lower plate are each connected to each other by a base plate which extends perpendicular to the upper plate and the lower plate as well as perpendicular to the transverse direction.

[0033] According to an advantageous embodiment of the invention, two spacers are arranged between the upper plate and the lower plate, the spacers being cylindrical in shape. The central axes of the spacers run parallel to each other and perpendicular to the axes of rotation. The spacers serve as stops for the workpiece to be transported.

[0034] According to an advantageous embodiment of the invention, the central axes of the spacers lie in a stop plane which extends perpendicular to the transverse direction, wherein the stop plane intersects the upper plate and the lower plate.

[0035] The workpiece to be transported rests against the spacers and extends beyond the stop plane. Thus, the workpiece is securely held between the claws.

[0036] According to an advantageous embodiment of the invention, the distance between the spacers is 5 to 10 times greater than the distance between the stop plane and the base plate.

[0037] The optimal spacing between the spacers depends on the diameter of the workpieces being transported. A spacing between the spacers that is 5 to 10 times greater than the distance between the stop plane and the base plate allows for the transport of various workpieces with different diameters.

[0038] The invention is not limited to the combination of features stated in the claims. For a person skilled in the art, further meaningful combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent, in particular from the problem statement and / or the problem arising from a comparison with the prior art.

[0039] The invention will now be explained in more detail with reference to the illustrations. The invention is not limited to the embodiments shown in the illustrations. The illustrations only depict the subject matter of the invention schematically. They show:

[0040] Figure 1: a transport device,

[0041] Figure 2: a perspective view of a claw and

[0042] Figure 3: a representation of a lower end region of a swing arm.

[0043] Figure 1 shows a transport device for transporting workpieces 8, in particular workpieces 8 with circular cross-sections such as housing flanges of motor housings or gearbox housings. The transport device comprises a holding element 6. In this case, the transport device is suspended from the holding element 6, for example from a crane or a robot arm.

[0044] The transport device comprises a first claw 21 and a second claw 22 for holding a workpiece 8. The transport device also includes a linkage mechanism by means of which the holding element 6 is connected to the claws 21 and 22. The linkage mechanism is designed as a four-bar linkage.

[0045] The linkage mechanism comprises a first rocker arm 11, a second rocker arm 12, a first link 51, and a second link 52. The first link 51 is pivotable about an upper pivot axis 60 relative to the retaining element 6, and the second link 52 is also pivotable about the upper pivot axis 60 relative to the retaining element 6. The first link 51 is also pivotable about the upper pivot axis 60 relative to the second link 52.

[0046] At an end region of the first coupling 51 facing away from the retaining element 6, the first coupling 51 is pivotable about a first pivot axis 61 relative to the first rocker arm 11. At an end region of the second coupling 52 facing away from the retaining element 6, the second coupling 52 is pivotable about a second pivot axis 62 relative to the second rocker arm 12.

[0047] The first claw 21 is arranged on the lower end of the first rocker arm 11, opposite the first coupling 51. The second claw 22 is arranged on the lower end of the second rocker arm 12, opposite the second coupling 52. The claws 21 and 22 are positioned opposite each other and are designed to hold a workpiece 8. In the illustration shown here, such a workpiece 8 is held between the claws 21 and 22.

[0048] The first arm 11 and the second arm 12 intersect at a lower pivot axis 63. The first arm 11 is pivotable about the lower pivot axis 63 relative to the second arm 12. The lower pivot axis 63 is located between the first pivot axis 61 and the first claw 21, and between the second pivot axis 62 and the second claw 22.

[0049] The first pivot axis 61, the second pivot axis 62, the upper pivot axis 60 and the lower pivot axis 63 each run in a longitudinal direction X. The first pivot axis 61, the second pivot axis 62, the upper pivot axis 60 and the lower pivot axis 63 run parallel to each other, offset from one another.

[0050] A transverse direction Y runs perpendicular to the longitudinal direction X. A vertical direction Z runs perpendicular to both the longitudinal direction X and the transverse direction Y. The vertical direction Z is perpendicular to the ground and thus runs in the direction of gravity, which acts on the components of the transport device and on the workpiece 8.

[0051] The transport device comprises a first spring element 41 and a second spring element 42. The first rocker arm 11 and the second rocker arm 12 are connected to each other by means of the spring elements 41 and 42. The spring elements 41 and 42 are designed as tension springs.

[0052] The first spring element 41 engages the first rocker arm 11 near the first claw 21 and the second rocker arm 12 near the second pivot axis 62. The second spring element 42 engages the second rocker arm 12 near the second claw 22 and the first rocker arm 11 near the first pivot axis 61.

[0053] The first spring element 41 acts on the first rocker arm 11 such that the first claw 21 is moved away from the second claw 22. The second spring element 42 acts on the second rocker arm 12 such that the second claw 22 is moved away from the first claw 21. The spring elements 41 and 42 thereby compensate for the gravitational forces acting on the first rocker arm 11, the second rocker arm 12, the first claw 21, and the second claw 22 in the vertical direction Z downwards towards the ground. If no workpiece 8 is held between the claws 21 and 22, the claws 21 and 22 remain at a specific distance from each other.

[0054] The first claw 21 is rotatable about a first axis of rotation 71 relative to the first arm 11. The second claw 22 is rotatable about a second axis of rotation 72 relative to the second arm 12. The first axis of rotation 71 and the second axis of rotation 72 each run in the transverse direction Y and are aligned with each other.

[0055] Figure 2 shows a perspective view of the first claw 21 of the transport device. The second claw 22 is designed as a mirror image of the first claw 21.

[0056] The first claw 21 has an upper plate and a lower plate, which run parallel to each other. The upper plate and the lower plate are spaced apart from each other such that the workpiece 8 to be transported can be positioned between the plates. Two spacers are attached between the upper plate and the lower plate, which also serve as stops for the workpiece 8 to be transported.

[0057] The upper plate and the lower plate are connected to each other by a base plate 24. The base plate 24 extends perpendicular to the upper plate and the lower plate. The base plate 24 also extends perpendicular to the transverse direction Y.

[0058] A bore is machined into the base plate 24 approximately in the center, which is arranged concentrically to the first axis of rotation 71. A shaft (not shown here) extends through the bore. The first claw 21 is rotatable about said shaft and thus about the first axis of rotation 71.

[0059] A concave recess 25 is also provided in the base plate 24. The concave recess 25 is arranged offset from the first axis of rotation 71. The concave recess 25 is, for example, designed as a continuous circular hole in the base plate 24. The spacers are cylindrical. The central axes of the spacers run parallel to each other and perpendicular to the first axis of rotation 71.

[0060] The center axes of the spacers lie in a stop plane that extends perpendicular to the transverse direction Y. The stop plane intersects the upper and lower plates. A workpiece 8 to be transported rests against the spacers and extends through the stop plane.

[0061] The distance between the spacers is greater than the distance between the stop plane and the base plate 24. The distance between the spacers corresponds to the distance between the center axes of the spacers.

[0062] Figure 3 shows a representation of a lower end region of the first rocker arm 11 of the transport device. The second rocker arm 12 is designed as a mirror image of the first rocker arm 11.

[0063] The lower end region of the first rocker arm 11 comprises a mounting body 14, which has a stop surface. The stop surface extends perpendicular to the transverse direction Y.

[0064] A bore is machined into the mounting body 14, which is arranged concentrically to the first axis of rotation 71. A shaft (not shown) extends through the bore. The first claw 21 is rotatable about said shaft and thus about the first axis of rotation 71 relative to the mounting body 14 of the first rocker arm 11.

[0065] A convex projection 15 is also attached to the mounting body 14. The convex projection 15 is arranged offset from the first axis of rotation 71. The distance of the convex projection 15 from the first axis of rotation 71 corresponds to the distance of the concave recess 25 of the first claw 21 from the first axis of rotation 71.

[0066] In the defined rotational position of the first claw 21 relative to the first arm 11, the projection 15 engages positively in the recess 25. This fixes the first claw 21 to the first arm 11. The convex projection 15 and the concave recess 25 thus provide means for fixing the first claw 21 to the first arm 11 in a defined rotational position. (Reference numeral list)

[0067] 6 retaining element

[0068] 8 workpiece

[0069] 11 first swing arm

[0070] 12 second swing arm

[0071] 14 Mounting bodies

[0072] 15 Survey

[0073] 21 first claw

[0074] 22 second claw

[0075] 24 Base plate

[0076] 25 In-depth study

[0077] 41 first spring element

[0078] 42 second spring element

[0079] 51 first paddock

[0080] 52 second coupling

[0081] 60 upper pivot axis

[0082] 61 first pivot axis

[0083] 62 second pivot axis

[0084] 63 lower pivot axis

[0085] 71 first axis of rotation

[0086] 72 second axis of rotation

[0087] X Longitudinal direction

[0088] Y transverse direction

[0089] Z Vertical direction

Claims

Patent claims:

1. Transport device for transporting workpieces (8), in particular housing flanges, comprising a first claw (21) and a second claw (22) for holding a workpiece (8) and a holding element (6) on which the transport device can be suspended, wherein the holding element (6) is connected to the claws (21, 22) by means of a linkage mechanism, and wherein the linkage mechanism comprises a first rocker arm (11), a second rocker arm (12), a first linkage (51) and a second coupling (52), wherein the first claw (21) is arranged on the first rocker arm (11), and wherein the second claw (22) is arranged on the second rocker arm (12), and wherein the first coupling (51) is pivotable about an upper pivot axis (60) relative to the retaining element (6), and wherein the second coupling (52) is pivotable about the upper pivot axis (60) relative to the retaining element (6), and wherein the upper pivot axis (60) extends in a longitudinal direction (X).

2. Transport device according to claim 1, characterized in that the linkage is designed as a four-bar linkage, and that the first linkage (51) is pivotable about a first pivot axis (61) relative to the first rocker arm (11), and that the second linkage (52) is pivotable about a second pivot axis (62) relative to the second rocker arm (12), and that the first linkage (51) is pivotable about the upper pivot axis (60) relative to the second linkage (52), and that the first rocker arm (11) is pivotable about a lower pivot axis (63) relative to the second rocker arm (12).

3. Transport device according to claim 2, characterized in that the first pivot axis (61), the second pivot axis (62) and the lower pivot axis (63) each run parallel to each other and parallel to the upper pivot axis (60) in the longitudinal direction (X).

4. Transport device according to one of claims 2 to 3, characterized in that the transport device has an electric drive for driving the first rocker arm (11) about the lower pivot axis (63) relative to the second rocker arm (12).

5. Transport device according to one of the preceding claims, characterized in that the first claw (21) is rotatable about a first axis of rotation (71) relative to the first rocker arm (11), and / or that the second claw (22) is rotatable about a second axis of rotation (72) relative to the second rocker arm (12).

6. Transport device according to claim 5, characterized in that the first axis of rotation (71) and the second axis of rotation (72) each extend in a transverse direction (Y).

7. Transport device according to one of claims 5 to 6, characterized in that means for fixing the first claw (21) in a defined rotational position relative to the first rocker arm (11) are attached to the first claw (21) and to the first rocker arm (11), and / or that means for fixing the second claw (22) in a defined rotational position relative to the second rocker arm (12) are attached to the second claw (22) and to the second rocker arm (12).

8. Transport device according to claim 7, characterized in that the means for fixing each comprise a convex protrusion (15) and a concave depression (25), which are arranged such that in the defined rotational position the protrusion (15) engages in a form-fitting manner in the depression (25).

9. Transport device according to one of claims 5 to 8, characterized in that the transport device has at least one electric drive for driving the claws (21, 22) about the axes of rotation (71, 72).

10. Transport device according to one of the preceding claims, characterized in that the first rocker arm (11) and the second rocker arm (12) are connected to each other by means of at least one spring element (41, 42).

11. Transport device according to claim 10, characterized in that the at least one spring element acts on the first rocker arm (11) and the second rocker arm (12) in such a way that the first claw (21) is moved away from the second claw (22).

12. Transport device according to one of the preceding claims, characterized in that the claws (21, 22) each have an upper plate and a lower plate which run parallel to each other and which are spaced apart from each other in such a way that the workpiece (8) to be transported can be received between the upper plate and the lower plate, and that the upper plate and the lower plate are each connected to each other by a base plate (24) which extends perpendicular to the upper plate and the lower plate and perpendicular to the transverse direction (Y).

13. Transport device according to claim 12, characterized in that two spacers are provided between the upper plate and the lower plate, and that the spacers are circular cylindrical in shape, and that the central axes of the spacers run parallel to each other and perpendicular to the axes of rotation (71, 72).

14. Transport device according to claim 13, characterized in that the central axes of the spacers lie in a stop plane which extends perpendicular to the transverse direction (Y), and that the stop plane intersects the upper plate and the lower plate.

15. Transport device according to claim 14, characterized in that the distance between the spacers is 5 to 10 times greater than the distance between the stop plane and the base plate (24).

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