Mechanical handling apparatus

• US 4,024,959 A
• Filed: 11/11/1974
• Issued: 05/24/1977
• Est. Priority Date: 11/09/1973
• Status: Expired due to Term

• Current Assignee: Hans Gruner
• Original Assignee: Hans Gruner
• Inventors: Gruner, Hans
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): Reese, Randolph A.
• Application Number:
  US05/522,991
• Time in Patent Office: 925 Days
• Field of Search: 214/1 BB, 214/1 BD, 214/1 BC, 214/1 BV, 214/8.5 D, 214/1 BH, 294/88, 192/150
• US Class Current: 414/751.1
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 9/041 Cylindrical coordinate type

Abstract

A handling device has a flexible gripper having a drive associated with one movement of the gripper and including a member which is caused to move against an adjustable force when an actuating force determined by the adjustable force acts on the gripper, and a switch element operable by the displaced member and serving to control at least one movement of the handling device and/or the gripper.

Claims

1. A handling device with a flexible gripper and having drive means for moving said gripper, said drive means comprising a displaceable force transmitting member, means for exerting an adjustable force on said member for normally preventing movement thereof, said means permitting movement of said member in response to stoppage of movement of said gripper when the force thereon is greater than said adjustable force, switch means responsive to movement of said member against said adjustable force for controlling said drive means, the actuating force acting on said gripper being transmitted by said gripper to said member in the drive associated with the first gripper movement causing said member to be displaced and actuate said switch means to initiate a second gripper movement.

2. A handling device with a flexible gripper and having drive means for moving said gripper, said drive means comprising a displaceable force transmitting member, means for exerting an adjustable force on said member for normally preventing movement thereof, said means permitting movement of said member in response to stoppage of movement of said gripper when the force thereon is greater than said adjustable force, switch means responsive to movement of said member against said adjustable force for controlling said drive means, said displaceable force transmitting member is a worm and movement of said worm is damped by means of a shock-absorber.

3. A handling device according to claim 2, wherein the shock-absorber comprises a damping cylinder which extends parallel to the worm, and is equipped at its ends with covers, the damping cylinder being in frictional contact with the worm in the axial direction, while in the rotational direction it is connected with the worm in a rotationally free manner, and comprises furthermore a piston which is fixedly mounted inside the damping cylinder and to which pressure can be admitted from either side, a pressure pipe with a restricting zone leading into each of the pressure chambers of the shock absorber.

4. A handling device according to claim 3, wherein the piston connects at either end with a piston rod, the rods extending through the covers and being supported in a stationary manner.

5. A handling device according to claim 3 wherein each of the two covers of the damping cylinder comprises an annular extension which freely rotates around the worm and rests with one of its axial ends against the bottom of the sleeve.

6. A handling device with a flexible gripper and having drive means for moving said gripper, said drive means comprising a displaceable force transmitting member, means for exerting an adjustable force on said member for normally preventing movement thereof, said means permitting movement of said member in response to stoppage of movement of said gripper when the force thereon is greater than said adjustable force, switch means responsive to movement of said member against said adjustable force for controlling said drive means, said gripper connecting with a swivel-base so that it may perform a swivelling movement, a pivoted bolster being fixed to said swivel-base and swivelling together with the swivel-base around the swivel axis of the latter, and connected with a motor in a rotatably fixed manner, said displaceable force transmitting member being a bolster displaceable around a bolster shaft against said adjustable force, said shaft extending parallel with said swivel axis and the drive shaft of said motor which is coaxial with the bolster shaft being in frictional contact with a driving gear wheel engaging with a fixed bearing, whereby when said actuating force which acts upon the gripper is smaller than said adjustable force, said driving gear wheel rolls on said fixed bearing thereby swivelling both said pivoted bolster and said swivel-base to which said gripper is fixed, while with an actuating force greater than said adjustable force, both said driving gear wheel and said driving shaft are stationary and said motor, together with said pivoted bolster, rotates around said bolster shaft in a direction opposed to said adjustable force, and said switch means being operated by said rotational movement.

7. A handling device according to claim 6 wherein the fixed bearing comprises a toothing.

8. A handling device according to claim 6 wherein the adjustable force is induced into the pivoted bolster from two opposite directions, through two piston rods, each of them being connected with a piston which is flexibly supported in a corresponding cylinder fixed to the swivel-base.

9. A handling device according to claim 6 wherein the pivoted bolster comprises a lug which projects in a direction perpendicular to the bolster shaft, two switch-elements being correlated to said lug and connected with the swivel-base, these switch elements being symmetrically arranged in relation to a plane defined by the bolster axis and the swivel axis.

10. A handling device with a flexible gripper and having drive means for moving said gripper, said drive means comprising a displaceable force transmitting member, means for exerting an adjustable force on said member for normally preventing movement thereof, said means permitting movement of said member in response to stoppage of movement of said gripper when the force thereon is greater than said adjustable force, switch means responsive to movement of said member against said adjustable force for controlling said drive means, said gripper connecting with a threaded nut to provide a linear movement, said threaded nut having a bore extending parallel to the direction of said linear movement and engaging with the threaded portion of a spindle constituting said displaceable member and which is axially displaceable against said adjustable force, said spindle being rotatable by means of a driving gear wheel driven by a motor whereby when said actuating force acting on said gripper is greater than said adjustable force, said spindle is axially displaced against said adjustable force, and said switch means being actuated together with said spindle.

11. A handling device according to claim 10 wherein the driving gear wheel engages with a driven gear wheel which is keyed on to a carrier sleeve which is fixed in the axial direction and whose internal bore is connected with the spindle in a rotatably fixed manner.

12. A handling device according to claim 10 including a force-element which acts upon the spindle against the direction of the gravitational force, i.e. in an upward direction, when the spindle is vertically arranged.

13. A handling device according to claim 12, wherein a second sleeve which is in frictional contact with the spindle in the axial direction, surrounds the spindle above the carrier sleeve, a spring resting against the closed end of the sleeve, which is remote from the carrier sleeve, the other end of the spring acting upon the axially fixed carrier sleeve.

14. A handling device according to claim 13 wherein the sleeve comprises at least one lug which projects sideways and is correlated to a switch-element.

15. A handling device with a flexible gripper and having drive means for moving said gripper, said drive means comprising a displaceable force transmitting member, means for exerting an adjustable force on said member for normally preventing movement thereof, said means permitting movement of said member in response to stoppage of movement of said gripper when the force thereon is greater than said adjustable force, switch means responsive to movement of said member against said adjustable force for controlling said drive means, said gripper connecting with a driving gear wheel driven by a motor to perform a linear movement, the drive shaft of said gear wheel extending at right angles to the direction of the movements of said gripper, and said gear wheel engaging with a toothed rack constituting said displaceable force transmitting member and being displaceable in a longitudinal direction against said adjustable force whereby when said actuating force acting upon the gripper is greater than said adjustable force, said toothed rack is displaced against said adjustable force, said switch means being actuated together with said toothed rack, and further comprising a piston rod with a piston located in a fixed cylinder which acts upon the upper portion of said toothed rack in a system where said toothed rack is mounted vertically.

16. A handling device according to claim 15, wherein pressure is admitted from above to the piston while the gripper together with the parts which are connected with it, moves rapidly downwards, that is to say when their weight is small because of the forces of inertia which act in the opposite direction, while no pressure is admitted to the piston when the gripper including the parts which are connected with it, moves slowly downwards.

17. A handling device according to claim 15 wherein the toothed rack comprises at least one lug which projects in a direction perpendicular to its longitudinal axis and with which is associated a switch-element.

18. A handling device with a flexible gripper and having drive means for moving said gripper, said drive means comprising a displaceable force transmitting member, means for exerting an adjustable force on said member for normally preventing movement thereof, said means permitting movement of said member in response to stoppage of movement of said gripper when the force thereon is greater than said adjustable force, switch means responsive to movement of said member against said adjustable force for controlling said drive means, said gripper comprising a number of jaws which are flexibly supported thereon and capable of gripping components, a piston in a cylinder bore and the gripper being associated with each of said jaws whereby the individual jaws can be displaced when pressure is admitted to the corresponding piston, at least one pair of said jaws consisting of two jaws which are movable towards each other or away from each other, and being supported on said gripper, said two jaws engaging through a projection inside the gripper which engages with a recess in the corresponding piston.

19. A handling device with a flexible gripper and having drive means for moving said gripper, said drive means comprising a displaceable force transmitting member, means for exerting an adjustable force on said member for normally preventing movement thereof, said means permitting movement of said member in response to stoppage of movement of said gripper when the force thereon is greater than said adjustable force, switch means responsive to movement of said member against said adjustable force for controlling said drive means, said gripper comprising a number of jaws fixedly supported thereon and capable of gripping components, a piston in a cylinder bore and said gripper being associated with each of said jaws whereby the individual jaws can be displaced when pressure is admitted to the corresponding piston, each of said cylinder bores housing one of said pistons connected with a respective jaw, the axial end sections being remote relative to each other and belong to two cylinder bores corresponding to a pair of jaws being interconnected through a connecting line whereby said two jaws are caused to move towards each other when pressure is admitted to one of said two end sections, the wall section separating the cylinder bores corresponding to a pair of jaws including an opening in which a gear wheel is pivoted engaging with the middle sections of the two pistons which are designed as toothed racks.

20. A handling device with a flexible gripper and having drive means for moving said gripper, said drive means comprising a displaceable force transmitting member, means for exerting an adjustable force on said member for normally preventing movement thereof, said means permitting movement of said member in response to stoppage of movement of said gripper when the force thereon is greater than said adjustable force, switch means responsive to movement of the member against said adjustable force for controlling said drive means, said switch means including two switch elements associated with each of the displaceable members in the drives for a given gripper movement, said switch elements being arranged in series when viewed in the direction in which the member moves against said adjustable force, said first switch element controlling the sequence of the programmed gripper movement, and said second switch elements consisting of a safety switch for disconnecting the handling device.

21. A handling device with a flexible gripper and having drive means for moving said gripper, said drive means comprising a displaceable force transmitting member, means for exerting an adjustable force on said member for normally preventing movement thereof, said means permitting movement of said member in response to stoppage of movement of said gripper when the force thereon is greater than said adjustable force, switch means responsive to movement of said member against said adjustable force for controlling said drive means, and wherein said handling device is a fully closed unit including a hydraulic and electric supply unit.

22. A handling device according to claim 21, wherein the hydraulic and electric supply units are accommodated in a pillar and/or in an upper frame connected with the pillar, thus enabling the height of the underframe to be very small.