EP1247777B1 - Drive for a gripping device - Google Patents

Drive for a gripping device Download PDF

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Publication number
EP1247777B1
EP1247777B1 EP02006916A EP02006916A EP1247777B1 EP 1247777 B1 EP1247777 B1 EP 1247777B1 EP 02006916 A EP02006916 A EP 02006916A EP 02006916 A EP02006916 A EP 02006916A EP 1247777 B1 EP1247777 B1 EP 1247777B1
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EP
European Patent Office
Prior art keywords
drive apparatus
swivel
shaft
clamshell
shafts
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP02006916A
Other languages
German (de)
French (fr)
Other versions
EP1247777A2 (en
EP1247777A3 (en
Inventor
Manfred Schierholz
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Kinshofer GmbH
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Kinshofer GmbH
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Publication date
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Publication of EP1247777A2 publication Critical patent/EP1247777A2/en
Publication of EP1247777A3 publication Critical patent/EP1247777A3/en
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Publication of EP1247777B1 publication Critical patent/EP1247777B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/14—Grabs opened or closed by driving motors thereon
    • B66C3/16—Grabs opened or closed by driving motors thereon by fluid motors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
    • E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/006—Pivot joint assemblies
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y10T74/19642—Directly cooperating gears
    • Y10T74/19698—Spiral
    • Y10T74/19823—Screw

Definitions

  • the invention relates to a drive device for a gripping device with two gripper arms movable like a pair of pliers, preferably for a clamshell gripper, consisting of two hydraulic swiveling motors, whose crankshaft journals projecting beyond the motor housing carry the gripping arms.
  • the shells carrying shafts are provided with radial levers to which the piston rods or cylinders of hydraulic piston-cylinder units are articulated to transmit the closing and opening forces to the shafts.
  • the hydraulic piston-cylinder unit consists of two hinged respectively to the operating levers of the shafts cylinders whose pistons are interconnected by a common piston rod.
  • Such clamshell grabs must be provided with relatively large hydraulic cylinders, because the effective lever arms of the operating lever can change with the pivoting angle and take relatively small effective lengths, with the additional disadvantages that the hydraulic cylinder, the open-topped shells partially and also represent vulnerable components that may be damaged during operation of the clamshell grab.
  • each pivot shaft of the swivel motors is provided with a plurality of radial rotary piston forming wings which engage in concentric to the shaft axis chambers of a cylinder, wherein the chambers are separated by one of the number of rotary pistons corresponding number of radial recesses of each other and the rotary pistons with their apex areas sealing against the chamber walls and the recesses lie with their vertex areas on the pivot shafts.
  • the hydraulic swing motors of the known clamshell grab therefore have a complicated structure.
  • the object of the invention is therefore to provide a clamshell grab of the type specified, which is provided with hydraulic swivel motors robust and simple way.
  • each of the pivoting motors has a cylindrical tube piece, which is provided on its inner wall with an internally threaded portion which is provided with an externally threaded portion of the pivot shaft in engagement, that the piece of pipe in a the housing formed cylinder space axially displaceable, but non-rotatably held annular piston is that the pitch of the thread is so large that the annular piston by its axial displacement of the pivot shafts to impart the required torque, and that the displacement of the annular piston between the two annular cylinder chambers, the alternating with hydraulic oil can be acted upon high and low pressure chambers, the desired pivot angle of the two shells corresponds.
  • the drive of the clamshell wrench according to the invention is characterized by a simple and robust construction, that only by axial displacement of the annular piston the shells the required pivoting movement is granted.
  • the rotation of the annular piston for example, consist of an axially extending groove in the cylinder wall into which engages a connected to the annular piston pin or wedge.
  • the pitch of the thread can be chosen so that the force exerted by the shells on the pivot shafts torque due to the self-locking the ring piston is not able to move even with unpressurized cylinder chambers. If the ring pistons are not moved due to the pressure of the hydraulic oil, the shells can not be pivoted due to external forces. This required self-locking is achieved in that the pitch of the thread is so large that the desired large torque is transmitted to the pivot shafts by the axial displacement of the annular piston.
  • the thread rims have expediently trapezoidal cross-sections, which are characterized by good stability.
  • the drive according to the invention of the clamshell grab is maintenance-free, since the ring piston runs in the hydraulic oil.
  • the shell carrier preferably consists of two housing halves screwed together, each of which is provided with two bearing bores for one side of the pivot shafts.
  • the threads of the shafts are in the range of only one half of the housing and in this housing half a first cylinder chamber is formed, which corresponds to the peripheral shape of the two connected by the web annular piston, and that the peripheral shape with respect to this first cylinder chamber sealing gaskets is provided.
  • the peripheral shape may consist of two mutually parallel sides, the ends of which are connected by semicircular arcs.
  • the second cylinder chamber may be formed in the other housing half, in which the annular piston projecting beyond the web are provided in the end regions of their bores with ring seals which seal them against thread-free sections of the pivot shafts.
  • the shell carrier superior shaft journal of the pivot shafts are provided with coupling means for coupling the shells.
  • These may for example consist of connected to the shells and screwed together half-shells, which are coupled to the shaft journals by bolts, enforce the aligned transverse bores of the half-shells and the shaft journal. In this way, a simple Schnellcicsysem is created. Shells of different width can be provided with adapter pieces adapted to the shaft journals.
  • plug-in couplings for the production of the compounds with the shaft of a rotary motor passing consisting of axial bores hydraulic lines are arranged.
  • the shaft of the Rotary motor provided with rotary feedthroughs for supplying and removing hydraulic oil to the swivel motors of the clamshell grab.
  • the hydraulic lines opening into the end face of the shaft of the rotary motor coupled to the shell support can be designed as counterparts of the plug-in couplings which can be attached to hollow-shell-shaped counterparts of the shell supports.
  • the clamshell grab according to the invention consists of a shell carrier 2 in which pivot shafts 3, 4 are rotatably mounted, whose shaft journals 5, 6 project beyond the shell carrier on both sides. With the shaft journals 5, 6, the two shells 7, 8 are coupled.
  • the inner U-shaped reinforced frame sections 9, 10 of the two shells at the upper end faces of their legs in cross-section semicircular shells, which thereby surround the projecting shaft journals 5, 6, that they are bolted to the side flanges of holding parts 11, which are also provided with cup-shaped recesses with semicircular cross-section.
  • the shells, holding parts and shaft journals are provided with aligned bores 12, 13, in which a retaining bolt 14 is inserted.
  • the shell carrier 2 consists of a substantially rectangular housing whose opposite narrow sides 15, 16 are rounded off approximately half-cylindrical.
  • the housing consists of two approximately centrally divided housing shells 17, 18, which are screwed together in their parting plane by clamping screws 19.
  • the housing 17, 18 is provided on opposite sides with bearing bores in which the pivot shafts 3, 4 are mounted.
  • the holes are provided with annular grooves 19, in which the shaft ends sealing ring seals are inserted.
  • the pivot shafts 3, 4 are provided with a threaded portion 22.
  • cylindrical pipe sections 23, 24 are placed, which are provided on its inner wall with a portion C with an internal thread, which is with the thread 22 of the pivot shafts 3, 4 in engagement.
  • the cylindrical pipe sections 23, 24 are connected by a web 25 with each other. This web 25 is located on an outer side of the cylindrical pipe sections 23, 24, so that they project beyond the connecting web 25 inwardly.
  • the cylindrical pipe pieces interconnected therewith have an outer peripheral shape with a cross section which consists of two parallel sides, which are connected on their narrow sides by semicircular cross-section sheets.
  • the housing shell 17 is provided with an inner peripheral wall whose shape is complementary to the outer shape of the interconnected by the web 25 pipe sections 16 in the region of the connecting web.
  • the interconnected by the connecting web 25 pipe sections 23, 24 are sealed in the region of the connecting web by a peripheral seal which is inserted in a groove 28.
  • cylinder chambers 33, 34 are formed, which are subjected to alternating high pressure with hydraulic oil and connected to the discharge of hydraulic oil to low-pressure lines.
  • the teeth 22 and the internal teeth of the pipe sections 23, 24 consist of threads with trapezoidal cross-section.
  • the threads have such a pitch that the pipe sections 23, 24 have such a large distance from a self-locking that they are able to give the pivot shafts 3, 4 the desired torque.
  • this large thread pitch leads to a self-locking of the threads, as far as a greater force is transmitted to them via the hook shells 7, 8.
  • the pipe sections 23, 24 may be formed without the connecting crosspiece in each case as an annular piston, which are then guided in cylindrical cylinder chambers of the shell carrier. In such an embodiment, however, it is basically necessary to provide a synchronization of the gripper shells ensuring compensating linkage.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Seal Device For Vehicle (AREA)
  • Vending Machines For Individual Products (AREA)
  • Flexible Shafts (AREA)
  • Earth Drilling (AREA)
  • Actuator (AREA)
  • Harvester Elements (AREA)

Abstract

The drive comprises two swivel motors, each having a cylindrical tube section. The tube section on its inner wall has a section with an inner thread. The section engages with a section of the swivel shaft which is provided with an outer thread. The tube section is an annular piston which is axially slidable in the cylindrical chamber formed in the housing. The piston is fixed against rotation.

Description

Die Erfindung betrifft eine Antriebsvorrichtung für eine Greifeinrichtung mit zwei zangenartig bewegbaren Greifarmen, vorzugsweise für einen Zweischalengreifer, bestehend aus zwei hydraulischen Schwenkmotoren, deren die Motorgehäuse überragenden Wellenzapfen der Schwenkwelle die Greifarme tragen.The invention relates to a drive device for a gripping device with two gripper arms movable like a pair of pliers, preferably for a clamshell gripper, consisting of two hydraulic swiveling motors, whose crankshaft journals projecting beyond the motor housing carry the gripping arms.

Beispielsweise sind bei bekannten Zweischalengreifern die die Schalen tragenden Wellen mit radialen Hebeln versehen, an denen die Kolbenstangen oder Zylinder von hydraulischen Kolben-Zylinder-Einheiten angelenkt sind, um die Schließ- und Öffnungskräfte auf die Wellen zu übertragen. Ein aus DE 34 25 035 A1 bekannter Zweischalengreifer zeichnet sich dadurch durch eine niedrige Bauhöhe aus, daß die hydraulische Kolben-Zylinder-Einheit aus zwei jeweils an den Betätigungshebeln der Wellen angelenkten Zylindern besteht, deren Kolben durch eine gemeinsame Kolbenstange miteinander verbunden sind. Derartige Zweischalengreifer müssen mit verhältnismäßig großen Hydraulikzylindern versehen werden, weil sich die wirksamen Hebelarme der Betätigungshebel mit dem Schwenkwinkel verändern und verhältnismäßig kleine wirksame Längen annehmen können, wobei zusätzlich die Nachteile bestehen, daß die Hydraulikzylinder die oben offenen Schalen teilweise überdecken und darüber hinaus gefährdete Bauteile darstellen, die beim Betrieb des Zweischalengreifers beschädigt werden können.For example, in known clamshell buckets, the shells carrying shafts are provided with radial levers to which the piston rods or cylinders of hydraulic piston-cylinder units are articulated to transmit the closing and opening forces to the shafts. On off DE 34 25 035 A1 known clamshell grab is characterized by a low height, that the hydraulic piston-cylinder unit consists of two hinged respectively to the operating levers of the shafts cylinders whose pistons are interconnected by a common piston rod. Such clamshell grabs must be provided with relatively large hydraulic cylinders, because the effective lever arms of the operating lever can change with the pivoting angle and take relatively small effective lengths, with the additional disadvantages that the hydraulic cylinder, the open-topped shells partially and also represent vulnerable components that may be damaged during operation of the clamshell grab.

Aus dem DE-U 296 21 601.1 ist ein Zweischalengreifer der eingangs angegebenen Art bekannt, bei dem der Antrieb für die die Schalen tragenden Wellen in den Schalenträger integriert ist. Dieser bekannte Zweischalengreifer weist keine durch das aufgenommene Gut gefährdete Bauteile auf, da die beiden hydraulischen Schwenkmotore gekapselt in den Schalenträger angeordnet sind. Bei diesem bekannten Zweischalengreifer ist jede Schwenkwelle der Schwenkmotoren mit mehreren radiale Drehkolben bildenden Flügeln versehen, die in zur Wellenachse konzentrischen Kammern eines Zylinders greifen, wobei die Kammern durch eine der Anzahl der Drehkolben entsprechende Anzahl von radialen Einziehungen voneinander getrennt sind und die Drehkolben mit ihren Scheitelbereichen dichtend an den Kammerwänden und die Einziehungen mit ihren Scheitelbereichen an den Schwenkwellen anliegen. Die hydraulischen Schwenkmotore des bekannten Zweischalengreifers weisen daher einen komplizierten Aufbau auf.From the DE-U 296 21 601.1 is a clamshell grab of the type described above, in which the drive for the shells supporting shafts is integrated into the shell carrier. This known clamshell grab has no endangered by the recorded good components, since the two hydraulic swing motors are encapsulated in the shell carrier. In this known clamshell gripper each pivot shaft of the swivel motors is provided with a plurality of radial rotary piston forming wings which engage in concentric to the shaft axis chambers of a cylinder, wherein the chambers are separated by one of the number of rotary pistons corresponding number of radial recesses of each other and the rotary pistons with their apex areas sealing against the chamber walls and the recesses lie with their vertex areas on the pivot shafts. The hydraulic swing motors of the known clamshell grab therefore have a complicated structure.

Aufgabe der Erfindung ist es daher, einen Zweischalengreifer der eingangs angegebenen Art zu schaffen, der mit hydraulischen Schwenkmotoren robuster und einfacher Art versehen ist.The object of the invention is therefore to provide a clamshell grab of the type specified, which is provided with hydraulic swivel motors robust and simple way.

Die Aufgabe wird durch die Kombination der Merkmale des Anspruchs 1 gelöst. Die Lösung besteht hierbei insbesondere darin, daß jeder der Schwenkmotore ein zylindrisches Rohrstück aufweist, das an seiner Innenwandung mit einem mit einem Innengewinde versehenen Abschnitt versehen ist, der mit einem mit einem Außengewinde versehenen Abschnitt der Schwenkwelle in Eingriff ist, daß das Rohrstück ein in einem der Gehäuse ausgebildeten Zylinderraum axial verschieblicher, aber undrehbar gehaltener Ringkolben ist, daß die Steigung der Gewinde so groß ist, daß der Ringkolben durch seine Axialverschiebung den Schwenkwellen das erforderliche Drehmoment zu erteilen vermag, und daß der Verschiebeweg des Ringkolbens zwischen den beiden ringförmigen Zylinderkammern, die im Wechsel mit Hydrauliköl beaufschlagbare Hoch- und Niederdruckkammern sind, den gewünschten Schwenkwinkel der beiden Schalen entspricht.The object is achieved by the combination of the features of claim 1. The solution here is, in particular, that each of the pivoting motors has a cylindrical tube piece, which is provided on its inner wall with an internally threaded portion which is provided with an externally threaded portion of the pivot shaft in engagement, that the piece of pipe in a the housing formed cylinder space axially displaceable, but non-rotatably held annular piston is that the pitch of the thread is so large that the annular piston by its axial displacement of the pivot shafts to impart the required torque, and that the displacement of the annular piston between the two annular cylinder chambers, the alternating with hydraulic oil can be acted upon high and low pressure chambers, the desired pivot angle of the two shells corresponds.

Aus der US-A-4,603,616 ist bereits ein hydraulischer Antrieb bekannt, mit dem über ein entsprechendes Gewinde und einem hydraulisch hin und her bewegbaren Kolben eine Welle in Rotationsbewegung versetzt werden kann. Ein entsprechendes Wirksystem macht sich die vorgenannte erfindungsgemäße Lösung zu Nutze.From the US-A-4,603,616 already a hydraulic drive is known, with a corresponding thread and a hydraulically reciprocating piston, a shaft can be set in rotation. A corresponding active system makes use of the abovementioned inventive solution.

Der Antrieb des erfindungsgemäßen Zweischalengreifers zeichnet sich dadurch durch einen einfachen und robusten Aufbau aus, daß nur durch Axialverschiebung des Ringkolbens den Schalen die erforderliche Schwenkbewegung erteilt wird. Die Verdrehsicherung der Ringkolben kann beispielsweise aus einer in der Zylinderwandung axial verlaufenden Nut bestehen, in die ein mit dem Ringkolben verbundener Zapfen oder Keil greift.The drive of the clamshell wrench according to the invention is characterized by a simple and robust construction, that only by axial displacement of the annular piston the shells the required pivoting movement is granted. The rotation of the annular piston, for example, consist of an axially extending groove in the cylinder wall into which engages a connected to the annular piston pin or wedge.

Die Steigung der Gewinde kann so gewählt werden, daß das von den Schalen auf die Schwenkwellen ausgeübte Drehmoment infolge der Selbsthemmung die Ringkolben auch bei drucklosen Zylinderkammern nicht zu verschieben vermag. Werden die Ringkolben aufgrund des Drucks des Hydrauliköls nicht bewegt, können die Schalen aufgrund äußerer Kräfte nicht verschwenkt werden. Diese erforderliche Selbsthemmung wird dadurch erreicht, daß die Steigung der Gewinde so groß ist, daß durch die Axialverschiebung der Ringkolben das gewünschte große Drehmoment auf die Schwenkwellen übertragen wird.The pitch of the thread can be chosen so that the force exerted by the shells on the pivot shafts torque due to the self-locking the ring piston is not able to move even with unpressurized cylinder chambers. If the ring pistons are not moved due to the pressure of the hydraulic oil, the shells can not be pivoted due to external forces. This required self-locking is achieved in that the pitch of the thread is so large that the desired large torque is transmitted to the pivot shafts by the axial displacement of the annular piston.

Die Gewindestege besitzen zweckmäßigerweise trapezförmige Querschnitte, die sich durch gute Stabilität auszeichnen. Der erfindungsgemäße Antrieb des Zweischalengreifers ist wartungsfrei, da der Ringkolben im Hydrauliköl läuft.The thread rims have expediently trapezoidal cross-sections, which are characterized by good stability. The drive according to the invention of the clamshell grab is maintenance-free, since the ring piston runs in the hydraulic oil.

Sind zwei getrennte Schwenkmotore für die Schwenkwellen vorgesehen, kann es erforderlich sein, den Zweischalengreifer in üblicher Weise mit Gleichlaufstängen zu versehen. Nach einer erfinderischen Weiterbildung ist vorgesehen, daß die beiden Ringkolben durch einen Quersteg miteinander verbunden sind. Dieser Quersteg stellt den Synchronlauf der beiden Ringkolben sicher, so daß übliche Gleichlaufgestänge nicht mehr erforderlich sind.If two separate pivoting motors are provided for the pivot shafts, it may be necessary to provide the clamshell gripper in the usual way with synchronization rods. According to an inventive development it is provided that the two annular pistons are connected by a transverse web. This crosspiece ensures the synchronous operation of the two annular piston, so that conventional constant velocity linkage is no longer required.

Der Schalenträger besteht vorzugsweise aus zwei miteinander verschraubten Gehäusehälften, von denen jede mit zwei Lagerbohrungen für die einen Seiten der Schwenkwellen versehen ist.The shell carrier preferably consists of two housing halves screwed together, each of which is provided with two bearing bores for one side of the pivot shafts.

Nach einer weiteren bevorzugten Ausführungsform ist vorgesehen, daß sich die Gewinde der Wellen im Bereich nur einer Gehäusehälfte befinden und in dieser Gehäusehälfte eine erste Zylinderkammer ausgebildet ist, die der Umfangsform der beiden durch den Steg verbundenen Ringkolben entspricht, und daß die Umfangsform mit diese gegenüber der ersten Zylinderkammer abdichtenden Dichtungen versehen ist. Die Umfangsform kann aus zwei zueinander parallelen Seiten bestehen, deren Enden durch halbkreisförmige Bogen verbunden sind. Die zweite Zylinderkammer kann in der anderen Gehäusehälfte ausgebildet sein, wobei in dieser die den Steg überragenden Ringkolben in den Endbereichen ihrer Bohrungen mit Ringdichtungen versehen sind, die diese gegenüber gewindefreien Abschnitten der Schwenkwellen abdichten.According to a further preferred embodiment, it is provided that the threads of the shafts are in the range of only one half of the housing and in this housing half a first cylinder chamber is formed, which corresponds to the peripheral shape of the two connected by the web annular piston, and that the peripheral shape with respect to this first cylinder chamber sealing gaskets is provided. The peripheral shape may consist of two mutually parallel sides, the ends of which are connected by semicircular arcs. The second cylinder chamber may be formed in the other housing half, in which the annular piston projecting beyond the web are provided in the end regions of their bores with ring seals which seal them against thread-free sections of the pivot shafts.

Die beiden durch einen Quersteg miteinander verbundenen Ringkolben schaffen nicht nur den gewünschten Synchronlauf, bei diesen sind auch die wirksamen Kolbenflächen dadurch vergrößert, daß diese nicht nur aus den ringförmigen Stirnflächen der Ringkolben, sondern zusätzlich auch aus den diese verbindenden Stegen bestehen.The two interconnected by a cross bar annular piston not only create the desired synchronous operation, these are also the effective piston surfaces increased by the fact that they consist not only of the annular end faces of the annular piston, but also from the connecting them webs.

Nach einer weiteren vorteilhaften Ausgestaltung ist vorgesehen, daß die den Schalenträger überragenden Wellenzapfen der Schwenkwellen mit Kupplungseinrichtungen zum Ankuppeln der Schalen versehen sind. Diese können beispielsweise aus mit den Schalen verbundenen und miteinander verschraubten Halbschalen bestehen, die an die Wellenzapfen durch Bolzen angekuppelt sind, die fluchtende Querbohrungen der Halbschalen und der Wellenzapfen durchsetzen. Auf diese Weise wird ein einfaches Schnellwechselsysem geschaffen. Schalen unterschiedlicher Breite können mit an die Wellenzapfen angepaßten Adapterstücken versehen sein.According to a further advantageous embodiment, it is provided that the shell carrier superior shaft journal of the pivot shafts are provided with coupling means for coupling the shells. These may for example consist of connected to the shells and screwed together half-shells, which are coupled to the shaft journals by bolts, enforce the aligned transverse bores of the half-shells and the shaft journal. In this way, a simple Schnellwechselsysem is created. Shells of different width can be provided with adapter pieces adapted to the shaft journals.

Nach einer weiteren bevorzugten Ausführungsform ist vorgesehen, daß auf dem Schalenträger Steckkupplungen zum Herstellen der Verbindungen mit den die Welle eines Drehmotors durchsetzenden, aus Axialbohrungen bestehenden Hydraulikleitungen angeordnet sind. Bei dieser Ausführungsform ist die Welle des Drehmotors mit Drehdurchführungen zum Zu- und Abführen von Hydrauliköl zu den Schwenkmotoren des Zweischalengreifers versehen. Die in der mit dem Schalenträger gekuppelten Stirnfläche der Welle des Drehmotors mündenden Hydraulikleitungen können als Gegenstücke der Steckkupplungen ausgebildet sein, die auf hohlzapfenförmige Gegenstücke der Schalenträger aufsteckbar sind.According to a further preferred embodiment it is provided that on the shell support plug-in couplings for the production of the compounds with the shaft of a rotary motor passing, consisting of axial bores hydraulic lines are arranged. In this embodiment, the shaft of the Rotary motor provided with rotary feedthroughs for supplying and removing hydraulic oil to the swivel motors of the clamshell grab. The hydraulic lines opening into the end face of the shaft of the rotary motor coupled to the shell support can be designed as counterparts of the plug-in couplings which can be attached to hollow-shell-shaped counterparts of the shell supports.

Ein Ausführungsbeispiel der Erfindung wird nachstehen anhand der Zeichnung näher erläutert. In dieser zeigt

Fig. 1
eine perspektivische Ansicht des erfindungsgemäßen Zweischalengreifers im geöffneten Zustand,
Fig. 2
eine Seitenansicht des Zweischalengreifers nach Fig. 1,
Fig. 3
einen Schnitt durch den Zweischalengreifer längs der Linie A-A in Fig. 2 im vergrößerten Zustand,
Fig. 4
eine Seitenansicht des Zweischalengreifers im geschlossenen Zustand und
Fig. 5
einen Schnitt durch den Zweischalengreifer längs der Linie B-B in Fig. 4 im vergrößerten Zustand.
An embodiment of the invention will be explained in more detail with reference to the drawing. In this shows
Fig. 1
a perspective view of the clamshell invention in the open state,
Fig. 2
a side view of the clamshell claw Fig. 1 .
Fig. 3
a section through the clamshell along the line AA in Fig. 2 in the enlarged state,
Fig. 4
a side view of the clamshell buckle in the closed state and
Fig. 5
a section through the clamshell grab along the line BB in Fig. 4 in the enlarged state.

Der erfindungsgemäße Zweischalengreifer besteht aus einem Schalenträger 2, in dem Schwenkwellen 3, 4 drehbar gelagert sind, deren Wellenzapfen 5, 6 beidseits den Schalenträger überragen. Mit den Wellenzapfen 5, 6 sind die beiden Schalen 7, 8 gekuppelt. Zum Ankuppeln weisen die inneren U-förmigen verstärkten Rahmenprofile 9, 10 der beiden Schalen an den oberen Stirnseiten ihrer Schenkel im Querschnitt halbkreisförmige Schalen auf, die dadurch die überstehenden Wellenzapfen 5, 6 einfassen, daß sie mit den seitlichen Flanschen von Halteteilen 11 verschraubt sind, die ebenfalls mit schalenförmigen Ausnehmungen mit halbkreisförmigem Querschnitt versehen sind. Die Schalen, Halteteile und Wellenzapfen sind mit fluchtenden Bohrungen 12, 13 versehen, in die ein Haltebolzen 14 eingesetzt ist.The clamshell grab according to the invention consists of a shell carrier 2 in which pivot shafts 3, 4 are rotatably mounted, whose shaft journals 5, 6 project beyond the shell carrier on both sides. With the shaft journals 5, 6, the two shells 7, 8 are coupled. For coupling, the inner U-shaped reinforced frame sections 9, 10 of the two shells at the upper end faces of their legs in cross-section semicircular shells, which thereby surround the projecting shaft journals 5, 6, that they are bolted to the side flanges of holding parts 11, which are also provided with cup-shaped recesses with semicircular cross-section. The shells, holding parts and shaft journals are provided with aligned bores 12, 13, in which a retaining bolt 14 is inserted.

Der Schalenträger 2 besteht aus einem wesentlichen rechteckigen Gehäuse dessen gegenüberliegenden schmalen Seiten 15, 16 etwa halbzylindrisch abgerundet sind. Das Gehäuse besteht aus zwei etwa mittig geteilten Gehäuseschalen 17, 18, die in ihrer Trennebene durch Spannschrauben 19 miteinander verschraubt sind. Das Gehäuse 17, 18 ist auf gegenüberliegenden Seiten mit Lagerbohrungen versehen, in denen die Schwenkwellen 3, 4 gelagert sind. Die Bohrungen sind mit Ringnuten 19 versehen, in denen die Wellenenden abdichtende Ringdichtungen eingelegt sind.The shell carrier 2 consists of a substantially rectangular housing whose opposite narrow sides 15, 16 are rounded off approximately half-cylindrical. The housing consists of two approximately centrally divided housing shells 17, 18, which are screwed together in their parting plane by clamping screws 19. The housing 17, 18 is provided on opposite sides with bearing bores in which the pivot shafts 3, 4 are mounted. The holes are provided with annular grooves 19, in which the shaft ends sealing ring seals are inserted.

In dem Bereich der Gehäuseschale 17 sind die Schwenkwellen 3, 4 mit einem Gewindeabschnitt 22 versehen. Auf die Schwenkwellen 3, 4 sind zylindrische Rohrstücke 23, 24 aufgesetzt, die an ihrer Innenwandung mit einem Abschnitt C mit einem Innengewinde versehen sind, das mit dem Gewinde 22 der Schwenkwellen 3, 4 im Eingriff ist. Die zylindrischen Rohrstücke 23, 24 sind durch einen Steg 25 miteinander verbunden. Dieser Steg 25 befindet sich an einer Außenseite der zylindrischen Rohrstücke 23, 24, so daß diese den Verbindungssteg 25 nach innen hin überragen. Im Bereich des Verbindungsstegs 25 weisen die durch diesen miteinander verbundenen zylindrischen Rohrstücke eine äußere Umfangsform mit einem Querschnitt auf, der aus zwei parallelen Seiten besteht, die an ihren Schmalseiten durch Bogen mit halbkreisförmigem Querschnitt verbunden sind. Die Gehäuseschale 17 ist mit einer inneren Umfangswandung versehen, deren Form komplementär zu der äußeren Form der durch den Steg 25 miteinander verbundenen Rohrstücke 16 im Bereich des Verbindungsstegs ist. Die durch den Verbindungssteg 25 miteinander verbundenen Rohrstücke 23, 24 sind im Bereich des Verbindungsstegs durch eine umlaufende Dichtung, die in eine Nut 28 eingelegt ist, abgedichtet.In the region of the housing shell 17, the pivot shafts 3, 4 are provided with a threaded portion 22. On the pivot shafts 3, 4 cylindrical pipe sections 23, 24 are placed, which are provided on its inner wall with a portion C with an internal thread, which is with the thread 22 of the pivot shafts 3, 4 in engagement. The cylindrical pipe sections 23, 24 are connected by a web 25 with each other. This web 25 is located on an outer side of the cylindrical pipe sections 23, 24, so that they project beyond the connecting web 25 inwardly. In the region of the connecting web 25, the cylindrical pipe pieces interconnected therewith have an outer peripheral shape with a cross section which consists of two parallel sides, which are connected on their narrow sides by semicircular cross-section sheets. The housing shell 17 is provided with an inner peripheral wall whose shape is complementary to the outer shape of the interconnected by the web 25 pipe sections 16 in the region of the connecting web. The interconnected by the connecting web 25 pipe sections 23, 24 are sealed in the region of the connecting web by a peripheral seal which is inserted in a groove 28.

Die Endbereiche der den Verbindungssteg 25 überragenden Abschnitte der Rohrstücke 23, 24 weisen an ihren Innenwandungen Ringnuten 30 auf, in die Dichtungsringe eingelegt sind, die dichtend an gewindefreien Abschnitten 31 der Schwenkwellen 3, 4 anliegen.The end portions of the connecting web 25 superior portions of the pipe sections 23, 24 have on their inner walls annular grooves 30 in the Sealing rings are inserted, which bear sealingly on thread-free sections 31 of the pivot shafts 3, 4.

Beidseits des Verbindungsstegs 25 der Rohrstücke 23, 24 sind Zylinderkammern 33, 34 gebildet, die im Wechsel mit Hydrauliköl mit Hochdruck beaufschlagt und zum Abführen von Hydrauliköl an Niederdruckleitungen angeschlossen werden.On both sides of the connecting web 25 of the pipe sections 23, 24 cylinder chambers 33, 34 are formed, which are subjected to alternating high pressure with hydraulic oil and connected to the discharge of hydraulic oil to low-pressure lines.

Zum Verschwenken der Greiferschalen 7, 8 werden die durch den Verbindungssteg 25 miteinander verbundenen Rohrstücke 23, 24 zwischen den Endanschlägen der Zylinderkammern 33, 34 bewegt. In Fig. 5 befinden sich die Rohrstücke 23, 24 an ihrem linken Endanschlag. Die Bewegungslänge der Rohrstücke 23, 24 bis zu dem rechten Endanschlag entspricht der von dem Gewindeabschnitt C überfahrenen Abschnittlänge der Gewinde 22 auf den Schwenkwellen 3, 4.For pivoting the gripper shells 7, 8, the interconnected by the connecting web 25 pipe sections 23, 24 between the end stops of the cylinder chambers 33, 34 are moved. In Fig. 5 are the pipe sections 23, 24 at their left end stop. The movement length of the pipe sections 23, 24 up to the right end stop corresponds to the section length of the threads 22 on the pivot shafts 3, 4 run over by the threaded section C.

Die Verzahnungen 22 und die Innenverzahnungen der Rohrstücke 23, 24 bestehen aus Gewindegängen mit trapezförmigem Querschnitt.The teeth 22 and the internal teeth of the pipe sections 23, 24 consist of threads with trapezoidal cross-section.

Die Gewinde weisen eine derartige Steigung auf, daß die Rohrstücke 23, 24 einen so großen Abstand von einer Selbsthemmung aufweisen, daß sie den Schwenkwellen 3, 4 das gewünschte Drehmoment zu erteilen vermögen. Diese große Gewindesteigung führt andererseits zu einer Selbsthemmung der Gewinde, soweit auf diese eine größere Kraft über die Greiferschalen 7, 8 übertragen wird.The threads have such a pitch that the pipe sections 23, 24 have such a large distance from a self-locking that they are able to give the pivot shafts 3, 4 the desired torque. On the other hand, this large thread pitch leads to a self-locking of the threads, as far as a greater force is transmitted to them via the hook shells 7, 8.

Die Rohrstücke 23, 24 können auch ohne den verbindenden Quersteg jeweils als Ringkolben ausgebildet sein, die dann in zylindrischen Zylinderkammern des Schalenträgers geführt sind. Bei einer derartigen Ausführungsform ist es jedoch grundsätzlich notwendig, einen Gleichlauf der Greiferschalen gewährleistende Ausgleichsgestänge vorzusehen.The pipe sections 23, 24 may be formed without the connecting crosspiece in each case as an annular piston, which are then guided in cylindrical cylinder chambers of the shell carrier. In such an embodiment, however, it is basically necessary to provide a synchronization of the gripper shells ensuring compensating linkage.

Auf der Oberseite des Schalenträgers 2 sind Gewindebohrungen zum Anschluß der Schwenkwelle eines Drehmotors vorgesehen.On the upper side of the shell carrier 2 threaded bores are provided for connecting the pivot shaft of a rotary motor.

Claims (10)

  1. Drive apparatus for a grabbing device having two grabbing arms, movable in the manner of pincers, preferably for a clamshell grab,
    comprising two hydraulic swivel motors, whereof the shaft journals (5, 6) of the swivel shaft (3, 4), which project beyond the motor housings, bear the grabbing arms,
    characterized
    in that each of the swivel motors has a cylindrical pipe section (23, 24), which on its inner wall is provided with an internally threaded portion engaging with an externally threaded portion of the swivel shaft (3, 4),
    in that the pipe section (23, 24) is a ring piston which is axially displaceable in a cylinder space configured in one of the housings, but is held non-rotatably,
    in that the two ring pistons are interconnected by a transverse web (25),
    in that the pitch of the thread (22) is sized such that the ring piston, by virtue of its axial displacement, is capable of imparting the necessary torque to the swivel shafts (3, 4), and
    in that the displacement travel of the ring piston between the two annular cylinder chambers, which alternately are high-pressure and low-pressure chambers to which hydraulic oil can be applied, corresponds to the desired swivel angle of the two clamshell buckets (7, 8).
  2. Drive apparatus according to Claim 1, characterized in that the pitch of the threads (22) is sized such that the torque applied by the clamshell buckets (7, 8) to the swivel shafts (3, 4), due to the self-locking, is incapable of displacing the ring pistons even when the cylinder chambers are pressureless.
  3. Drive apparatus according to Claim 1 or 2, characterized in that the threaded webs have trapezoidal cross sections.
  4. Drive apparatus according to Claim 3, characterized in that the mounting of the grabbing arms or clamshell buckets (7, 8) comprises two bolted-together housing halves (2), each of which is provided with two bearing bores (12, 13) for the one sides of the swivel shafts.
  5. Drive apparatus according to Claim 3 or 4, characterized in that the threads (22) of the shafts are located in the region only of one housing half and in this housing half there is configured a first cylinder chamber (33), which corresponds to the peripheral shape of the two ring pistons connected by the web (25), and in that the peripheral shape is provided with seals which seal it against the first cylinder chamber.
  6. Drive apparatus according to Claim 5, characterized in that the peripheral shape comprises two mutually parallel sides, the ends of which are connected by semicircular arcs.
  7. Drive apparatus according to one of Claims 3 to 6, characterized in that the second cylinder chamber (34) is configured in the other housing half and in this the ring pistons projecting beyond the web (25) are provided in the end regions of their bores with ring seals, which seal said ring pistons against unthreaded portions of the swivel shafts (3, 4).
  8. Drive apparatus according to one of the preceding claims, characterized in that the shaft journals of the swivel shafts (3, 4), which project beyond the housing, are provided with coupling devices for the attachment of the grabbing arms or clamshell buckets (7, 8).
  9. Drive apparatus according to Claim 8, characterized in that clamshell buckets (7, 8) of different width are provided with adapter pieces tailored to the shaft journals.
  10. Drive apparatus according to one of the preceding claims, characterized in that on the housing there are arranged plug-in couplings for creating the connections with the hydraulic lines which pass through the shaft of the rotating motor and comprise axial bores.
EP02006916A 2001-04-02 2002-03-26 Drive for a gripping device Expired - Lifetime EP1247777B1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE20105755U 2001-04-02
DE20105755 2001-04-02
DE20107206U DE20107206U1 (en) 2001-04-02 2001-04-26 Drive device for a gripping device
DE20107206U 2001-04-26

Publications (3)

Publication Number Publication Date
EP1247777A2 EP1247777A2 (en) 2002-10-09
EP1247777A3 EP1247777A3 (en) 2005-04-27
EP1247777B1 true EP1247777B1 (en) 2009-02-25

Family

ID=26056903

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02006916A Expired - Lifetime EP1247777B1 (en) 2001-04-02 2002-03-26 Drive for a gripping device

Country Status (8)

Country Link
US (1) US6896306B2 (en)
EP (1) EP1247777B1 (en)
AT (1) ATE423744T1 (en)
CA (1) CA2380024C (en)
DE (2) DE20107206U1 (en)
DK (1) DK1247777T3 (en)
ES (1) ES2319388T3 (en)
NO (1) NO330224B1 (en)

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DE102005033452A1 (en) * 2005-07-18 2007-01-25 Kinshofer Greiftechnik Gmbh & Co. Kg Rotating drive especially for utility vehicles has a rotating spiral piston rod threaded through floating non rotating pistons with pressure seals
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Also Published As

Publication number Publication date
NO330224B1 (en) 2011-03-07
ES2319388T3 (en) 2009-05-07
NO20021421L (en) 2002-10-03
DE50213307D1 (en) 2009-04-09
ATE423744T1 (en) 2009-03-15
US20020158479A1 (en) 2002-10-31
CA2380024A1 (en) 2002-10-02
EP1247777A2 (en) 2002-10-09
US6896306B2 (en) 2005-05-24
EP1247777A3 (en) 2005-04-27
DE20107206U1 (en) 2002-08-08
NO20021421D0 (en) 2002-03-21
CA2380024C (en) 2009-12-15
DK1247777T3 (en) 2009-04-14

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