EP3517691B1 - Gripping attachment for gripping units of a gripper - Google Patents

Gripping attachment for gripping units of a gripper Download PDF

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Publication number
EP3517691B1
EP3517691B1 EP18000795.7A EP18000795A EP3517691B1 EP 3517691 B1 EP3517691 B1 EP 3517691B1 EP 18000795 A EP18000795 A EP 18000795A EP 3517691 B1 EP3517691 B1 EP 3517691B1
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EP
European Patent Office
Prior art keywords
grab
gripping
attachment
tooth
attachment according
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EP18000795.7A
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German (de)
French (fr)
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EP3517691A1 (en
Inventor
Markus Schmidt
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Dms Technologie GmbH
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Dms Technologie GmbH
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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
    • B66C3/04—Tine grabs
    • 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
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/962—Mounting of implements directly on tools already attached to the machine

Definitions

  • the invention relates to a gripping attachment for gripping elements of a gripper for gripping an object, with at least one first gripping surface, the gripping elements being movable outwards from a closed position into an open position and vice versa.
  • the invention also relates to a lifting tool.
  • a gripping attachment for a toothed end effector is disclosed.
  • a simple gripper has two preferably hanging gripping members, which can also be referred to as gripping scoops or gripping halves, and which can be moved towards one another in a closing movement and away from one another in an opening movement. Particularly heavy objects are typically gripped from above so that the object hangs down on the gripper.
  • the gripping elements can have gripping teeth on the underside or on a front edge or cutting edge, which are usually offset from one another and interlock with one another during the closing movement.
  • the gripping attachment is designed to be attached to the gripping tooth. With the gripping attachment, objects can be gently grasped on the outside.
  • the object of the present invention is the further development or modification of the gripper attachment in such a way that ring-shaped or hollow, open objects can be gripped from the inside with a gripper that is equipped accordingly.
  • the gripping attachment should not necessarily require a gripping element with a gripping tooth.
  • the gripping attachment has the features of claim 1.
  • the first gripping surface such is designed and arranged such that the gripping attachment can be mounted on the gripping element with the first gripping surface projecting outwards beyond the gripping element, the first gripping surface being convexly curved in two directions transversely to one another.
  • the gripping attachment is a frame or a plate with a gripping surface arranged on it in a raised manner, the frame or the plate being able to be connected to the gripping element on the outside thereof, in particular screwed or attached.
  • At least one second gripping surface is provided in such a way that the second gripping surface is directed in the opposite direction to the first gripping surface projecting outwards.
  • the second gripping surface is preferably provided protruding inwards relative to the gripping member.
  • First gripping surface and second gripping surface can be components of the DE 20 2015 102 886 U1 be known gripping attachment. The gripping surface shown there is directed inwards, while the first gripping surface mentioned here on the gripping attachment is directed outwards. Otherwise, the gripping surfaces can match in their nature and design.
  • a further embodiment of the invention provides that the second gripping surface is arranged lower than the first gripping surface.
  • the relative arrangement mentioned relates to the arrangement of the gripping attachment on the gripping member. It is assumed that the end effector hangs downwards and grasps objects from above.
  • a lower bearing is provided for bearing on the gripping element or on parts thereof.
  • the first gripping surface is provided at least predominantly above the bearing.
  • the lower camp is, for example, in the DE 20 2015 102 886 U1 round rod 30 shown.
  • the first gripping surface is predominantly arranged above this bearing, preferably in such a way that the gripping surface lies above the bearing at least when the gripping tooth of the gripping member is pointing vertically downwards. This ensures that the gripping attachment is pressed against the gripping member when pressure is applied to the first gripping surface. If there is no gripping tooth, the lower bearing can also be provided to rest on the gripping element itself or on its outer wall.
  • a further embodiment of the invention provides that the first gripping surface is part of an insert, in particular part of a roll fixed in the circumferential direction.
  • the axis of the roller is parallel to the outside of the end effector or to the pivot axis of the same.
  • the role itself and its definition can be analogous to representation in the DE 20 2015 102 886 U1 see there the insert 15 on the roll pin 14 and with the notch 17 on the cross brace 12.
  • the gripping surface can be part of a surface of the insert or be raised relative to the surface. According to the invention, it is provided that the first gripping surface is convexly curved in one direction, in particular in two directions transverse to one another.
  • a convex curvature in one direction results, for example, from forming the gripping surface as the surface of a cylindrical roller or partial roller.
  • a gripping surface that is convexly curved in two directions can be found, for example, on an outwardly directed section of a torus surface or on the surface of a correspondingly shaped roller. Such a double-curved gripping surface enables ring-shaped elements to be handled gently on the inside thereof.
  • the gripping attachment is provided for a gripping element with at least one tooth and has a frame with a receptacle for the tooth, in particular for a tooth tip, and a clamping device opposite the receptacle in the longitudinal direction of the tooth for fixing the frame on the tooth .
  • the framework corresponds in particular to that in DE 20 2015 102 886 U1 frame shown.
  • the first gripping surface is designed to be elastically yielding, in particular the second gripping surface as well. It is preferably not metal or similarly hard materials, but plastic or rubber with a certain flexibility to increase the effective surface of the gripping surface.
  • the invention also relates to a lifting tool, in particular a gripper, with gripping elements and at least one gripping attachment as described above with reference to the various embodiments.
  • Each side part 6 has a third leg 36 opposite the second leg 5 . This is provided with an opening 37 .
  • An insert 38 is held between the two third legs 36 .
  • the insert 38 has an opening 39 for this purpose.
  • a roll pin 40 is inserted through the openings 37, 39 to hold the insert 38 in place.
  • the insert 38 is designed here in the manner of a roller, similar to an extra-wide roller for inline skaters, ie with a surface 41 that is convexly curved in two directions on its outer circumference.
  • the outer periphery or surface 41 is interrupted by a cut 42 .
  • the incision corresponds to a third transverse strut 43 in the area of the transition between the first leg 3 and the third leg 36. The interaction of the third transverse strut 43 and incision 42 fixes the roller-shaped insert 38 in the circumferential direction.
  • the third leg 36 is arranged somewhat higher relative to the second leg 5 , ie offset in the direction of the clamping device 11 .
  • Opening 37 and dowel pin 40 are in Longitudinally 4 significantly higher than the opening 35 with the round rod 30.
  • the resulting height difference H is in the Figures 3 and 4 evident.
  • an effective gripping surface 44 as part of the surface 41 comes into play above the rod 30 in most applications.
  • the round bar rests against tooth 24 and forms a lever for the gripping attachment.
  • the constellation described ensures that the gripping attachment is pressed against the tooth 24 or against the gripping element 21 when pressure is applied to the gripping surface 44 .
  • the mode of action of the gripping surface 44 results in particular from 1 , In which the gripping blades 21 form an open position when pulled apart. At the same time, a closed position with gripping scoops 21' moving in opposite directions can be seen. In the closed position, the gripping surfaces 44' face downwards. The gripper 22 can thus be lowered into a tubular part with a corresponding inner diameter. The gripping scoops 21' are then moved in the direction of the open position, so that the gripping surfaces 44 point outwards. Certain deviations from the open position in 1 possible, in order to adapt to the inner diameter of the tubular part. It is important that the gripping surfaces 44 lie against the inner sides of the tubular part, so that the part can be transported with the gripper 22 .
  • the gripper 22 preferably has at least three gripping surfaces 44, for example with gripping caps on two teeth of one gripping member and a gripping cap on a tooth of the opposite gripping member. With this constellation, a tubular part can be gripped and handled safely. An embodiment with only one gripping surface 44 on each gripping element 21 is also possible. However, this is harmless for some applications.
  • Insert 15 and/or insert 38 can also be configured in a manner other than a roller-like shape, for example as a solid body with a gripping surface arranged on one side or protruding.
  • at least one of the inserts 15, 38 is otherwise firmly but detachably connected to the gripping attachment 1, for example by dowel pins or with bolts or other suitable connecting means, as is the case here.
  • the inserts 15, 38 themselves can be in one piece or in several pieces.
  • the Gripper 22 can be used universally, namely on the one hand for gripping smaller parts from the outside by gripping them over and on the other hand for gripping the insides of tubular parts.
  • the gripping attachment 1 does not have the second leg 5 with the insert 15, but only the third leg 36 with the insert 38. The gripping attachment is then only intended for handling tubular parts by immersing them in them and not for the Handling of smaller parts from the outside.

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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)

Description

Die Erfindung betrifft einen Greifaufsatz für Greiforgane eines Greifers zum Erfassen eines Gegenstands, mit wenigstens einer ersten Greiffläche, wobei die Greiforgane von einer Schließstellung nach außen in eine Öffnungsstellung und umgekehrt bewegbar sind. Außerdem betrifft die Erfindung ein Hebewerkzeug.The invention relates to a gripping attachment for gripping elements of a gripper for gripping an object, with at least one first gripping surface, the gripping elements being movable outwards from a closed position into an open position and vice versa. The invention also relates to a lifting tool.

Es wird vollinhaltlich Bezug genommen auf die gesamte Offenbarung der DE 20 2015 102 886 U1 der Anmelderin. Offenbart ist ein Greifaufsatz für ein Greiforgan mit Zahn. Ein einfacher Greifer weist zwei vorzugsweise hängende Greiforgane auf, die auch als Greifschaufeln oder Greifhälften bezeichnet werden können, und die in einer Schließbewegung aufeinander zu und in einer Öffnungsbewegung voneinander weg bewegbar sind. Besonders schwere Gegenstände werden typischerweise von oben ergriffen, sodass der Gegenstand am Greifer nach unten hängt. Die Greiforgane können unterseitig bzw. an einer Vorderkante oder Schneidkante Greifzähne aufweisen, die zumeist versetzt zueinander angeordnet sind und bei der Schließbewegung ineinander verschränken. Der Greifaufsatz ist zur Befestigung auf dem Greifzahn vorgesehen. Mit dem Greifaufsatz ist das schonende Erfassen von Gegenständen an deren Außenseite möglich.Reference is made in full to the entire disclosure of DE 20 2015 102 886 U1 the applicant. A gripping attachment for a toothed end effector is disclosed. A simple gripper has two preferably hanging gripping members, which can also be referred to as gripping scoops or gripping halves, and which can be moved towards one another in a closing movement and away from one another in an opening movement. Particularly heavy objects are typically gripped from above so that the object hangs down on the gripper. The gripping elements can have gripping teeth on the underside or on a front edge or cutting edge, which are usually offset from one another and interlock with one another during the closing movement. The gripping attachment is designed to be attached to the gripping tooth. With the gripping attachment, objects can be gently grasped on the outside.

Aufgabe der vorliegenden Erfindung ist die Weiterbildung oder Abwandlung des Greifaufsatzes derart, dass mit einem entsprechend ausgestatteten Greifer ringförmige oder hohle, offene Gegenstände von innen erfassbar sind. Vorzugsweise soll der Greifaufsatz nicht zwingend ein Greiforgan mit Greifzahn voraussetzen.The object of the present invention is the further development or modification of the gripper attachment in such a way that ring-shaped or hollow, open objects can be gripped from the inside with a gripper that is equipped accordingly. Preferably, the gripping attachment should not necessarily require a gripping element with a gripping tooth.

Zur Lösung der Aufgabe weist der erfindungsgemäße Greifaufsatz die Merkmale des Anspruchs 1 auf. Insbesondere ist vorgesehen, dass die erste Greiffläche derart ausgebildet und angeordnet ist, dass der Greifaufsatz mit nach außen über das Greiforgan überstehender erster Greiffläche am Greiforgan montierbar ist, wobei die erste Greiffläche in zwei Richtungen quer zueinander konvex gekrümmt ausgebildet ist. Im einfachsten Fall ist der Greifaufsatz ein Rahmen oder eine Platte mit darauf erhaben angeordneter Greiffläche, wobei der Rahmen oder die Platte außen auf dem Greiforgan mit demselben verbindbar, insbesondere verschraubbar oder ansteckbar ist.To solve the problem, the gripping attachment according to the invention has the features of claim 1. In particular, it is provided that the first gripping surface such is designed and arranged such that the gripping attachment can be mounted on the gripping element with the first gripping surface projecting outwards beyond the gripping element, the first gripping surface being convexly curved in two directions transversely to one another. In the simplest case, the gripping attachment is a frame or a plate with a gripping surface arranged on it in a raised manner, the frame or the plate being able to be connected to the gripping element on the outside thereof, in particular screwed or attached.

Nach einer weiteren Ausführungsform der Erfindung ist mindestens eine zweite Greiffläche vorgesehen, derart, dass die zweite Greiffläche zur nach außen überstehenden ersten Greiffläche entgegengerichtet ist. Die zweite Greiffläche ist vorzugsweise relativ zum Greiforgan nach innen überstehend vorgesehen. Erste Greiffläche und zweite Greiffläche können Bestandteile des aus der DE 20 2015 102 886 U1 bekannten Greifaufsatzes sein. Die dort gezeigte Greiffläche ist nach innen gerichtet, während die hier genannte erste Greiffläche am Greifaufsatz nach außen gerichtet ist. Im Übrigen können die Greifflächen in ihrer Beschaffenheit und Ausgestaltung übereinstimmen.According to a further embodiment of the invention, at least one second gripping surface is provided in such a way that the second gripping surface is directed in the opposite direction to the first gripping surface projecting outwards. The second gripping surface is preferably provided protruding inwards relative to the gripping member. First gripping surface and second gripping surface can be components of the DE 20 2015 102 886 U1 be known gripping attachment. The gripping surface shown there is directed inwards, while the first gripping surface mentioned here on the gripping attachment is directed outwards. Otherwise, the gripping surfaces can match in their nature and design.

Eine weitere Ausführungsform der Erfindung sieht vor, dass die zweite Greiffläche tiefer angeordnet ist als die erste Greiffläche. Die genannte Relativanordnung bezieht sich auf die Anordnung des Greifaufsatzes am Greiforgan. Dabei wird davon ausgegangen, dass das Greiforgan abwärtshängt und Gegenstände von oben greift.A further embodiment of the invention provides that the second gripping surface is arranged lower than the first gripping surface. The relative arrangement mentioned relates to the arrangement of the gripping attachment on the gripping member. It is assumed that the end effector hangs downwards and grasps objects from above.

Nach einer weiteren Ausführungsform der Erfindung ist ein unteres Lager zur Anlage am Greiforgan oder an Teilen desselben vorgesehen. Dabei ist die erste Greiffläche zumindest überwiegend oberhalb des Lagers vorgesehen. Das untere Lager ist beispielsweise der in der DE 20 2015 102 886 U1 dargestellte Rundstab 30. Die erste Greiffläche ist überwiegend oberhalb dieses Lagers angeordnet, vorzugsweise derart, dass zumindest bei vertikal abwärts gerichtetem Greifzahn des Greiforgans die Greiffläche oberhalb des Lagers liegt. Dadurch ist sichergestellt, dass der Greifaufsatz bei Druck auf die erste Greiffläche an das Greiforgan angedrückt wird. Das untere Lager kann bei fehlendem Greifzahn auch zur Anlage am Greiforgan selbst bzw. an dessen Außenwand vorgesehen sein.According to a further embodiment of the invention, a lower bearing is provided for bearing on the gripping element or on parts thereof. The first gripping surface is provided at least predominantly above the bearing. The lower camp is, for example, in the DE 20 2015 102 886 U1 round rod 30 shown. The first gripping surface is predominantly arranged above this bearing, preferably in such a way that the gripping surface lies above the bearing at least when the gripping tooth of the gripping member is pointing vertically downwards. This ensures that the gripping attachment is pressed against the gripping member when pressure is applied to the first gripping surface. If there is no gripping tooth, the lower bearing can also be provided to rest on the gripping element itself or on its outer wall.

Eine weitere Ausführungsform der Erfindung sieht vor, dass die erste Greiffläche Teil eines Einsatzes ist, insbesondere Teil einer in Umfangsrichtung festgelegten Rolle. Vorzugsweise verläuft die Achse der Rolle parallel zur Außenseite des Greiforgans oder zur Schwenkachse desselben. Die Rolle selbst und deren Festlegung kann analog zur Darstellung in der DE 20 2015 102 886 U1 erfolgen, siehe dort den Einsatz 15 auf dem Spannstift 14 und mit dem Einschnitt 17 auf der Querstrebe 12. Die Greiffläche kann Teil einer Oberfläche des Einsatzes sein oder relativ zur Oberfläche erhaben sein. Erfindungsgemäß ist vorgesehen, dass die erste Greiffläche in einer Richtung konvex gekrümmt ausgebildet ist, insbesondere in zwei Richtungen quer zueinander. Eine konvexe Krümmung in einer Richtung ergibt sich beispielsweise durch Ausbildung der Greiffläche als Oberfläche einer zylindrischen Rolle oder Teilrolle. Eine in zwei Richtungen konvex gekrümmte Greiffläche findet sich beispielsweise auf einem nach außen gerichteten Abschnitt einer Torusoberfläche bzw. auf der Oberfläche einer entsprechend geformten Rolle. Eine derart doppelt gekrümmte Greiffläche ermöglicht eine sanfte Handhabung ringförmiger Elemente an deren Innenseite.A further embodiment of the invention provides that the first gripping surface is part of an insert, in particular part of a roll fixed in the circumferential direction. Preferably, the axis of the roller is parallel to the outside of the end effector or to the pivot axis of the same. The role itself and its definition can be analogous to representation in the DE 20 2015 102 886 U1 see there the insert 15 on the roll pin 14 and with the notch 17 on the cross brace 12. The gripping surface can be part of a surface of the insert or be raised relative to the surface. According to the invention, it is provided that the first gripping surface is convexly curved in one direction, in particular in two directions transverse to one another. A convex curvature in one direction results, for example, from forming the gripping surface as the surface of a cylindrical roller or partial roller. A gripping surface that is convexly curved in two directions can be found, for example, on an outwardly directed section of a torus surface or on the surface of a correspondingly shaped roller. Such a double-curved gripping surface enables ring-shaped elements to be handled gently on the inside thereof.

In einer weiteren Ausführungsform der Erfindung ist der Greifaufsatz für ein Greiforgan mit wenigstens einem Zahn vorgesehen und weist einen Rahmen mit einer Aufnahme für den Zahn, insbesondere für eine Zahnspitze auf, und eine der Aufnahme in Längsrichtung des Zahns gegenüberliegende Spannvorrichtung zum Festlegen des Rahmens am Zahn. Der Rahmen entspricht insbesondere dem in der DE 20 2015 102 886 U1 dargestellten Rahmen.In a further embodiment of the invention, the gripping attachment is provided for a gripping element with at least one tooth and has a frame with a receptacle for the tooth, in particular for a tooth tip, and a clamping device opposite the receptacle in the longitudinal direction of the tooth for fixing the frame on the tooth . The framework corresponds in particular to that in DE 20 2015 102 886 U1 frame shown.

In einer weiteren Ausführungsform der Erfindung ist die erste Greiffläche elastisch nachgiebig ausgebildet, insbesondere auch die zweite Greiffläche. Es handelt sich vorzugsweise nicht um Metall oder ähnlich harte Werkstoffe, sondern um Kunststoff oder Gummi mit einer gewissen Nachgiebigkeit zur Vergrößerung der wirksamen Oberfläche der Greiffläche.In a further embodiment of the invention, the first gripping surface is designed to be elastically yielding, in particular the second gripping surface as well. It is preferably not metal or similarly hard materials, but plastic or rubber with a certain flexibility to increase the effective surface of the gripping surface.

Gegenstand der Erfindung ist auch ein Hebewerkzeug, insbesondere Greifer, mit Greiforganen und wenigstens einem Greifaufsatz wie voranstehend anhand der verschiedenen Ausführungsformen beschrieben.The invention also relates to a lifting tool, in particular a gripper, with gripping elements and at least one gripping attachment as described above with reference to the various embodiments.

Weitere Merkmale der Erfindung ergeben sich aus der Beschreibung im Übrigen und aus den Ansprüchen. Vorteilhafte Ausführungsformen der Erfindung werden nachfolgend anhand von Zeichnungen näher erläutert. Es zeigen:

Fig. 1
eine Seitenansicht eines Greifers mit Greiforganen und Greifaufsätzen, in Öffnungsstellung und Schließstellung,
Fig. 2
einen Teil des Greifers gemäß Fig. 1 in perspektivischer Darstellung,
Fig. 3
einen Greifaufsatz in teilweise geschnittener Darstellung (Längsschnitt),
Fig. 4
einen Greifaufsatz in Seitenansicht,
Fig. 5
den Greifaufsatz gemäß Fig. 4 in Explosionsdarstellung.
Further features of the invention emerge from the rest of the description and from the claims. Advantageous embodiments of the invention are explained in more detail below with reference to drawings. Show it:
1
a side view of a gripper with gripping elements and gripping attachments, in the open position and closed position,
2
according to a part of the gripper 1 in perspective view,
3
a gripping attachment in a partially sectioned representation (longitudinal section),
4
a gripping attachment in side view,
figure 5
according to the gripping attachment 4 in exploded view.

Erkennbar ist eine Abwandlung bzw. Ergänzung des in der DE 20 2015 102 886 U1 offenbarten Greifaufsatzes. Es wird deshalb hier vollinhaltlich auf die Figurenbeschreibung der DE 20 2015 102 886 U1 verwiesen. Zur Vereinfachung und zum besseren Verständnis werden in den beiliegenden Figuren die gleichen Bezugszeichen verwendet. Nur die Abwandlungen/Ergänzungen sind mit zusätzlichen Bezugszeichen versehen. Entsprechend der DE 20 2015 102 886 U1 sind in den Figuren folgende Komponenten erkennbar: Greifaufsatz 1 Rahmen 2 erster Schenkel 3 Längsrichtung 4 zweiter Schenkel 5 Seitenteile 6 Querstrebe 7 durchgehende Öffnung 8 Klemmschraube 9 Kontermutter 10 Spannvorrichtung 11 zweite Querstrebe 12 Öffnungen 13 Spannstift 14 Einsatz 15 (zweite) Greiffläche 16 Einschnitt 17 weitere Öffnung 18 Rundstab 19 Aufnahme 20 Greiforgan 21 Greifer 22 Schaufelabschnitt 23 Greifzähne 24 Zahnspitze 25 schräger Außenabschnitt 26 Schrauben 27 Zahngrundkörper 28 flacher Abschnitt 29 weiterer Rundstab 30 schräge Fläche 31 Basiskörper 32 Steuerkulisse 33 zentrale Öffnung 34 Öffnung 35 Recognizable is a modification or addition of in the DE 20 2015 102 886 U1 disclosed gripping attachment. It is therefore here in full on the description of the figures DE 20 2015 102 886 U1 referred. For the sake of simplicity and better understanding, the same reference numbers are used in the attached figures. Only the modifications/supplements are provided with additional reference symbols. According to the DE 20 2015 102 886 U1 the following components can be seen in the figures: gripping attachment 1 frame 2 first leg 3 longitudinal direction 4 second leg 5 side panels 6 cross brace 7 continuous opening 8th clamping screw 9 locknut 10 clamping device 11 second crossbar 12 openings 13 roll pin 14 mission 15 (second) gripping surface 16 incision 17 further opening 18 round rod 19 recording 20 gripping organ 21 gripper 22 blade section 23 gripping teeth 24 tooth tip 25 sloping outer section 26 screws 27 tooth body 28 flat section 29 another round bar 30 sloping surface 31 base body 32 control backdrop 33 central opening 34 opening 35

Funktion und Anordnung der genannten Teile entsprechen der Darstellung in der DE 20 2015 102 886 U1 . Zusätzlich ist Folgendes vorgesehen:
Jedes Seitenteil 6 weist, dem zweiten Schenkel 5 gegenüberliegend, einen dritten Schenkel 36 auf. Dieser ist mit einer Öffnung 37 versehen. Zwischen den beiden dritten Schenkeln 36 ist ein Einsatz 38 gehalten. Hierzu weist der Einsatz 38 eine Öffnung 39 auf. Ein Spannstift 40 ist durch die Öffnungen 37, 39 gesteckt und hält so den Einsatz 38 fest.The function and arrangement of the parts mentioned correspond to the representation in the DE 20 2015 102 886 U1 . In addition, the following is provided:
Each side part 6 has a third leg 36 opposite the second leg 5 . This is provided with an opening 37 . An insert 38 is held between the two third legs 36 . The insert 38 has an opening 39 for this purpose. A roll pin 40 is inserted through the openings 37, 39 to hold the insert 38 in place.

Der Einsatz 38 ist hier nach Art einer Rolle ausgebildet, ähnlich einer überbreiten Rolle für Inline-Skater, also mit in zwei Richtungen konvex gekrümmter Oberfläche 41 an seinem Außenumfang. Der Außenumfang bzw. die Oberfläche 41 sind durch einen Einschnitt 42 unterbrochen. Der Einschnitt korrespondiert mit einer dritten Querstrebe 43 im Bereich des Übergangs zwischen erstem Schenkel 3 und drittem Schenkel 36. Durch das Zusammenwirken von dritter Querstrebe 43 und Einschnitt 42 ist der rollenförmige Einsatz 38 in Umfangsrichtung festgelegt.The insert 38 is designed here in the manner of a roller, similar to an extra-wide roller for inline skaters, ie with a surface 41 that is convexly curved in two directions on its outer circumference. The outer periphery or surface 41 is interrupted by a cut 42 . The incision corresponds to a third transverse strut 43 in the area of the transition between the first leg 3 and the third leg 36. The interaction of the third transverse strut 43 and incision 42 fixes the roller-shaped insert 38 in the circumferential direction.

Der dritte Schenkel 36 ist relativ zum zweiten Schenkel 5 etwas höher angeordnet, also in Richtung auf die Spannvorrichtung 11 versetzt. Öffnung 37 und Spannstift 40 liegen in Längsrichtung 4 deutlich höher als die Öffnung 35 mit dem Rundstab 30. Die sich ergebende Höhendifferenz H ist in den Figuren 3 und 4 ersichtlich. Eine wirksame Greiffläche 44 als Teil der Oberfläche 41 kommt dadurch in den meisten Anwendungsfällen oberhalb des Rundstabs 30 zum Tragen. Der Rundstab liegt am Zahn 24 an und bildet für den Greifaufsatz einen Hebel. Durch die beschriebene Konstellation ist sichergestellt, dass der Greifaufsatz bei Druck auf die Greiffläche 44 gegen den Zahn 24 bzw. gegen das Greiforgan 21 gedrückt wird.The third leg 36 is arranged somewhat higher relative to the second leg 5 , ie offset in the direction of the clamping device 11 . Opening 37 and dowel pin 40 are in Longitudinally 4 significantly higher than the opening 35 with the round rod 30. The resulting height difference H is in the Figures 3 and 4 evident. As a result, an effective gripping surface 44 as part of the surface 41 comes into play above the rod 30 in most applications. The round bar rests against tooth 24 and forms a lever for the gripping attachment. The constellation described ensures that the gripping attachment is pressed against the tooth 24 or against the gripping element 21 when pressure is applied to the gripping surface 44 .

Die Wirkungsweise der Greiffläche 44 ergibt sich insbesondere aus Fig. 1, in der die Greifschaufeln 21 auseinandergezogen eine Öffnungsstellung bilden. Zugleich erkennbar ist eine Schließstellung mit gegeneinander bewegten Greifschaufeln 21'. In Schließstellung weisen die Greifflächen 44' abwärts. Der Greifer 22 kann so in ein röhrenförmiges Teil mit entsprechendem Innendurchmesser abgesenkt werden. Anschließend werden die Greifschaufeln 21' in Richtung auf die Öffnungsstellung bewegt, sodass die Greifflächen 44 nach außen weisen. Dabei sind gewisse Abweichungen von der Öffnungsstellung in Fig. 1 möglich, zwecks Anpassung an den Innendurchmesser des röhrenförmigen Teils. Wichtig ist, dass die Greifflächen 44 an Innenseiten des röhrenförmigen Teils anliegen und so ein Transport des Teils mit dem Greifer 22 möglich ist.The mode of action of the gripping surface 44 results in particular from 1 , In which the gripping blades 21 form an open position when pulled apart. At the same time, a closed position with gripping scoops 21' moving in opposite directions can be seen. In the closed position, the gripping surfaces 44' face downwards. The gripper 22 can thus be lowered into a tubular part with a corresponding inner diameter. The gripping scoops 21' are then moved in the direction of the open position, so that the gripping surfaces 44 point outwards. Certain deviations from the open position in 1 possible, in order to adapt to the inner diameter of the tubular part. It is important that the gripping surfaces 44 lie against the inner sides of the tubular part, so that the part can be transported with the gripper 22 .

Der Greifer 22 weist vorzugsweise mindestens drei Greifflächen 44 auf, beispielsweise mit Greifaufsätzen an zwei Zähnen eines Greiforgans und einem Greifaufsatz an einem Zahn des gegenüberliegenden Greiforgans. Mit dieser Konstellation kann ein röhrenförmiges Teil sicher erfasst und gehandhabt werden. Möglich ist auch eine Ausführung mit nur einer Greiffläche 44 an jedem Greiforgan 21. Das damit erfasste röhrenförmige Teil ist dann nicht in allen Ebenen festgelegt, kann also relativ zum Greifer 22 wackeln. Dies ist aber für einige Anwendungen unschädlich.The gripper 22 preferably has at least three gripping surfaces 44, for example with gripping caps on two teeth of one gripping member and a gripping cap on a tooth of the opposite gripping member. With this constellation, a tubular part can be gripped and handled safely. An embodiment with only one gripping surface 44 on each gripping element 21 is also possible. However, this is harmless for some applications.

Einsatz 15 und/oder Einsatz 38 können auch anders als mit rollenförmiger Gestalt ausgebildet sein, etwa als Festkörper mit einseitig angeordneter oder abstehender Greiffläche. Vorzugsweise ist wenigstens einer der Einsätze 15, 38 mit dem Greifaufsatz 1 im Übrigen fest aber lösbar verbunden, etwa wie hier durch Spannstifte oder mit Bolzen oder anderen geeigneten Verbindungsmitteln. Auch können die Einsätze 15, 38 selbst einteilig oder mehrteilig sein.Insert 15 and/or insert 38 can also be configured in a manner other than a roller-like shape, for example as a solid body with a gripping surface arranged on one side or protruding. Preferably, at least one of the inserts 15, 38 is otherwise firmly but detachably connected to the gripping attachment 1, for example by dowel pins or with bolts or other suitable connecting means, as is the case here. The inserts 15, 38 themselves can be in one piece or in several pieces.

Durch die in den Figuren dargestellte Konstellation mit zweitem Schenkel 5 und drittem Schenkel 36 und zwei Einsätzen 15, 38 und entsprechenden Greifflächen 16, 44 ist der Greifer 22 universell verwendbar, nämlich zum einen zum Erfassen kleinerer Teile von außen durch Übergreifen derselben und zum anderen zum Erfassen der Innenseiten röhrenförmiger Teile.By the constellation shown in the figures with the second leg 5 and third leg 36 and two inserts 15, 38 and corresponding gripping surfaces 16, 44 is the Gripper 22 can be used universally, namely on the one hand for gripping smaller parts from the outside by gripping them over and on the other hand for gripping the insides of tubular parts.

In einem nicht gezeigten Ausführungsbeispiel weist der Greifaufsatz 1 nicht den zweiten Schenkel 5 mit dem Einsatz 15 auf, sondern nur den dritten Schenkel 36 mit dem Einsatz 38. Der Greifaufsatz ist dann nur für die Handhabung röhrenförmiger Teile durch Eintauchen in dieselben vorgesehen und nicht für die Handhabung kleinerer Teile von außen. Bezugszeichenliste: 1 Greifaufsatz 27 Schrauben 2 Rahmen 28 Zahngrundkörper 3 erster Schenkel 29 flacher Abschnitt 4 Längsrichtung 30 weiterer Rundstab 5 zweiter Schenkel 31 schräge Fläche 6 Seitenteile 32 Basiskörper 7 Querstrebe 33 Steuerkulisse 8 durchgehende Öffnung 34 zentrale Öffnung 9 Klemmschraube 35 Öffnung 10 Kontermutter 36 dritter Schenkel 11 Spannvorrichtung 37 Öffnung 12 zweite Querstrebe 38 Einsatz 13 Öffnungen 39 Öffnung 14 Spannstift 40 Spannstift 15 Einsatz 41 Oberfläche 16 (zweite) Greiffläche 42 Einschnitt 17 Einschnitt 43 dritte Querstrebe 18 weitere Öffnung 44 (erste) Greiffläche 19 Rundstab 20 Aufnahme 21 Greiforgan 22 Greifer 23 Schaufelabschnitt 24 Greifzähne 25 Zahnspitze 26 schräger Außenabschnitt In an embodiment that is not shown, the gripping attachment 1 does not have the second leg 5 with the insert 15, but only the third leg 36 with the insert 38. The gripping attachment is then only intended for handling tubular parts by immersing them in them and not for the Handling of smaller parts from the outside. <b>List of reference characters:</b> 1 gripping attachment 27 screws 2 frame 28 tooth body 3 first leg 29 flat section 4 longitudinal direction 30 another round bar 5 second leg 31 sloping surface 6 side panels 32 base body 7 cross brace 33 control backdrop 8th continuous opening 34 central opening 9 clamping screw 35 opening 10 locknut 36 third leg 11 clamping device 37 opening 12 second crossbar 38 mission 13 openings 39 opening 14 roll pin 40 roll pin 15 mission 41 surface 16 (second) gripping surface 42 incision 17 incision 43 third crossbar 18 further opening 44 (first) gripping surface 19 round rod 20 recording 21 gripping organ 22 gripper 23 blade section 24 gripping teeth 25 tooth tip 26 sloping outer section

Claims (8)

  1. Grab attachment (1) for grab members (21) of a grab (22) for grabbing an object, having at least one first grab surface (44), wherein the grab members (21) can be moved outwards from a closed position into an open position, and vice versa, characterized in that the first grab surface (44) is designed and arranged such that the grab attachment (1) can be mounted on the grab member (21) with the first grab surface (44) projecting outwards beyond the grab member (21), wherein the first grab surface (44) is designed to be curved convexly in two directions which are transverse in relation to one another.
  2. Grab attachment according to Claim 1, characterized in that at least one second grab surface (16) is provided such that the second grab surface (16) is oppositely directed in relation to the outwardly projecting first grab surface (44), and projects inwards on the grab member (21).
  3. Grab attachment according to Claim 2, characterized in that the second grab surface (16) is arranged at a lower level than the first grab surface (44).
  4. Grab attachment according to one of Claims 1 to 3, characterized in that a lower bearing (round bar 30) is provided for abutment against the grab member (21), or against parts thereof, and in that the first grab surface (44) is provided at least predominately above the bearing (round bar 30).
  5. Grab attachment according to one of Claims 1 to 4, characterized in that the first grab surface (44) is part of an insert (38), in particular part of a roller which is secured in the circumferential direction.
  6. Grab attachment according to one of Claims 1 to 5 and for a grab member (21) having at least one tooth (24), characterized by a frame (2) having a mount (20) for the tooth (24), in particular for a tooth tip (25), and having a clamping device (11), which is located opposite the mount (20), as seen in the longitudinal direction (4) of the tooth (24), and is intended for securing the frame (2) on the tooth (24) .
  7. Grab attachment according to one of Claims 1 to 6, characterized in that the first grab surface (44) is elastically compliant, in particular the second grab surface (16) is as well.
  8. Piece of lifting equipment, in particular grab (22), having grab members (21) and at least one grab attachment (1) according to one of the preceding claims.
EP18000795.7A 2018-01-26 2018-10-08 Gripping attachment for gripping units of a gripper Active EP3517691B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE202018000428.6U DE202018000428U1 (en) 2018-01-26 2018-01-26 Gripping attachment for gripping organs of a gripper

Publications (2)

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EP3517691A1 EP3517691A1 (en) 2019-07-31
EP3517691B1 true EP3517691B1 (en) 2022-04-06

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EP18000795.7A Active EP3517691B1 (en) 2018-01-26 2018-10-08 Gripping attachment for gripping units of a gripper

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EP (1) EP3517691B1 (en)
DE (1) DE202018000428U1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112723156B (en) * 2020-12-25 2024-04-19 江苏新民洲港务有限公司 Special grab bucket device applied to log ship unloading operation
CN113818504A (en) * 2021-08-25 2021-12-21 上海发奇建筑工程有限公司 Manipulator and foundation pile static load test ballast system thereof

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US4576407A (en) * 1985-01-23 1986-03-18 General Motors Corporation Robot hand for lifting apertured panel

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NL7809193A (en) * 1978-09-08 1980-03-11 Oba Eng Consult GRAPER.
DE3904772C1 (en) * 1989-02-17 1990-06-13 Unistrut Europe Plc, Bedford, Gb
JPH07117971A (en) * 1993-10-29 1995-05-09 Tokuoka Plant:Kk Suspending device for manhole
DE102005040537A1 (en) * 2004-09-06 2006-06-08 Liebherr-Hydraulikbagger Gmbh Mechanical grab has two U-shaped pick-up members terminating in rollers between fingers
DE202004013842U1 (en) * 2004-09-06 2004-11-18 Liebherr-Hydraulikbagger Gmbh Digging or gripping tools
US8393660B2 (en) * 2009-05-29 2013-03-12 Caterpillar Work Tools B.V. Gripping member for a work tool
EP2697438A4 (en) * 2011-04-12 2014-12-24 Gulfstream Services Inc Hydraulic bucket apparatus
JP2015175137A (en) * 2014-03-14 2015-10-05 日立建機株式会社 Fork and hydraulic circuit for the same
DE202015102886U1 (en) 2015-06-03 2015-07-01 Dms Technologie Gmbh Grab attachment for lifting tool

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US4576407A (en) * 1985-01-23 1986-03-18 General Motors Corporation Robot hand for lifting apertured panel

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EP3517691A1 (en) 2019-07-31
DE202018000428U1 (en) 2018-02-15

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