Handling: hand and hoist-line implements – Grapple – Resilient jaws
Patent
1995-05-25
1997-11-18
Cherry, Johnny D.
Handling: hand and hoist-line implements
Grapple
Resilient jaws
294 864, 294902, 294907, 901 39, B25J 1512
Patent
active
056880138
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
The invention relates to a handling device for mechanically gripping, holding, moving or otherwise handling objects, particularly for handling apparatuses, e.g. industrial robots.
Gripping and handling objects of arbitrary shape and different materials in a defined or undefined position is a central and difficult objective in handling technology.
A number of mechanical, two- or multi-finger grippers are already known; these grippers involve a considerable outlay for the necessary gripping movement, with many lever, bearing, operating, control and signal elements, and can only grip and handle objects with a defined position and of a very limited shape range.
Also known are, for example, vacuum grippers, which involve a large outlay to generate the vacuum; again, these can only grip and handle objects which are in a defined position and have relatively large, non-porous and smooth surfaces.
Also known are, for example, magnetic grippers, which can only grip and handle objects made of magnetic materials.
All of the known gripper systems have the disadvantage that they were only developed for special objects of a defined position, and can thus only grip and handle them. When a change is made to other objects or a different position of the objects, the known gripper systems must be retrofitted, converted, exchanged or even reconstructed and rebuilt accordingly.
The flexibility required of today's handling systems, including automatic and rapid adaptation to different ranges of parts, is not achieved with the known gripper systems.
SUMMARY OF THE INVENTION
The object of the invention is to grip and handle objects of arbitrary geometry and different materials in a defined or undefined position, individually or simultaneously in groups, with a simple handling device, in which the adaptation to different objects and different positions of the objects is intended to take place automatically.
According to the invention, this object is accomplished by providing a handling device which is characterized in that a holding pin guide plate which is provided with a plurality of bores disposed close together and is connected to a fastening plate is to be moved toward the objects to be gripped, in which bores round or polygonal holding pins which project freely downwardly are guided to be axially displaceable, and have lower ends which are tangential to the object and enter into frictional lockup and, if necessary, positive lockup with the contour regions of the object by means of elastic deformation of the holding pins during the approach, with an ejection plate that can be lowered toward these objects by means of an ejection apparatus being disposed above the holding pin guide plate.
The advantages that can be attained with the invention are, in particular, that, without adjustments and conversions, the described handling device can grip and handle objects of arbitrary shape, made of the same or different materials, individually or several, from a defined or undefined position, even from a pile or from a jumbled arrangement in a container.
The handling device is automatically adapted to the different object shapes. If the handling device has grasped one or a plurality of objects as prescribed for a specific purpose, a switch that actuates, for example, a handling apparatus can be operated automatically.
High flexibility in gripping and handling of objects is achieved with the described handling device, particularly in handling apparatuses, e.g. industrial robots.
This handling device is, however, also useful as a hand-held instrument in numerous applications involving the handling of hot, toxic or radioactive objects.
BRIEF DESCRIPTION OF THE DRAWINGS
Embodiments of the invention are illustrated in the following Figures, in which:
FIG. 1 is a side view (section) of a handling device with objects to be gripped simultaneously;
FIG. 2 is a top view (section) of the handling device according to FIG. 1;
FIG. 3 shows the handling apparatus according to FIG. 1, above the objects;
FIG. 4 shows the
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patent: 3507404 (1970-04-01), Pompe
patent: 4047709 (1977-09-01), Thyberg et al.
patent: 4752063 (1988-06-01), Nagy
patent: 4797248 (1989-01-01), Tsitschdvili
Stefan Hesse: "Greifer-Praxis". Vogel Buchverlag, Wurzburg 1991, pp. 136-138.
Knight: "Pick-up Device needs no Power". In: Machinery and Production Engineering, vol. 141, No. 3638, Nov. 1983, Silver End, Witham, GB, p. 55.
Stefan Hesse: "Industrieroboterperpherie". Huthig Buchverlag Heidelberg, 1990, pp. 244-245.
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