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GB2041262A - Gripping device for handling workpieces - Google Patents

Gripping device for handling workpieces Download PDF

Info

Publication number
GB2041262A
GB2041262A GB7904469A GB7904469A GB2041262A GB 2041262 A GB2041262 A GB 2041262A GB 7904469 A GB7904469 A GB 7904469A GB 7904469 A GB7904469 A GB 7904469A GB 2041262 A GB2041262 A GB 2041262A
Authority
GB
United Kingdom
Prior art keywords
jaw
workpiece
gripping device
jaws
supporting
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.)
Granted
Application number
GB7904469A
Other versions
GB2041262B (en
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Norden Holding AB
Original Assignee
ASEA AB
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority to DE19792904377 priority Critical patent/DE2904377A1/en
Application filed by ASEA AB filed Critical ASEA AB
Priority to GB7904469A priority patent/GB2041262B/en
Publication of GB2041262A publication Critical patent/GB2041262A/en
Application granted granted Critical
Publication of GB2041262B publication Critical patent/GB2041262B/en
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
    • B23Q3/06—Work-clamping means
    • B23Q3/066—Bench vices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/06—Arrangements for positively actuating jaws
    • B25B1/18—Arrangements for positively actuating jaws motor driven, e.g. with fluid drive, with or without provision for manual actuation

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Turning (AREA)

Abstract

A gripping device includes two opposed jaws (13, 14) independently movable between end positions from opposite sides of a workpiece (1). The relative movements of the jaws are controlled so that they can slip round the workpiece when both are in their outer end position, so that when the first jaw (preferably grooved) reaches its inner end position with the second jaw in its outer end position, the workpiece is lightly held for cutting-off, and so that when the second jaw moves away from its outer end position the workpiece is securely gripped between the jaws. Figure 2 shows the jaw positions for the light holding stage. <IMAGE>

Description

SPECIFICATION Gripping device for handling workpieces The present invention relates to a gripping device for a manipulating robot or another transport device for picking up and transporting a workpiece. It is particularly intended to be used for handling long, weak parts machined in an automatic lathe and is particu larly designed to support a machined part when this is cut off and to grip the part after it has been cut off and hold it while it is transported to a store for machined parts orto a subsequent machine. The gripping device is provided with two jaws which are movable in relation to each other and which, in the gripping position of the gripping device, are located on opposite sides of a workpiece to be picked up.
According to the invention there is provided a gripping device for a manipulating robot or another transport device for picking up and transporting a workpiece, said device having a first and a second movable jaw which jaws are displaceable towards each other and in the gripping position of the gripping device, are located on opposite sides of a workpiece, the jaws being operable independently of each other, means being provided to move the first jaw between a neutral position and a supporting position in which its supporting surface is in the immediate vicinity of the workpiece, and further means being provided to move the second jaw between a neutral position and a position where it presses the workpiece against the supporting surface of the first jaw.
In a preferred embodiment, the gripping device comprises a cylinder slidably supporting a first and a second piston, of which the first piston supports the first jaw and is movable between two end positions, the outer of which determines the neutral position and the inner of which determines the supporting position and the second piston supports the second jaw and is movable from an outer end position which determines the neutral position to a position which, without obstruction, permits the second jaw to press the workpiece against the first jaw. The first jaw is suitably formed with a generally V-shaped supporting surface and the second jaw with a substantially plane workpiece-engaging face.
The invention thus provides a gripping device which, during the last stage of the machining of a turned part, the cutting-off, can safely support that part. In this way breakage of the turned part, because of its own weight or because the cutting operation ceases before the cutting-off tool reaches the centre of rotation of the turned part, is avoided. A complete, or at least a substantially complete, cutting-off can be obtained, with no jagged end. Afterthe cutting-off the turned part is clamped between the jaws of the gripping device for removal from the lathe. It can be transported by a transport arm to a collection box or to another machine for subsequent machining.
The invention will now be described in greater detail, by way of example, with reference to the accompanying drawing, in which: Figure 1 shows the gripping device located in its gripping position but with both jaws spaced from a workpiece in a lathe, Figure2 corresponds to Figure 1 but shows the left-hand jaw brought to its supporting position, and Figure 3 shows the left-hand jaw still in its support ing position and the right-hand jaw moved into its retaining position.
In the Figures, 1 designates, in cross-section, a workpiece in a lathe, and 2 a gripping device which is located at the extremity of an arm in, for example, a robot. The gripping device 2 comprises an operating cylinder 3 with a first piston 4, a second piston 5, end pieces 6 which are fixed in the cylinder by locking washers 7, and a spring 8 urging the pistons 4 and 5 away from each other and toward the end pieces 6.
Spaces 9 and 10 between the pistons 4 and 5 and the end pieces 6, communicate with a pressure medium source (not shown) through conduits 11 and 12 via an operating valve (also not shown). Jaws 13 and 14 of the device 2 are supported by brackets 15 and 16, and are fixed to the brackets by clamping screws 17 and 18. The pistons 4 and 5 are each formed with a slot and a bore adapted to receive a plate-shaped main portion of the brackets 15 and 16 and associated pins 19 and 20. The brackets and pins are retained in the respective piston by bolts 21 and 22.
The operating cylinder 3 is provided with slots 23,24 permitting the brackets and jaws to move between two end positions which are determined by the length of the slots 23 and 24 in the cylinder 3.
When a workpiece 1 has been machined and is to be cut off, the gripping device 2, with both brackets 15 and 16 in their outer end positions, is moved by its supporting arm (not shown) in a direction substantially perpendicular to the axis of rotation of the workpiece 1 to the position shown in Figure 1. Between the workpiece 1 and the grip face 25 of the jaw 14 there is a small clearance 26. Between the workpiece 1 and the V-shaped supporting surface 27 of the jaw 13 there is a clearance 28 dimensioned, with respect to the depth of the V-shaped groove, to allow the jaws 13 and 14 to pass around the workpiece without obstruction, to the position shown in Figure 1. The space 9 is now supplied with pressure medium so that the piston 4, with the jaw 13, moves to the right, to its inner end position determined by the slot 23.The clearance 28 between the workpiece 1 and the supporting surface 27 will be almost zero when the left-hand jaw is in its inner end position, so that the workpiece 1 is guided while being cut off.
This guiding prevents the-workpiece 1 from breaking loose before a cutting-off tool has cut off the workpiece 1 completely. Because the clearance 26 between the workpiece 1 and the supporting surface 25 of the jaw 14 is also small, the surface 25 of the jaw 14 can also serve as a support and prevent any substantial bending of the workpiece 1 during the cutting-off operation. After cutting-off, the workpiece 1 drops slightly but is held between the jaws 13 and 14. The space 10 is now supplied with pressure medium so that the piston 5, with the jaw 14, is moved to the left to press the workpiece against the jaw 13 so that the workpiece is safely retained by the gripping device (as shown in Figure 3), while being transported away. The slot 24 must have such a length that it permits the required clamping force on the workpiece to be obtained before the bracket 16 reaches its inner end position.

Claims (4)

1. A gripping device for a manipulating robot or another transport device for picking up and trans porting a workpiece, said device having a first and a second movable jaw which jaws are displaceable towards each other and, in the gripping position of the gripping device are located on opposite sides of a workpiece, the jaws being operable independently of each other, means being provided to move the first jaw between a neutral position and a supporting position in which its supporting surface is in the immediate vicinity of the workpiece, and further means being provided to move the second jaw between a neutral position and a position where it presses the workpiece against the supporting surface of the first jaw.
2. A gripping device according to claim 1, comprising a cylinder slidably supporting a first and a second piston, of which the first piston supports the first jaw and is movable between two end positions, the outer of which determines the neutral position and the inner of which determines the supporting position and the second piston supports the second jaw and is movable from an outer end position which determines the neutral position to a position which, without obstruction, permits the second jaw to press the workpiece against the first jaw.
3. A gripping device according to claim 1 or claim 2, in which the first jaw has a generally V-shaped supporting surface and the second jaw a substan tially plane workpiece-engaging face.
4. A gripping device substantially as hereinbe fore described with reference to, and as illustrated in, the accompanying drawing.
GB7904469A 1979-02-06 1979-02-08 Gripping device for handling workpieces Expired GB2041262B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE19792904377 DE2904377A1 (en) 1979-02-06 1979-02-06 GRIP DEVICE FOR HANDLING WORKPIECES BY A ROBOT OR ANOTHER TRANSPORT DEVICE
GB7904469A GB2041262B (en) 1979-02-06 1979-02-08 Gripping device for handling workpieces

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19792904377 DE2904377A1 (en) 1979-02-06 1979-02-06 GRIP DEVICE FOR HANDLING WORKPIECES BY A ROBOT OR ANOTHER TRANSPORT DEVICE
GB7904469A GB2041262B (en) 1979-02-06 1979-02-08 Gripping device for handling workpieces

Publications (2)

Publication Number Publication Date
GB2041262A true GB2041262A (en) 1980-09-10
GB2041262B GB2041262B (en) 1982-12-01

Family

ID=25777693

Family Applications (1)

Application Number Title Priority Date Filing Date
GB7904469A Expired GB2041262B (en) 1979-02-06 1979-02-08 Gripping device for handling workpieces

Country Status (2)

Country Link
DE (1) DE2904377A1 (en)
GB (1) GB2041262B (en)

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1986002589A1 (en) * 1984-10-23 1986-05-09 Amp Incorporated Gripper head
US4626013A (en) * 1984-12-11 1986-12-02 General Electric Company Dual axis gripper
EP0302475A1 (en) * 1987-08-03 1989-02-08 Ambac Automation Corp. Head for attachment to a robot to pick up articles
US4809425A (en) * 1984-02-06 1989-03-07 Monforte Robotics, Inc. Adaptable, programmable production system
EP0310811A1 (en) * 1987-10-07 1989-04-12 Weiler Werkzeugmaschinen GmbH &amp; Co. KG Dualspindle lathe
US4865375A (en) * 1988-05-31 1989-09-12 Amp Incorporated Gripper head
US4913481A (en) * 1988-09-13 1990-04-03 Applied Power Inc. Clean room gripper
EP0386293A1 (en) * 1989-03-09 1990-09-12 David Fischer Device for centering and clamping
EP0716906A1 (en) * 1994-12-12 1996-06-19 Numation, Inc. Fluid actuated gripper
US5755475A (en) * 1996-04-04 1998-05-26 Zaytran, Inc. Device for gripping a workpiece
EP1350606A1 (en) * 2002-04-05 2003-10-08 FESTO AG & Co Fluid actuated gripper
EP1525950A3 (en) * 2003-09-05 2005-09-07 Bümach Engineering International B.V. Centering clamp
EP1990135A1 (en) * 2007-05-11 2008-11-12 Homag Holzbearbeitungssysteme AG Work piece clamping device
CN106166755A (en) * 2016-09-09 2016-11-30 安徽工程大学 A kind of continuous self-regulating mechanical gripper device of tilting
CN106695863A (en) * 2017-02-15 2017-05-24 东莞市圣荣自动化科技有限公司 Manipulator clamping block for production of bearing ring
CN107433314A (en) * 2016-05-26 2017-12-05 大同特殊钢株式会社 Handle sturcture
CN108687792A (en) * 2017-04-07 2018-10-23 上银科技股份有限公司 Clamping jaw with function of vertically lifting workpiece
CN113927294A (en) * 2021-11-11 2022-01-14 浙江省机电设计研究院有限公司 A flip positioning device

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3306526A1 (en) * 1983-02-24 1984-08-30 Rudi 4018 Langenfeld Kirst Gripping device
DE3307025A1 (en) * 1983-02-28 1984-08-30 Rudi 4018 Langenfeld Kirst Short-stroke device
DE3428152A1 (en) 1984-07-31 1986-02-13 Dieter 7321 Zell Sczeponik Gripper, in particular for handling appliances, manipulators, etc.
ATE82889T1 (en) * 1987-08-31 1992-12-15 Siemens Ag SOLDERING HEAD FOR PICKING AND ALIGNING COMPONENTS DURING SOLDERING OR DESOLDERING, ESPECIALLY FOR SURFACE MOUNT COMPONENTS (SMD).
US5253912A (en) * 1991-04-10 1993-10-19 Axis Usa, Inc. Gripper apparatus for electric motor components
US5257689A (en) * 1991-04-10 1993-11-02 Axis Usa, Inc. Apparatus for substantially simultaneously processing multiple electric motor parts
DE19903660A1 (en) * 1999-01-29 2000-08-10 Hubert Drohmann Central gripping and/or clamping device for bodies of different shapes, first grip arm of which has one concave engaging surface and one convex one
CN105500081B (en) * 2016-01-29 2017-11-17 合肥压力机械有限责任公司 The self-centering clamping device of axle pipe part
CN111203735A (en) * 2018-11-22 2020-05-29 成都飞机工业（集团）有限责任公司 Quick positioning, clamping and face milling tool
CN118253692B (en) * 2024-05-30 2024-07-26 山西晨辉锻压设备制造股份有限公司 Direct-moving back swing forging manipulator

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4809425A (en) * 1984-02-06 1989-03-07 Monforte Robotics, Inc. Adaptable, programmable production system
WO1986002589A1 (en) * 1984-10-23 1986-05-09 Amp Incorporated Gripper head
US4611846A (en) * 1984-10-23 1986-09-16 Amp Incorporated Gripper head
US4626013A (en) * 1984-12-11 1986-12-02 General Electric Company Dual axis gripper
EP0302475A1 (en) * 1987-08-03 1989-02-08 Ambac Automation Corp. Head for attachment to a robot to pick up articles
US4820113A (en) * 1987-08-03 1989-04-11 Alliance Automation Systems, Inc. Head for attachment to a robot to pick up articles
EP0310811A1 (en) * 1987-10-07 1989-04-12 Weiler Werkzeugmaschinen GmbH &amp; Co. KG Dualspindle lathe
US4865375A (en) * 1988-05-31 1989-09-12 Amp Incorporated Gripper head
EP0344954A1 (en) * 1988-05-31 1989-12-06 The Whitaker Corporation Gripper head
US4913481A (en) * 1988-09-13 1990-04-03 Applied Power Inc. Clean room gripper
EP0386293A1 (en) * 1989-03-09 1990-09-12 David Fischer Device for centering and clamping
US5595413A (en) * 1994-12-12 1997-01-21 Numation, Inc. Fluid actuated gripper
EP0716906A1 (en) * 1994-12-12 1996-06-19 Numation, Inc. Fluid actuated gripper
US5755475A (en) * 1996-04-04 1998-05-26 Zaytran, Inc. Device for gripping a workpiece
EP1350606A1 (en) * 2002-04-05 2003-10-08 FESTO AG & Co Fluid actuated gripper
EP1525950A3 (en) * 2003-09-05 2005-09-07 Bümach Engineering International B.V. Centering clamp
EP1990135A1 (en) * 2007-05-11 2008-11-12 Homag Holzbearbeitungssysteme AG Work piece clamping device
CN107433314A (en) * 2016-05-26 2017-12-05 大同特殊钢株式会社 Handle sturcture
US10576530B2 (en) * 2016-05-26 2020-03-03 Daido Steel Co., Ltd. Holding mechanism
CN106166755A (en) * 2016-09-09 2016-11-30 安徽工程大学 A kind of continuous self-regulating mechanical gripper device of tilting
CN106166755B (en) * 2016-09-09 2018-05-11 安徽工程大学 The mechanical gripper device that a kind of tilting is continuously self-regulated
CN106695863A (en) * 2017-02-15 2017-05-24 东莞市圣荣自动化科技有限公司 Manipulator clamping block for production of bearing ring
CN108687792A (en) * 2017-04-07 2018-10-23 上银科技股份有限公司 Clamping jaw with function of vertically lifting workpiece
CN113927294A (en) * 2021-11-11 2022-01-14 浙江省机电设计研究院有限公司 A flip positioning device

Also Published As

Publication number Publication date
GB2041262B (en) 1982-12-01
DE2904377A1 (en) 1980-08-14

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Legal Events

Date Code Title Description
PCNP Patent ceased through non-payment of renewal fee