GRIPPING APPARATUS

Abstract

The present invention relates to a gripping apparatus (100) for gripping objects, comprising a sleeve-like main body (200), a permanent magnet (210) accommodated in the main body (200), and an armature element (220) which is arranged coaxially with the permanent magnet (210) and is designed to be movable between a first position close to the permanent magnet and a second position remote from the permanent magnet, wherein: the sleeve-like main body (200) comprises at least two gripping fingers (230) which are each designed to be connected to the armature element (220) by means of an actuating bar (240), and the gripping fingers (230) are moved towards one another when the armature element (220) is moved into the first position, and moved away from each other to a release position when the armature element (220) is moved into the second position; and the gripping apparatus (100) comprises a switchable coil (300) which, when in the switched state, is designed to generate a magnetic field that opposes the permanent magnet (210).

Claims

1. A gripping apparatus (100) for gripping objects, having: a sleeve-type main body (200); a permanent magnet (210) received in the main body (200); an armature element (220) which is disposed so as to be coaxial with the permanent magnet (210) and is configured so as to be transferable between a first position, proximal to the permanent magnet, and a second position, distal from the permanent magnet; wherein the sleeve-type main body (200) comprises at least two gripping fingers (230) which by way of an activation web (240) are in each cased configured so as to be connected to the armature element (220), and the gripping fingers (230), when transferring the armature element (220) to the first position, converge to a gripping position and, when transferring the armature element (220) to the second position, diverge to a releasing position; and wherein the gripping apparatus (100) comprises a switchable coil (300) which in the switched state is configured for generating a magnetic field that is opposed to the permanent magnet (210).

2. The gripping apparatus (100) as claimed in claim 1, characterized in that the coil (300) is disposed within the sleeve-type main body (200).

3. The gripping apparatus (100) as claimed in claim 1, characterized in that the sleeve-type main body (200) and the gripping fingers (230) are configured in one part as an integral component.

4. The gripping apparatus (100) as claimed in claim 1, characterized in that a cross section of each gripping finger (230) in the region of a gripping finger root (250) is configured so as to be reduced at the transition from the sleeve-type main body (200) to the gripping finger (230).

5. The gripping apparatus (100) as claimed in claim 1, characterized in that each activation web (240) comprises a solid-body articulation (260) on the armature element side as well as on the gripping finger side.

6. The gripping apparatus (100) as claimed in claim 1, characterized in that the gripping fingers (230) are configured so as to be resilient.

7. The gripping apparatus (100) as claimed in claim 1, characterized in that the sleeve-type main body (200) comprises four gripping fingers (230).

8. The gripping apparatus (100) as claimed in claim 1, characterized in that the sleeve-type main body (200) has a guide groove (270).

9. The gripping apparatus (100) as claimed in claim 1, characterized in that the sleeve-type main body (200) has a latching cam (280) for fixing the sleeve-type main body (200) on the gripping apparatus (100).

10. The gripping apparatus (100) as claimed in claim 1, characterized in that the gripping fingers (230) on the gripping fingertips (290) thereof have in each case one gripping contour (292).

11. The gripping apparatus (100) as claimed in claim 1, characterized in that the gripping fingertips (290) are configured so as to be resilient.

12. The gripping apparatus (100) as claimed in claim 1, characterized in that the sleeve-type main body (200) has a protective element (294) which is disposed so as to be coaxial with the armature element (220).

13. The gripping apparatus (100) as claimed in claim 1, characterized in that the sleeve-type main body (200) has a receptacle (222) for the armature element (200), wherein the receptacle (222) by way of the activation webs (240) is connected to the gripping fingers (230).

14. The gripping apparatus (100) as claimed in claim 13, characterized in that the protective element (294) is configured so as to be connected to the receptacle (222).

15. The gripping apparatus (100) as claimed in claim 1, characterized in that the sleeve-type main body (200) is produced by means of a generative manufacturing method.

Description

[0025] Exemplary embodiments of the invention are illustrated in the drawings and will be explained in more detail hereunder.

[0026] In the drawings:

[0027] FIG. 1 shows a sectional illustration of a gripping apparatus; and

[0028] FIG. 2 shows a sectional illustration of a sleeve-type main body.

[0029] FIG. 1 shows a sectional illustration of a gripping apparatus 100. The gripping apparatus 100 comprises a gripping apparatus body 110 which at the upper end thereof has a connector 120. The connector 120 can include a power supply, for example. Furthermore, control signals for operating the gripping apparatus 100 can be fed by way of the connector 120. A sleeve-type main body 200 which is configured for implementing the gripping movement is disposed on a lower portion of the gripping apparatus 100. A permanent magnet 210 which is operatively connected to an armature element 220 is disposed within the main body 200. The armature element 220 is disposed so as to be coaxial with the permanent magnet 210 and by the magnetic pull of the permanent magnet 210 can be transferred to a first position, proximal to the permanent magnet. The armature element 220, counter to the magnetic pull of the permanent magnet 210, is transferable to a second position, distal from the permanent magnet. The first position and the second position of the armature element 220 define the range of movement in which the armature element 220 can move. The armature element 220 is produced from a ferromagnetic material such as iron or steel, for example.

[0030] A switchable coil 300 which in the switched state is configured for generating a magnetic field is additionally situated in the region of the permanent magnet 210. The magnetic field of the switchable coil 300 in the switched state is opposed to the magnetic field of the permanent magnet 220, neutralizing the magnetic field of the latter in such a manner that a resultant magnetic force no longer acts on the armature element 220. The magnetic field that predefines the position of the armature element 220 can thus be determined by switching on and off the switchable coil 300. When the switchable coil 300 is situated in a non-energized, non-switched state, the magnetic force of the permanent magnet 210 acts on the armature element 220 and transfers the latter to the first position, proximal to the permanent magnet. When the switchable coil 300 is energized and is thus situated in a switched-on state, the magnetic force of the permanent magnet 210 is neutralized and the armature element 220 by a restoring force of the deformed gripping fingers 230 is transferred to the second position, distal from the permanent magnet.

[0031] The armature element 220 is likewise disposed within the sleeve-type main body 200 and is mounted in a receptacle 222. The receptacle 222 by means of an activation web 240 is in each case connected to an assigned gripping finger 230. In the embodiment according to FIG. 1, the gripping apparatus 100 comprises a total of four gripping fingers 230 which are in each case connected to the receptacle 222 by way of one activation web 240. A protective element 294 which protects the interior of the gripping apparatus 100 against contamination is situated below the receptacle 222.

[0032] Gripping fingertips 290 which have in each case one gripping contour 292 are disposed on the lower end of the gripping fingers 230. For improved gripping of objects or items, the gripping fingertips 290 are configured so as to be resilient.

[0033] The sleeve-type main body 200 is configured so as to be removable from the gripping apparatus 100, as a rapid response is thus possible in the event of wear or a defect. The sleeve-type main body 200 is thus configured as a consumable part, whereas the gripping apparatus 100 is configured longer operating life.

[0034] FIG. 2 shows a sectional illustration of a sleeve-type main body 200 which, as according to FIG. 1, can be disposed on a gripping apparatus. The sleeve-type main body 200 according to this embodiment comprises a total of four gripping fingers 230, whereby only three gripping fingers 230 are illustrated by virtue of the sectional illustration. The sleeve-type main body 200 at an upper end comprises a cylindrical portion proceeding from which the gripping fingers 230 extend in a longitudinal direction.

[0035] A guide groove 270 in a longitudinal direction of the main body 200 is configured on the cylindrical portion of the main body 200. The guide groove 270 simplifies the disposal of the main body 200 on the gripping apparatus 100. This is of greater relevance when assembling the gripping apparatus 100 and when replacing the sleeve-type main body 200. The sleeve-type main body 200 additionally has a latching cam 280. The latching cam 280 serves for fixing the main body 200 on the gripping apparatus 200. The gripping apparatus 100 to this end comprises a corresponding protrusion which is configured for engaging the latching cam 280. As a result, the main body 200 is securely fixed on the gripping apparatus 100.

[0036] A gripping finger root 250 is situated in the region of a transition from the cylindrical portion of the main body 200 to the individual gripping fingers 230. The gripping finger root 250 possesses a locally reduced cross section so as to increase the flexure of the elastically designed gripping fingers 230. As a result of the reduced cross section, the largest deformation on the entire gripping finger 230 is in the region of the gripping finger root 250.

[0037] A space which is delimited laterally by the gripping fingers 230 and toward the bottom by a protective element 294 is situated within the sleeve-type main body 200 and below the cylindrical portion. The armature element 220 which is supported by a receptacle 222 is situated within this space. The armature element 220 and the receptacle 222 conjointly move up and down between the first position and the second position within the space. The gripping apparatus 100 here operates in an entirely wear-free manner, and the armature element 220 while moving does not directly contact, apart from the receptacle 222, any other component part of the gripping apparatus 100. Activation webs 240 which are in each case assigned to a gripping finger 230 and connected to the latter are situated on a lower side of the receptacle 222.

[0038] Each individual activation web 240 on the upper side thereof is connected to the receptacle 222, and on the lower side thereof to a gripping finger 230, by way of a solid-body articulation 260. The solid-body articulation 260 permits a movement of the armature element 220, or of the receptacle 222 supporting the armature element 220, respectively, to be transmitted in a wear-free manner to the gripping fingers 230. The gripping fingers 230 for a gripping movement are thus converged when the armature element 220 by the magnetic force of the permanent magnet 210 is transferred to the first position, proximal to the permanent magnet. This takes place in that the transfer of the armature element 220 to the first position is transmitted to the gripping fingers 230 by way of the receptacle 222 and the activation webs 240.

[0039] Accordingly, the gripping fingers 230 are diverged to a releasing position when the armature element 220 is transferred to the second position, distal from the permanent magnet. This takes place in that the coil 300 is switched on, as a result of which a magnetic field is built up, the latter being opposed to the magnetic field of the permanent magnet 210 and thus at least neutralizing the latter. The restoring force of the elastically deformed gripping fingers 230 transfers the receptacle 222, by way of the activation webs 240, back to the second position, distal from the permanent magnet.

[0040] A protective element 294 which prevents the unintentional ingress of dirt is situated below the receptacle 222. The protective element 294 is directly connected to the receptacle 222, as a result of which the protective element 294 always moves conjointly with the armature element 220 up and down between the first and the second position.

[0041] Gripping fingertips 290 which on a side that faces the space of the sleeve-shaped main body 200 have in each case one gripping contour are situated at the lower end of the gripping fingers 230.

[0042] All features explained and shown in conjunction with individual embodiments of the invention can be provided in various combinations in the subject matter according to the invention in order for the advantageous effects of said features to be simultaneously implemented.

[0043] The scope of protection of the present invention is defined by the claims and is not limited by the features explained in the description or shown in the figures.

LIST OF REFERENCE SIGNS

[0044] 100 Gripping apparatus [0045] 110 Gripping apparatus body [0046] 120 Connector [0047] 200 Sleeve-type main body [0048] 210 Permanent magnet [0049] 220 Armature element [0050] 222 Receptacle [0051] 230 Gripping finger [0052] 240 Activation web [0053] 250 Gripping finger root [0054] 260 Solid-body articulation [0055] 270 Guide groove [0056] 280 Latching cam [0057] 290 Gripping fingertips [0058] 292 Gripping contour [0059] 294 Protective element [0060] 300 Coil