Gripper, twisting head and twisting device

Abstract

A gripper for electrical or optical lines (24, 24) such as wires, cables, line bundles, optical fibers has two gripper jaws (22, 22) movable relative to a counterbearing as well as relative to one another. Twisting heads (4) for twisting apparatuses for the lines (24, 24) are equipped with such grippers. The gripper and the twisting head (4) and the twisting apparatus are provided with a drive arrangement including at least one adjustable-force drive (17) that acts via a link chain (15, 19, 19, 20, 20) on gripper jaw (22, 22). The link chain (15, 19, 19, 20, 20) in this case has a section (19, 19) movable parallel to the drive (17), but in the opposite direction of movement.

Claims

1. A twisting machine comprising: a hollow cylindrical support structure, said hollow cylindrical support structure having a proximal end, and said hollow cylindrical support structure having a distal end; a shaft connected to said proximal end of said cylindrical support structure; a pressure ring disposed around said shaft, said pressure ring being reciprocatable relative to the shaft along an axis of rotation of said shaft; a plurality of pressure rods extending from said proximal end of said hollow cylindrical support structure, said pressure rods being operatively connected to said reciprocatable pressure ring to reciprocate therewith, said pressure rods extending towards said distal end of said cylindrical support structure; a plurality of respective angle levers each operatively connected with a respective one of said pressure rods at respective locations proximate to said distal end of said support structure, each of said angle levers having a respective first lever-arm end that respectively engages a respective one of said pressure rods; and, a plurality of movable gripper jaws situated proximate to said distal end of said hollow cylindrical support structure, said movable gripper jaws being mounted to controllably reciprocate radially relative to the axis of rotation of said shaft, each of said angle levers having a respective second lever-arm end that respectively engages a respective one of said gripper jaws to provide that controlled reciprocation of said pressure ring along the axis of rotation of said shaft controllably reciprocates said movable gripper jaws radially relative to the axis of rotation of said shaft.

2. A twisting machine as claimed in claim 1 further comprising: said pressure ring having a proximal side; and, an axial roller bearing contacting said pressure ring proximal side to receive controlled thrust force along the axis of rotation of said shaft.

3. A twisting machine as claimed in claim 2 further comprising: a pivotable lever operatively engaging said axial roller bearing to controllably reciprocate said pressure ring; a drive cylinder, said drive cylinder having a piston rod extending therefrom in a direction from said distal end towards said proximal end; and, said piston rod being operatively connected to said pivotable lever to reciprocate said thrust bearing towards said proximal end when said piston rod is extended, and to reciprocate said thrust bearing away from said proximal end when said piston rod is retracted.

4. A twisting machine as claimed in claim 1 further comprising: a tubular sleeve at least partly surrounding said hollow cylindrical support structure.

5. A twisting machine as claimed in claim 4 further comprising: a locking ring on said tubular sleeve, said locking ring being located proximate to said proximal side; and, at least one controllably actuatable locking tappet configured to lock said locking ring and said sleeve against rotating on the axis of rotation of said shaft.

6. A gripper for processed elongate material comprising: at least one movable gripper jaw; a drive arrangement operatively linked to move said at least one gripper jaw, said drive arrangement including at least one adjustable-force drive, said at least one adjustable-force drive acting on said at least one gripper jaw via an intermediate link chain; and, said link chain includes a section operatively linked to move parallel and opposite direction relative to said adjustable-force drive's action.

7. A gripper for processed elongate material as claimed in claim 6 further comprising: said at least one adjustable-force drive includes a fluid-pressure working cylinder, said fluid-pressure working cylinder including adjustable supply pressure.

8. The gripper for processed elongate material as claimed in claim 6 wherein: said at least one movable gripper jaw has direction of movement with dominant radial component in relation to a line axis of gripping.

9. The gripper for processed elongate material as claimed in claim 6 wherein: drive action of said at least one adjustable-force drive is predominantly parallel relative to a line axis of gripping, said link chain connected to provide force deflection to a direction of gripper jaw motion.

10. A twisting head for processed elongate material comprising: a rotatable gripper configured to rotate about a line of gripping; a drive, said drive being disposed in a fixed position; a link chain operatively connected to said drive, said link chain including at least one section corotating with said rotatable gripper; said gripper including at least one movable gripper jaw; said drive acting on said at least one gripper jaw via said link chain; and, said link chain corotating section includes parts operatively linked to move in parallel and opposite direction relative to said drive's action.

11. A twisting head for processed elongate material as claimed in claim 10 further comprising: a fork lever acting on said parts operatively linked to move in parallel and opposite direction relative to said drive's action; and, an interposed axial roller bearing disposed between said fork lever and said parts.

12. A twisting head for processed elongate material as claimed in claim 10 further comprising: a fork lever acting on said parts operatively linked to move in parallel and opposite direction relative to said drive's action; and, an interposed pressure ring disposed between said fork lever and said parts.

13. A twisting head for processed elongate material as claimed in claim 10 further comprising: a hollow cylindrical support structure, said parts and said at least one gripper jaw being mounted to said cylindrical support structure.

14. A twisting head for processed elongate material as claimed in claim 13 further comprising: a recess in said hollow cylindrical support structure, said recess extending along a line of gripping.

15. A twisting head for processed elongate material as claimed in claim 13 further comprising: a tubular sleeve at least partially covering said hollow cylindrical support structure; and, a lock controllably locking said tubular sleeve against rotation.

16. A twisting head for processed elongate material as claimed in claim 10 further comprising: gripper surfaces on said at least one movable gripper jaw, said gripper surfaces being roughened surfaces.

17. A twisting head for processed elongate material as claimed in claim 16 further comprising: said gripper surfaces are covered by hard material particles.

18. A twisting head for processed elongate material as claimed in claim 16 further comprising: at least one elastic support fastened to at least one of said gripper surfaces.

19. A twisting head for processed elongate material as claimed in claim 10 further comprising: a hollow cylindrical support structure, said parts and said at least one gripper jaw being mounted to said cylindrical support structure; a second drive coupled to drive said rotatable gripper, said second drive being a rotary drive; a shaft operatively connected to said hollow cylindrical support structure; and, a transmission between said second drive and said shaft.

20. A twisting head for processed elongate material as claimed in claim 19 further comprising: said second drive having an output shaft, said output shaft being disposed laterally spaced from and parallel to a rotation axis of said rotatable gripper.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) In the Figures:

(2) FIG. 1depicts an exemplary twisting head in a perspective overall view, with opened insertion or injection region;

(3) FIG. 2depicts the twisting head of FIG. 1 in a partially cutaway overall view in longitudinal section;

(4) FIG. 3depicts a longitudinal section through the twisting head of FIGS. 1 and 2, in a plane rotated about the longitudinal axis with respect to FIG. 2; and,

(5) FIG. 4depicts the twisting head of FIGS. 1 to 3 with downwardly directed but closed insertion or ejection region.

DETAILED DESCRIPTION

(6) In the present description, numerous specific details are set forth in order to provide a thorough understanding of versions of the present invention. It will be apparent, however, to one skilled in the art, that some versions of the present invention may be practiced without some of these specific details. Indeed, reference in this specification to one/the version, a version, versions, a variant, variants, and one/the variant, should be understood to mean that a particular feature, structure, or characteristic described in connection with the version or variant is included in at least one such version or variant of the disclosure. Thus, the appearances of phrases such as in one version, in one variant, and the like, in various places in the specification are not necessarily all referring to the same variant or version, nor are separate or alternative versions or variants mutually exclusive of other versions or variants. Moreover, various features are described which may be exhibited by some versions or variants and not by others. Similarly, various requirements are described which may be requirements for some versions or variants, but not others. Furthermore, as used throughout this specification, the terms a, an, at least do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item, in the sense that singular reference of an element does not necessarily exclude the plural reference of such elements. Concurrently, the term a plurality denotes the presence of more than one referenced items. Finally, the terms connected or coupled and related terms are used in an operational sense and are not necessarily limited to a direct connection or coupling.

(7) A twisting apparatus as in the depicted exemplary version of FIGS. 1-4 includes a base frame 1 to which at least one drive motor 2, being preferably a servo drive, for the twisting head 4, is attached. Via, for example, a drive belt 3, preferably a toothed belt, the drive motor 2 drives the twisting head 4 with the actual gripper 11, 15, 16, 17, 19, 19, 20, 20, 22, 22 comprising a plurality of assemblies (see on this matter in particular FIG. 2). It should be readily understandable that within the framework of the present disclosure, other drives or other transmission elements may also be provided between drive motor 2 and twisting head 4. Alternatively, a second twisting head may additionally be provided and may preferably be actuated by the same drive motor 2.

(8) A first toothed disk 9 fastened to the drive shaft (not visible) of the drive motor 2 transmits, via the toothed drive belt 3, the rotational movement via a second toothed disk 10 to the rotatably mounted twisting head 4 preferably positioned parallel to the drive motor 2, which also includes the rotatably mounted twisting head housing 8. Also visible in FIG. 1 are one gripper jaw 22 of the two gripper jaws 22, 22 provided, and also two lines 24, 24 to be twisted having free excess lengths 32, 33 of various length. Alternatively, a coaxial arrangement of the drive motor 2 and the twisting head 4 is also possible. The torque transmission from the drive motor 2 to the twisting head 4 is then preferably accomplished by means of a coupling have a stable rotational angle.

(9) The second gripper jaw 22 cannot be identified in FIG. 1 since, concealed by a front-side end plate 25, it is locatedas can be seen, for example, in FIG. 2 opposite the first gripper jaw 22 in relation to the lines 24, 24. The lines 24, 24 are clamped between the two gripper jaws 22 and 22 for the twisting. The stroke of the gripper jaws 22, 22 is sufficient for clamping and holding the entire line cross-sectional region for which the twisting apparatus is designed. The gripper jaws 22, 22 are guided in linear guides 23, 23 in the front region of the twisting head housing 8.

(10) For changing the gripper jaws 22, 22 the front-side end plate 25 of the twisting head 4 can be dismounted very simply by loosening screws 35. The end plate 25 also contains, along at least a part of its circumference, circumferential guide grooves 36 for a tubular sleeve 26 that, over at least a part of the circumference of the twisting head housing 8, surrounds on the outside. Also shown is a locking ring 27 of the tubular sleeve 26 on its side facing the base frame 1, and one of two locking tappets 28 attached in a fixed position relative to the base frame 1. These locking tappets 28 provided on the circumference may be shifted automatically, preferably actuated pneumatically. In a locking position locking tappets 28 engage in structures of the locking ring 27, in this manner fixing the tubular sleeve 26 in its position against twisting relative to the base frame 1. In the withdrawn position of the locking tappets 26, the tubular sleeve 26 may be rotated freely with the twisting head housing 8.

(11) FIG. 2 depicts the twisting head 4 in a partially cutaway overall view along the axis of rotation that coincides with an axis 5 fixed to the frame. Here it can be seen how the twisting head housing is mounted, as a pot-like supporting structure 8, by a first roller bearing 6 and a second roller bearing 7 on the axis 5 fixed to the frame. Via the holder 18 a pneumatic cylinder 17 as a drive for the assemblies forming the grippers 11, 15, 16, 17, 19, 19, 20, 20, 22, 22 of the twisting head 4 is preferably also, in a manner, fixed to the frame. The piston rod of this pneumatic cylinder 17 actuates via the pivot bearing 16 a fork-shaped lever 15 that is pivotally mounted on a pivot axis 14. Bolts 30 and 30 (not shown in FIG. 2, see FIG. 3 for this subject matter) are fastened to the fork ends of the lever 15.

(12) As may be observed from the enlarged longitudinal section of FIG. 3, the bolts 30, 30 dip into the region between an axial rover bearing 13 and a ring 31. This axial rover bearing 13 is mounted on one side on a pressure ring 11. The opposite side of the axial roller bearing 13 on which side the bolts 30, 30 can act is freely rotatable. The pressure ring 11 is mounted, axially displaceable, by a plain bearing 12 on a tubularly lengthened region (tubular extension or shaft 8)of the twisting head housing 8.

(13) As can also be observed from FIG. 2, the pressure ring 11 is located in engagement with two rods 19, 19 that are mounted axially displaceably in the twisting head housing 8. Rods 19, 19 extend along the length of the twisting head housing 8, and, on the side of the twisting head housing 8 opposite the pressure ring 11, are located in engagement with respective first lever arm ends of respective angle levers 20, 20. The angle levers 20, 20 are pivotably mounted on their respective pivot axes 21, 21, and at their respective second lever arms in turn engage their respective second lever arm ends within respective recesses in the respective gripper jaws 22, 22.

(14) The gripper jaws 22, 22 are guided in their longitudinal direction in linear guides 23, 23 of the twisting head housing 8. The gripper jaws 22, 22 grip and hold the line 24, 24 when the piston rod of the pneumatic cylinder 17 extends and via the pivot bearing 16 of the fork-shaped lever 15 mounted on the pivot axis 14 presses, via the bolts 30, 30 fastened to the fork ends, on the axial roller bearing 13 and therefore on the pressure ring 11. The pressure ring 11 exerts a compressive force on the rods 19, 19 mounted displaceably in the twisting head housing 8. The rods 19, 19, via the angle levers 20, 20 mounted pivotally on the pivot axes 21, 21, transfer a corresponding force to the gripper jaws 22, 22 in the longitudinal direction thereof, that is, substantially radially to the lines 24, 24. Consequently, the lines 24, 24 are clamped between the gripper jaws 22, 22. In this case, the gripper force is approximately the same over the entire gripping range of the pair of gripper jaws 22, 22 since this is determined by the pressure of the pneumatic cylinder 17. Consequently, it is relatively easy to set up the twisting process before the parameters for the twisting process are stored.

(15) FIG. 3 shows, in section, the bolts 30, 30 fastened to the fork ends of the lever 15 in their position between the axial roller bearing 13 and another ring 31 fastened to the pressure ring 11. For closing the gripper jaws 22, 22, the lever 15 presses via the bolts 30, 30 on the freely rotatable ring of the axial roller bearing 13. The twisting head 4 is only set in rotation when the gripper jaws 22, 22 are closed, which is ensured by a corresponding control/sensor system.

(16) For opening the gripper jaws 22, 22, the bolts 30, 30 press against the back ring 31 seated around the pressure ring 11 in turn mounted displaceably on the twisting head housing 8. This movement is also effected by the pneumatic cylinder (fluid pressure working cylinder) 17. The working strokes thereof in at least one direction may also be supported by an elastic element, for example, a spring element, In this position the gripper jaws 22, 22 are open, and no twisting process takes place. In addition, FIG. 3 shows the spring-mounted pressure bolts 29, 29 that secure the tubular sleeve 26 against twisting in the two rotational angle positions with respect to the twisting head housing 8 laterally open or closed.

(17) FIG. 4 again shows the twisting head 4 in a perspective overall view, this time with a downwardly directed insertion or ejection region 34 of the end plate 25, and likewise includes depicted lines 24, 24. In this position, the tubular sleeve 26 closes the interior of the twisting head housing 8 at its circumference. This closed position of the twisting head 4 is approached before the twisting process. The locking tappets 28 are then withdrawn, and the twisting process is carried out with the twisting head housing 8 closed. For ejection of the lines 24, 24 after the twisting process, the twisting head 4 is stopped at an angle of 90 before the ejection position. The tubular sleeve 26 is then fixed by means of the locking tappets 28 and the locking ring 27. The twisting head 4 is then turned further by 90. As a result of this process, the tubular sleeve 26 is also twisted by 90 with respect to the twisting head housing 8, so that the side openings of the twisting head housing 8 are now open again. Now after the opening of the gripper jaws 22, 22, the, for example, pairwise twisted lines 24, 24 may drop downwards from the twisting head housing 8, for example onto a collecting surface due to gravity.

(18) Advantageously, clamping surfaces of the gripper jaws 22, 22 may be withdrawn behind the edges of the insertion region 34 during opening, so that these edges act as forcible ejectors of the ends of the lines 24, 24. Lines 24, 24 possibly adhering to the gripper jaws 22, 22 with their insulation are thereby reliably stripped for ejection, and any disturbances in the process may thereby be prevented. Thus, the drive mechanism of the gripper jaws 22, 22 is designed so that during opening these are reliably withdrawn behind the edges of the line collecting region, as in particular the end plate 25 and the lines 24, 24 are thereby safely raised from the gripper jaws 22, 22 for positive removal/ejection. Experience teaches that some line insulating materials may sporadically remain adhering to the gripper jaws. This would then results in disturbances in the sequence.

(19) The preferably exchangeable gripper jaws 22, 22 preferably may be of an elastomer, and are covered on their surfaces 22a, 22a or also homogeneously in the material with hard material particles (e.g., corundum) to form roughened gripper surfaces and thereby increase the frictional force. The hard material particles may be applied directly to the elastomer, for example by fusing or dissolving the elastomer; or they may be glued on directly; or they may be located on an elastic intermediate support (textile) that in turn is glued to the elastomer.

(20) The invention is not restricted to the exemplary version shown. The various drives of the moving parts may be implemented in various ways, for example, using pneumatic or hydraulic working cylinders, electric motors, magnetic drives, or the like. Also the transmission of force may be accomplished by means of various endless and closed force transmissions such as belts, toothed belts, chains, etc.

(21) Finally, it should be noted that the term comprising does not exclude other elements or features, and that use of the terms a or an does not necessarily exclude a plurality, in the sense that singular reference of an element does not exclude the plural reference of such elements. The verb comprise and its conjugations do not exclude the presence of elements or steps other than those listed in any claim or the specification as a whole. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot possibly be used to advantage. Furthermore, elements described in association with different versions may be combined. Finally, it should be noted that the above-mentioned examples, and versions illustrate rather than limit the invention, and that those skilled in the art will be capable of designing many alternative implementations without departing from the scope of the invention as defined by the appended claims. As equivalent elements may be substituted for elements employed in claimed invention to obtain substantially the same results in substantially the same way, the scope of the present invention is defined by the appended claims, including known equivalents and unforeseeable equivalents at the time of filing of this application. Thus, in closing, it should be noted that the invention may not be merely limited to the abovementioned versions and exemplary working examples. Further developments, modifications and combinations are also within the scope of the appended patent claims and are placed in the possession of the person skilled in the art from the present disclosure. Accordingly, the techniques and structures described and illustrated previously herein should be understood to be illustrative and exemplary, and not necessarily limiting upon the scope.

(22) TABLE-US-00001 List of Reference Labels 1 Base frame 2 Drive motor 3 Toothed drive belt 4 Twisting head 5 Axis fixed to frame 6 First roller bearing 7 Second roller bearing 8 Pot-like twisting head housing 8 Tubular extension 9 First toothed disk 10 Second toothed disk 11 Pressure ring 12 Plain bearing 13 Axial roller bearing 14 Pivot axis 15 Lever 16 Pivot bearing 17 Pneumatic cylinder 18 Holder 19, 19 Pressure rod 20, 20 Angle lever 21, 21 Second pivot axis 22, 22 Gripper jaws 23, 23 Linear guide 24, 24 Line 25 Front-side end plate 26 Tubular sleeve 27 Locking ring 28, 28 Locking tappet 29, 29 Spring-mounted pressure bolt 30, 30 Bolt 31 Ring 32 Line end 33 Line end 34 Insertion and ejection region 35 Screws 36 Guide grooves