This application claims priority under 35 U.S.C. §§ 119(a)-(d) to German patent application no. DE 10 2017 103 129.4 filed Feb. 16, 2017, which is hereby expressly incorporated by reference as part of the present disclosure.
The present disclosure generally relates to devices for automated handling of bevel gear components.
Robots and other handling devices are increasingly being used to change workpieces and/or tools in an automated manufacturing environment. There are corresponding solutions for the mass production of gearwheels, which enable a gearwheel workpiece to be introduced into a gear cutting machine or a finished machined gearwheel workpiece to be removed from the machine, to then transfer it to a measuring center or place it in a storage container.
A bevel gear 1 can comprise, as shown in
To be able to remove a bevel gear 1 in a manufacturing environment—for example, after processing by the cutting machining—from a machine tool, gripping devices are used, as discussed above.
To enable reliable, form-fitting gripping of various bevel gears 1, grippers 2 have heretofore been used which are especially adapted to the shape and size of the bevel gear 1. If ten different bevel gears are produced in a manufacturing environment, for example, a corresponding number of different grippers has heretofore also had to be provided.
On the one hand, additional cost and space expenditure thus results. Further, the gripper change consumes time.
It is an object to provide a device for gripping bevel gears which is universal.
In one aspect, a device is provided, comprising at least two grippers for the form-fitting gripping of a bevel gear having a cone face, a heel region, and an axis of rotation.
In at least some embodiments the grippers can be infed radially in relation to the axis of rotation of the bevel gear and each of the grippers comprises at least one inner region for interacting with the cone face and a counter holder for interacting with the heel region.
In at least some embodiments, the device has a holder having a changeable angle of attack located in or on the inner region of each gripper. This holder is movably mounted such that it adapts its angle of attack in relation to the inclination of the cone face of the bevel gear upon the radial infeed in the direction of the bevel gear.
In at least some embodiments, the grippers have an automatically adapting angle of attack in the region of the inner face.
In at least some embodiments, the holder is a rocker, which has a pivot axis. The holder is movably mounted about this pivot axis, so that the holder can execute rocking movements.
In another aspect, grippers operate in a form-fitting manner, such that the grippers do not cause damage to the bevel gear or leave gripping tracks, for example, in the form of grooves.
In another aspect, depending on the configuration and arrangement of the holder on the gripper, an angle adjustment range may result from the pivoting ability of the holder in relation to the gripper. The angle adjustment range can be in the range of ±20°, depending on the embodiment of the gripper.
Some embodiments may have an angle adjustment range of at least ±10°.
Since bevel gears not only have different head cone angles, but rather frequently also have different heel regions, some embodiments can have an adjustable counter holder instead of a fixed counter holder. An adjustable counter holder in the meaning of this disclosure is a counter holder which is movably mounted on the gripper and/or which comprises at least one movably mounted ball or pressure element.
In some embodiments, the counter holder is designed so that it functions independently of the location of the tooth gaps of the bevel gear. For this purpose, for example, instead of a fixed cantilever, two balls or pressure elements can be attached to the cantilever. The effective contact point of the counter holder on the heel region thus lies at the same height—independently thereof. To enable this, the spacing of the balls or pressure elements is such that at least one ball or one pressure element does not strike on a gap in the heel region.
In some embodiments the gripper can be designed as replaceable, to perform an adaptability to the respective bevel gear geometry.
In some embodiments, the gripper can be equipped with a replaceable holder, to perform an adaptability to the respective bevel gear geometry.
In some embodiments, the counter holder and/or the balls or pressure elements can be replaceable, to perform an adaptability to the respective bevel gear geometry.
In another aspect, the device can be equipped with a fixed or an adjustable counter holder.
In accordance with one aspect, a device includes two or more grippers configured to form-fittingly grip a bevel gear that has a cone face, a heel region, and an axis of rotation. The grippers are configured to be infed radially relative to the axis of rotation, and each gripper has at least one inner region configured to interact with the cone face, a counter holder for interacting with the heel region, and a holder located at the inner region that has a changeable angle of attack. The holder may be movably mounted on the gripper so that its angle of attack can change in relation to an inclination of the cone face of the bevel gear during infeeding of the grippers, e.g., so as to match the inclination. The holder may be configured as a rocker, and can be pivotably mounted on the gripper about a pivot axis. The holder and the counter holder may be configured as a rocker, mounted pivotably on the gripper about a pivot axis. The holder may be movable in coordination with the counter holder. The counter holder may be fixedly connected to its gripper. The holder may be mounted in a receptacle opening of its gripper. The holder can define a lateral surface that exerts a mechanical interaction with the cone face of the bevel gear. The counter holder can define a cantilever or plate fixedly connected to the gripper. The counter holder can alternatively define a cantilever or plate movably connected to the gripper. In at least some embodiments, the cantilever or plate is movable or rotatable about a pivot axis. In at least some embodiments, the counter holder includes a ball or a pressure element. In at least some embodiments, the ball or the pressure element is movably mounted on the counter holder. The grippers can include a base movably mounted in a linear guide along which the gripper moves linearly during radially infeeding (or outfeeding).
In at least some embodiments, the lateral surface defines a planar surface that, after radial infeeding, is tangential to a circumferential circle defined by the cone face. In other embodiments, the lateral surface is curved so as to engage against the circumferential circle of the cone face after radial infeeding.
In accordance with a another aspect, a handling device, e.g., for use in or on a bevel gear cutting machine, may include any of the above-mentioned devices, and further include a drive configured to radially infeed the at least two grippers relative to the axis of rotation of the bevel gear.
Other objects, features, and/or advantages will become apparent in view of the following detailed description of the embodiments and the accompanying drawings.
However, while various objects, features and/or advantages have been described in this summary and/or will become more readily apparent in view of the following detailed description and accompanying drawings, it should be understood that such objects, features and/or advantages are not required in all aspects and embodiments.
This summary is not exhaustive of the scope of the present aspects and embodiments. Thus, while certain aspects and embodiments have been presented and/or outlined in this Summary, it should be understood that the present aspects and embodiments are not limited to the aspects and embodiments in this summary. Indeed, other aspects and embodiments, which may be similar to and/or different from, the aspects and embodiments presented in this summary, will be apparent from the description, illustrations and/or claims, which follow.
It should also be understood that any aspects and embodiments that are described in this summary and do not appear in the claims that follow are preserved for later presentation in this application or in one or more continuation patent applications.
Other advantages and features of the disclosure will become apparent from the following detailed description, which are to be understood not to be limiting and which will be described in greater detail hereafter with reference to the drawings, wherein:
Terms are used in conjunction with the present invention which are also used in relevant publications and patents. However, it is to be noted that the use of these terms is only to serve for better understanding. The inventive concepts and the scope of protection of the patent claims are not to be restricted in the interpretation by the specific selection of the terms. The invention may be readily transferred to other term systems and/or technical fields. The terms are to be applied accordingly in other technical fields.
This relates to the gripping and handling of bevel gears 1. Bevel gear pinions 1 are shown in each of the figures, wherein the invention may also be applied to other bevel gears.
The grippers 102 of the device 100 can be infed radially in relation to the axis of rotation RA of the bevel gear 1. The radial infeed movement is shown in
In
In at least some embodiments, the device 100 comprises a holder 101 having a changeable angle of attack β in or on the inner region 104. The holder 101 is movably mounted so that during the radial infeed in the direction of the bevel gear 1, it adapts its angle of attack β in relation to the inclination (defined by the head cone angle δa) of the cone face 1.1 of the bevel gear 1.
The inner region 104 may be defined as the region which faces in the direction of the bevel gear 1 to be gripped.
Two dashed auxiliary lines 1.6 and 113 are shown in
If the gripper 102 is infed radially in the direction of the axis of rotation RA, as indicated by the block arrow ZB, a mechanical interaction thus occurs between the holder 101 and the cone face 1.1 of the bevel gear 1.
If the angle of attack β of the holder 101 corresponds to the head cone angle δa in the starting position, the holder 101 may need not execute a rocking or pivot movement about the pivot axis SA during the infeed. The holder 101 may thus remain in the starting position in that case. Together with the counter holder 103, the holder 101 of the gripper 102 would hold the bevel gear 1, when at least one second gripper 102 is infed diametrically opposite (see e.g.,
However, as already mentioned, an example is shown in
The final position of the holder 101 as shown in
Depending on the configuration and arrangement of the holder 101 on the gripper 102, a maximum angle adjustment range results because of the pivoting ability of the holder 101 in relation to the gripper 102.
The angle adjustment range can be, depending on the design of the gripper 102, in the range of ±20°.
In the example shown in
A device 100 of the invention, which is equipped with two or three of the grippers 102 of
The effective angle adjustment range is dependent on the arrangement of the pivot axis SA, the shaping of the holder 101, and the shaping of the inner region 104.
It can be seen in
In at least some embodiments the holder 101 can be elastically mounted to avoid hard impacts during the interaction with the cone face 1.1. For this purpose, a torsion spring can be seated in the region of the pivot axis SA, or compression springs can be arranged in the region of the inner face.
Since certain devices 100 are discussed herein which grip in a form-fitting manner, the holder 101 of each gripper 102 can also be provided in at least some embodiments with a layer, coating, or an element which is elastically yielding. Damage to the bevel gear 1 can thus be avoided. It is thus also possible to prevent the holders 101 of the device 100 from being damaged if chips enter the interaction region or if burrs, which can be very sharp, have formed, for example, on the bevel gear 1.
Since bevel gears 1 not only can have different head cone angles 6, but rather frequently also have different heel regions 1.2, the device 100 may have an adjustable counter holder 103 instead of a fixed counter holder 103 (see e.g.,
These figures show a bevel gear pinion 1 in combination with a gripper 102, wherein the gripper 102 has been infed toward the bevel gear pinion 1. From bottom to top, the gripper 102 comprises the following:
The balls or pressure elements 105 can be connected to the gripper body 108 so that they can rotate, or to the counter holder 103 so that they are linearly movable, as shown in
If the grippers 102 of the invention comprise a base 110 having horizontally extending guide ribs 114, complementary guide structures can thus be provided on a main body, to guide the grippers 102 linearly. A drive (for example, a motor having gearing elements, or a drive operated using compressed air) can also be provided on the main body, to be able to radially infeed the two or three grippers 102.
An enlarged side view of a further embodiment of a gripper 102 is shown in
The ball 105 may be spring-loaded to allow exertion of a restoring force in the direction of the heel region 1.2 of the bevel gear 1. The ball 105 can also be fixedly mounted, or it can mounted so that it is linearly movable (see
A further embodiment shown in
A further embodiment is shown in
In some embodiments as shown in
Enlarged perspective views of further embodiments of a gripper 102 are shown in
In certain of the illustrated embodiments, the holder 101 has a planar lateral surface 101.1. The planar lateral surface 101.1 may be tangential to a circumferential circle of the cone surface 1.1 of the bevel gear 1 after the infeed ZB. One such embodiment is shown in
Since the cone face 1.1 of the bevel gear 1 has a circular shape viewed in transverse section, the lateral surface 101.1 can have a curvature, such as schematically indicated in the embodiment of
A further embodiment of a device 100 is shown in
The applicant reserves the right to incorporate features from the description and the patent claims, which includes parts of sentences from the description and the claims, in a claim and, in particular, to make them the subject matter of a new patent claim.
Terms like substantially, preferably and the like and indications that may possibly be understood to be inexact are to be understood to mean that a deviation from the normal value is possible.
Unless stated otherwise, terms such as, for example, “comprises,” “has,” “includes,” and all forms thereof, are considered open-ended, so as not to preclude additional elements and/or features.
Also unless stated otherwise, terms such as, for example, “a” and “one” are considered open-ended, and do not mean “only a” and “only one”, respectively.
Also, unless stated otherwise, the phrase “a first” does not, by itself, require that there also be a “second.”
Also unless stated otherwise, terms such as, for example, “in response to” and “based on” mean “in response at least to” and “based at least on,” respectively, so as not to preclude being responsive to and/or based on, more than one thing.
While the above describes certain embodiments, those skilled in the art should understand that the foregoing description is not intended to limit the spirit or scope of the invention. It should also be understood that the embodiments of the present disclosure described herein are merely exemplary and that a person skilled in the art may make any variations and modification without departing from the spirit and scope of the disclosure. All such variations and modifications, including those discussed above, are intended to be included within the scope of the disclosure.
Number | Date | Country | Kind |
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102017103129.4 | Feb 2017 | DE | national |