Convertible gripping device
A gripping device having a holder and two gripper units. Each of the gripper units has a base body and two base jaws. The base jaws can be moved synchronously in opposite directions relative to the respective base body. The gripper units are arranged side by side on the holder so that the base jaws of both gripper units can be moved parallel to a common gripper plane. The gripping device is designed as a single gripper in that only a first gripper finger is attached to each of the two outer base jaws. It can very easily be converted to a double gripper by attaching two further gripper fingers to the inner base jaws, or by removing the first gripper fingers and attaching a second gripper finger to each of the four base jaws.
1 . A gripping device, comprising:
a holder; and
two gripper units,
wherein each of the gripper units comprises a base body with a drive and two base jaws, wherein the base jaws are synchronously movable in opposite directions relative to the base body by the drive,
wherein the two gripper units are arranged side by side on the holder in such a way that the base jaws of both gripper units are movable parallel to a common gripper plane, wherein one of the base jaws of each gripper unit is an inner base jaw, and the other base jaw of each gripper unit is an outer base jaw, wherein the inner base jaws of the two gripper units are arranged between the outer base jaws of the two gripper units, and
wherein the gripping device is configured as a single gripper, a first gripper finger being attached to each of the outer base jaws, so that a first object can be picked up with the first gripper fingers, while the inner base jaws do not carry any gripper fingers for picking up objects.
2 . The gripping device according to claim 1 , further comprising a controller configured to control, in a first operating mode, the drives of the two gripper units in a coupled manner such that the outer base jaws of the two gripper units are synchronously moved in opposite directions.
3 . The gripping device according to claim 1 , wherein the gripping device is convertible to a double gripper configuration by attaching two further first gripper fingers to the inner base jaws, or by removing the two first gripper fingers from the outer base jaws and attaching a second gripper finger to each of the outer and inner base jaws, so that a second object can be picked up with each of the two gripper units.
4 . The gripping device according to claim 3 , comprising:
two further first gripper fingers configured to be mounted on the inner base jaws of both gripper units, or
four second gripper fingers configured to be mounted on a respective one of the base jaws of the two gripper units after removal of the first gripper fingers so that the second object can be picked up independently with each of the two gripper units.
5 . The gripping device according to claim 3 , further comprising a controller configured to control, in a first operating mode, the drives of the two gripper units in a coupled manner such that the outer base jaws of the two gripper units are synchronously moved in opposite directions, the controller being switchable to a second operating mode in which the controller controls the two gripper units independently of each other.
6 . The gripping device according to claim 1 , wherein each of the gripper units comprises a position sensing device configured to determine a position of a target on that gripper finger that is mounted on the outer base jaw of the respective gripper unit.
7 . The gripping device according to claim 6 , wherein the position sensing device comprises an inductive position sensor, and wherein the target includes a soft magnetic material.
8 . The gripping device according to claim 1 , wherein each of the first gripper fingers comprises:
a base finger and
a gripper jaw,
wherein the base finger is releasably connected to one of the base jaws, and
wherein the gripper jaw is releasably connected to the base finger.
9 . The gripping device according to claim 8 , wherein the gripper jaw is connected to the base finger by a releasable snap connection.
10 . The gripping device according to claim 9 ,
wherein the gripper jaw includes at least one fastening cam,
wherein the base finger defines a finger longitudinal direction and has a lateral insertion opening extending transversely to the finger longitudinal direction, into which the at least one fastening cam of the gripper jaw can be inserted transversely to the finger longitudinal direction,
wherein a spring-loaded fixing pin with a latching projection extending into the insertion opening is provided on the base finger, and
wherein the fixing pin is formed and arranged such that the latching projection latches into a recess of the fastening cam when the fastening cam is inserted into the insertion opening to establish the releasable snap connection, and wherein that the releasable snap connection is releasable by pressure on an actuating element formed on or connected to the fixing pin.
11 . A gear cutting machine comprising:
a workpiece spindle;
a workpiece storage;
a tool carrier with a tool for machining a toothed workpiece; and
the gripping device according to claim 1 ,
wherein the gripping device is configured to pick up the toothed workpieces from the workpiece spindle or the workpiece storage to effect a workpiece change in the gear cutting machine.
12 . A method of operating a gripping device according to claim 1 , comprising:
picking up an object with the first gripper fingers by controlling the drives of the two gripper units in a coupled manner such that the outer base jaws of the two gripper units are moved synchronously in opposite directions.
13 . The method of claim 12 , comprising:
converting the gripping device from a single gripper configuration to a double gripper configuration either by attaching two further first gripper fingers to the inner base jaws or by removing the two first gripper fingers from the outer base jaws and attaching a second gripper finger to each of the outer and inner base jaws.
14 . The method according to claim 13 , comprising:
independently controlling the drives of the two gripper units after conversion to the double gripper configuration in such a way that the base jaws of each of the two gripper units are moved synchronously in opposite directions independently of the base jaws of the respective other gripper unit.
15 . The method according to claim 12 , comprising:
determining a position of a respective target on those gripper fingers that are mounted on the outer base jaws of the two gripper units.
16 . The method according to claim 12 , wherein the object is a toothed workpiece.
17 . The method according to claim 16 , wherein the toothed workpiece is picked up by the gripping device from a workpiece spindle or a workpiece storage of a gear cutting machine to effect a workpiece change in the gear cutting machine.