Pfaff Industriemaschinen Gmbh

Pfaff Industriemaschinenfabrik Gmbh

Gerd Wauer

Dietmar Becker

Bernd Ellenberger

Rubi Schonthaler

Karl P Molder

Karl-Heinz Brockmann

Wolfgang Seelinger

An industrial robot gripping device for gripping workpieces which have opposite contoured faces comprise gripping jaws which are contained by a parallel linkage which have faces which engage on the respective faces of the workpiece from opposite sides and are of a mere image configuration so that the engagement is complete. The parallel linkages include a coupler link at one end of the linkage which carries the respective clamping jaw and a flap interconnecting two parallel crank arms at their opposite end parts and also connecting two guide rod members which are pivoted at spaced locations to the housing so that they may move parallel to each other. The outer crank arms of each linkage include an extending portion which terminates in a bearing pin which is engaged in a curved slot which is defined symmetrically on each side of the housing. The bearing pins are driven by the driving mechanism such as an air cylinder to cause them to move in the curve slot and transmit the motion to the parallel linkage and also two connecting rods to a central pin which moves along a slot which is defined in a symmetrical line of the housing.

Industrial robot having a gripping device

An industrial robot for gripping workpieces of diverse shape comprises at least one finger preferably two arranged for pivotal movement on respective sides of the workpiece. Each finger has at least one workpiece engagement member or joint which is movable thereon. Fluid pressure operated means are connected to the workpiece engagement member or joint so that it is moved outwardly from the associated finger to engage the workpiece and to be locked in the engaged position so that it will reengage in the same position after the finger is shifted relative to the workpiece to reengage it.

Industrial robot with a gripping mechanism

A device for separating a topmost workpiece from a stack of textile workpieces, comprises a table support which is guided for upward and downward movement and which is adapted to contain a stack of the workpieces and which is urged in an upward direction by weight means which are engaged with the table. In addition, a holding member is mounted for movement toward and away from the table and includes a lower end which is engageable on the top of the stack to hold the workpieces in position. A strip-off element, for example, a rotatable member having a plurality of radially extending bristles is engageable with the stack adjacent the holding member, and it is rotatable to direct at least the uppermost workpiece over the length of the holding member which is arranged in an inclined position over the stack. The holding member includes holding pins so that as the strip-off member moves upwardly over the holding member, it causes engagement of at least the uppermost workpiece with the pins. The pins are oriented so that the workpieces cannot be removed backwardly in a direction to cause them to fall back into the stack. Since additional workpieces are also likely to be directed up over the holding member, the strip-off member, after it moves to direct at least the uppermost workpiece into engagement with the engagement members along the length of the holding member, then moves in an opposite direction to deflect off any additional workpieces which, by this motion, will become disengaged from the needle and return back to the stack. After the uppermost strip alone is engaged on the holding member, it is raised and positioned in a position to be engaged by a clamping member to move the workpiece into association with an operating machine.

Device for separating single textile workpieces from a stack

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Kaiserslautern, Germany

Gerd Wauer