| 摘要 |
A gripping device for transport manipulators for taking hold of and transporting round workpieces, in particular rings, has in a first embodiment at least three gripping arms which are uniformly distributed in the peripheral direction and are connected in an articulated manner via connecting straps to a common distributor plate in order to swing them out and in. The distributor plate is mounted in a concentrically rotatable manner and can be moved by a pressure-medium cylinder. In this arrangement, the distributor plate is rotatably mounted on a hollow spindle, the bore of which is dimensioned in such a way that it can accommodate the mandrel of a ring rolling mill. In a second embodiment, two pincer-like gripping arms are provided which can be swung out and in by a common pressure-medium cylinder and which take hold of the ring from outside and inside at approximately diametrically opposite locations. A third embodiment has two swing-out and swing-in gripping arms as well as a third gripping arm which can be displaced radially to the workpiece by a separate pressure-medium cylinder. The three gripping arms movable in synchronism guarantee a three-point support when reaching beneath the workpiece at an unchanged position of the centre point of the workpiece, irrespective of its diameter, and a low heat transfer at the points of application.
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