1-14. (canceled)
15. A braking device for a motor vehicle, comprising:
a first group of brake circuits; and
a second group of brake circuits, wherein one group of wheels is associated with each brake circuit, at least the first group of brake circuits being hydraulic brake circuits, at least one group of wheels being connected to at least one operating unit for causing a deceleration of the wheels, having a control unit, which controls the brake application of the brake circuit or circuits of the second group and in particular the deceleration effect of the operating unit or assemblies, and the first group of brake circuits being activatable directly by the driver using a brake operating unit.
16. The braking device of claim 15, wherein a brake circuit of the second group is implemented as a hydraulic brake circuit, which has one of a differential pressure regulator and a pressure regulator as the control element.
17. The braking device of claim 15, wherein a brake circuit of the second group is a hydraulic brake circuit and is directly hydraulically connectable to the brake operating unit.
18. The braking device of claim 16, wherein the hydraulic brake circuit of the second group has a hydraulic auxiliary accumulator on the intake side of a hydraulic pump of the brake circuit in the form of a pistoncylinder system having a spring pre-tension which generates a suction effect.
19. The braking device of claim 18, wherein the pistoncylinder system has a stepped piston, whose secondary-side piston, which is smaller in cross section, is connected to a high-pressure line of the brake circuit, reducing the accumulator volume.
20. The braking device of claim 18, further comprising:
an accumulator sensor for ascertaining the quantity of hydraulic fluid stored in the auxiliary accumulator.
21. The braking device of claim 15, wherein the brake circuits of both groups are hydraulic brake circuits and each having a hydraulic pump, wherein the hydraulic pumps are kinematically connected to a shared pump drive, and wherein the hydraulic pumps are associated with the brake circuits of the first group may be mechanically decoupled from the pump drive, by a freewheel clutch, which is controllable by a rotational direction of a pump drive shaft.
22. The braking device of claim 15, wherein the brake circuits of both groups are hydraulic brake circuits and each having a hydraulic pump, wherein the hydraulic pumps are kinematically connected to a shared pump drive, and wherein the hydraulic pumps associated with the brake circuits of the first group are connectable on the intake side to the particular high-pressure output via valves, and are connected to the particular brake circuit via spring-loaded check valves on the high-pressure side.
23. The braking device of claim 15, further comprising:
a brake master cylinder, which is coupled to the brake operating unit so that during an operation of the brake operating unit, a pressure signal corresponding to the operation of the brake operating unit is provided, at least one brake circuit of the second group having at least one wheel brake cylinder, which is situated on an associated wheel, being coupled to the brake master cylinder so that the pressure signal from the brake master cylinder may be relayed to the wheel brake cylinder, the wheel brake cylinder being configured for the purpose of exerting a force corresponding to the pressure signal on the wheel;
a disconnection valve, which is situated between the brake master cylinder and the wheel brake cylinder, and which is configured for passing into the closed state upon receiving a provided closing signal and preventing the pressure signal from being relayed to the wheel brake cylinder; and
an external accumulator, which is coupled to the wheel brake cylinder so that the volume for a pressure buildup in the wheel brake cylinder may be provided by the external accumulator to the wheel brake cylinder.
24. The braking device of claim 23, wherein the external accumulator is a stepped piston, which has a volume reservoir for the elevated pressure in the wheel brake cylinder on a primary side and is coupled to a delivery side of a pump on a secondary side, the external accumulator and the pump being activatable by the control unit so that, if the disconnection valve is in its closed state, the pressure in the wheel brake cylinder is settable via the pump and the external accumulator.
25. A hydraulic system for a braking device of a motor vehicle, comprising:
a first group of hydraulic brake circuits; and
a second group of hydraulic brake circuits, the brake circuits being hydraulically directly connected to a brake operating unit, which is operable directly by the driver, the brake circuits of the second group being connectable to the brake operating unit using a disconnection valve and being completely disconnectable therefrom, and having a control unit, which controls the brake application of the brake circuit or circuits of the second group.
26. The hydraulic system of claim 25, further comprising:
an accumulator unit, which is connected to the brake circuits of the second group.
27. A method for operating a braking device for a motor vehicle, comprising:
activating directly brake circuits of a first group by a brake operating unit, while activating brake circuits of a second group by a control unit, which accepts a detected braking intent or a braking intent ascertained in another way, and which takes into account a deceleration effect of an operating unit and a brake application of the first group of brake circuits and the braking intent, and ascertains an intensity of operation of the second brake circuits therefrom;
wherein the braking device includes the first group of brake circuits, and further includes the second group of brake circuits, wherein one group of wheels is associated with each brake circuit, at least the first group of brake circuits being hydraulic brake circuits, at least one group of wheels being connected to the at least one operating unit for causing a deceleration of the wheels, having the control unit, which controls the brake application of the brake circuit or circuits of the second group and in particular the deceleration effect of the operating unit or assemblies, and the first group of brake circuits is activatable directly by the driver using the brake operating unit.
28. A method for operating a braking device, the method comprising:
receiving a provided closing signal and closing a disconnection valve to prevent the pressure signal from being relayed from a brake master cylinder to the wheel brake cylinder; and
controlling a force exerted by the wheel brake cylinder on the wheel by providing a volume for a pressure buildup in the wheel brake cylinder from an external accumulator to a wheel brake cylinder;
wherein the braking device includes the first group of brake circuits, and further includes the second group of brake circuits, wherein one group of wheels is associated with each brake circuit, at least the first group of brake circuits being hydraulic brake circuits, at least one group of wheels being connected to the at least one operating unit for causing a deceleration of the wheels, having the control unit, which controls the brake application of the brake circuit or circuits of the second group and in particular the deceleration effect of the operating unit or assemblies, and the first group of brake circuits is activatable directly by the driver using the brake operating unit, and
wherein the braking device further includes the brake master cylinder, which is coupled to the brake operating unit so that during an operation of the brake operating unit, a pressure signal corresponding to the operation of the brake operating unit is provided, at least one brake circuit of the second group having at least one wheel brake cylinder, which is situated on an associated wheel, being coupled to the brake master cylinder so that the pressure signal from the brake master cylinder may be relayed to the wheel brake cylinder, the wheel brake cylinder being configured for the purpose of exerting a force corresponding to the pressure signal on the wheel, a disconnection valve, which is situated between the brake master cylinder and the wheel brake cylinder, and which is configured for passing into the closed state upon receiving a provided closing signal and preventing the pressure signal from being relayed to the wheel brake cylinder, and an external accumulator, which is coupled to the wheel brake cylinder so that the volume for a pressure buildup in the wheel brake cylinder may be provided by the external accumulator to the wheel brake cylinder.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. An industrial gripper with multiple degrees of freedom comprising:
a base plate;
at least three finger units to be moved relative to the base plate;
a supporting unit to support the finger units;
a first drive unit coupled to the supporting unit to allow simultaneous angular displacement of the finger units toward an object; and
a second drive unit coupled to the supporting unit to adjust orientation angles between the finger units,
wherein each of the finger units includes an intermediation member to be moved in a first direction by the first drive unit, a grip member to grip the object by being moved in a second direction different from the first direction as a movement direction of the intermediation member, and a connection member to convert the first direction movement of the intermediation member into the second direction movement of the grip member.
2. The industrial gripper with multiple degrees of freedom according to claim 1, wherein:
the first direction is a vertical direction of the base plate; and
the second direction is a horizontal direction of the base plate.
3. The industrial gripper with multiple degrees of freedom according to claim 2, wherein the grip member includes a grip piece to be moved by the first drive unit while being kept in the horizontal direction of the base plate.
4. The industrial gripper with multiple degrees of freedom according to claim 1, wherein the connection member includes a fixing portion installed to the supporting unit, an opposite portion installed to the grip member so as to be opposite to the fixing portion, and a link portion consisting of a plurality of links to connect the intermediation member, the fixing portion and the opposite portion to one another.
5. The industrial gripper with multiple degrees of freedom according to claim 4, wherein the link portion includes:
a first drive link coupled to the intermediation member;
a second drive link having one end coupled to one end of the first drive link, an other end coupled to a first point of the opposite portion and an angled portion coupled to a first point of the fixing portion; and
a driving-assistant link having one end coupled to a second point of the fixing portion and an other end coupled to a second point of the opposite portion.
6. The industrial gripper with multiple degrees of freedom according to claim 5, wherein the second drive link, the driving-assistant link, the fixing portion and the opposite portion define a parallelogram 4-bar link structure.
7. The industrial gripper with multiple degrees of freedom according to claim 1, wherein the first drive unit includes:
a first drive motor fixed to the supporting unit; and
a first power transmission member to transmit drive power of the first drive motor to the intermediation member.
8. The industrial gripper with multiple degrees of freedom according to claim 7, wherein the first drive unit further includes a sensing device installed to the first drive motor to monitor current of the first drive motor.
9. The industrial gripper with multiple degrees of freedom according to claim 7, wherein the first drive motor includes at least one of an electric motor, a pneumatic cylinder and a hydraulic cylinder.
10. The industrial gripper with multiple degrees of freedom according to claim 7, wherein the first power transmission member includes:
a first-A pulley coupled to the first drive motor;
a first-B pulley coupled to the first-A pulley via a first belt;
a ball screw assembly coupled to the first-B pulley; and
a connection frame coupled to the ball screw assembly to transmit drive power for the first direction movement to the intermediation member.
11. The industrial gripper with multiple degrees of freedom according to claim 10, wherein the ball screw assembly includes:
a ball screw coupled to the first-B pulley;
a ball nut screwed to the ball screw; and
a linear guide coupled to the connection frame while being arranged parallel to the ball screw.
12. The industrial gripper with multiple degrees of freedom according to claim 1, wherein the second drive unit includes:
a second drive motor installed to the supporting unit; and
a second power transmission member to transmit drive power of the second drive motor to two finger units of the finger units.
13. The industrial gripper with multiple degrees of freedom according to claim 12, wherein the second drive motor includes at least one of an electric motor, a pneumatic cylinder and a hydraulic cylinder.
14. The industrial gripper with multiple degrees of freedom according to claim 12, wherein the second power transmission member includes:
a second-A pulley coupled to the second drive motor;
a second-B pulley coupled to the second-A pulley via a second belt;
a first rotating shaft coupled to a fixing portion of any one finger unit and having the same rotation center as the second-B pulley;
a driving gear coupled to the second-B pulley;
a driven gear connected to the driving gear via an intermediation gear; and
a second rotating shaft coupled to a fixing portion of the other finger unit and having the same rotation center as the driven gear.
15. The industrial gripper with multiple degrees of freedom according to claim 3, wherein the grip piece includes:
a first surface defining an upper stepped surface;
a second surface defining a circular side surface near a lower end thereof; and
a third surface defining a flat side surface connecting the first surface and the second surface to each other.
16. An industrial gripper with multiple degrees of freedom comprising:
a base plate;
three finger units to be moved relative to the base plate;
a supporting frame to support the finger units coupled thereto;
a first drive unit coupled to the supporting frame to allow simultaneous angular displacement of the finger units; and
a second drive unit coupled to the supporting frame to adjust orientation angles between the finger units,
wherein each of the finger units includes an intermediation member to be moved vertically relative to the base plate by the first drive unit, a grip member to grip an object by being moved in a horizontal direction of the base plate according to the vertical movement of the intermediation member, and a connection member to convert the vertical movement of the intermediation member into the horizontal movement of the grip member.