RU2756450C1 - Device for automatic capture and transportation of long axisymmetric parts - Google Patents

Abstract

FIELD: load gripping devices.SUBSTANCE: invention relates to loading and unloading operations, in particular to load grippers. The device contains an automatic capture system fixed on the traverse. The gripping mechanism includes a housing with a built-in slider on which the copier is attached and at one end of which a stop is built in, and the second is connected to an electromechanical drive for its axial feed. The grippers are made in the form of a slider and two levers, at one end of which there are contact stops with the surface of the part, and at the other ends there are built-in contact rollers with the copier. The three stops are arranged evenly around the circle in 120° increments. The gripping mechanism is equipped with an automatic control circuit for fixing and clamping the part, which includes a feedback sensor for controlling the torque of the electromechanical drive. The drive output is connected to the input of the control unit.EFFECT: simplification of the design is achieved with an increase in the reliability of the gripping mechanism and high accuracy of fixation.2 cl, 2 dwg

Description

The invention relates to loading and unloading operations, in particular to cargo handling devices. Known load-gripping device, taken as a prototype, containing associated with the lifting machine housing, made with a vertical hole, located in it gripping levers and a mechanism for fixing their positions and is equipped with a slider freely installed in the housing [1].

The disadvantages of such a load-gripping device are:

- the design of the device cannot be used to transport long shafts and other axisymmetric parts;

- the device has units, the mechanisms of which are distinguished by complex kinematics, due to the presence of a large number of parts interacting with each other;

- the presence of an unreliable element of the torsion spring device designed to return the bushing installed in the bearings to its original position relative to the upper bushing.

Known automatic gripper, selected as an analogue contains a housing, a suspended traverse, gripping levers, a locking mechanism for the gripping levers and a locking mechanism for the gripping levers. The traverse is made in the form of a box-shaped beam, at the ends of which axles are installed for hinged fastening of the hinged rods.

On the upper part of the traverse there is a shackle, with the help of which the automatic gripper is hung on the hook of the lifting mechanism.

On the lower arms of the gripping levers, the gripper arms are hingedly mounted. The upper arms of each gripping lever are connected to the traverse through the articulated rods [2].

The disadvantages of such a load-gripping device are:

- the impossibility of gripping and transporting long, low-rigidity parts;

- the device has units, the mechanisms of which are distinguished by complex kinematics;

- the presence of an unreliable element of the torsion spring device designed to return to the initial position of the sleeve installed in the bearings.

In the event of significant frictional forces in the bearing assembly, the mechanism for fixing the positions of the gripping levers can malfunction - which significantly reduces the degree of reliability of the device.

The objective of the present invention is to provide an automatic device for gripping and transporting long axisymmetric parts, as well as a simple design with increased reliability of the gripping mechanism and high fixation accuracy.

The problem is solved by the fact that the automatic device for gripping and transporting long axisymmetric parts contains a traverse with fixed automatic self-centering grippers - ASZ. ASZ include a body with a built-in slider, on which the copier is attached, connected to an electromechanical drive of its axial feed. The second end of the slide is equipped with a stop. Two grippers made in the form of two levers, at one ends of which there are stops of contact with the part, and at the other ends there are rollers of contact with the copier, and the stops are evenly spaced around the circumference with a step of 120 °.

To control the contact of the stops with the part and the moment of gripping, the device is equipped with an automatic control circuit for fixing and clamping the part.

The latter includes: an electromechanical drive torque control sensor. The signal from the sensor output is connected to the input of the control unit. The output from the control unit is connected to the input of the electric drive. Automatic self-centering grippers are rigidly attached to the traverse with a step equal to less than twenty part diameters.

The use of automatic self-centering grippers mounted on a rigid traverse allows you to grip and transport low-rigidity long axisymmetric parts of the "shaft" type with high accuracy of centering and uniform distribution of the external load.

Equipping automatic self-centering grippers with an automatic control circuit allows you to control the moment of contact of the gripper stops with the part and its clamping forces. The uniform arrangement of the grippers along the length of the traverse excludes elastic-plastic deformation of the part during the gripping and transportation process.

The simplicity of the design of the device with a minimum number of parts ensures high reliability of the gripper mechanism.

Uniform arrangement of automatic self-centering grippers along the length of the traverse eliminates the influence on the elastic-plastic deformation of the part in the process of force surges during transportation and unloading.

The invention is illustrated by the drawings shown in FIG. 1-2. FIG. 1 shows a general view of the device and a functional diagram of the control loop.

The device for gripping and transporting long axisymmetric parts contains an automatic self-centering gripper 1 (ASZ), a traverse 2, on which the ASZ 1 is mounted, an electromechanical clamp drive 3, a torque sensor 4, a control unit 5 and a lifting mechanism of the installation 6. The lifting mechanism 6 is connected with traverse 2 slings 7. Levers 13 ASZ with support rollers 14 are installed in the housing 8. Clamp drive 3 is connected to the slide 11 through a screw pair 10. A copier 12 is attached to the slide 11. Levers 13 and slide 11 are equipped with stops 15 for contact with the surface of the part 8, which is installed in the centers 9 of the machine. The device for gripping and transporting long axisymmetric parts of the shaft type works as follows. Automatic self-centering grippers ASZ 1, fixed on the traverse 2 and installed along the entire length of the traverse 1 with a step of less than twenty diameters, the parts are lowered using the lifting mechanism 6 and the slings 7, the latter are attached to the traverse 2 and on the hook of the lifting mechanism 6, to the processed workpiece 8 fixed in 9 cents of the processing machine. When the ACZ is lowered onto the part, the gripper drive 3 is automatically activated for opening, which, through the screw mechanism 10, converts the rotational movement into a linear movement of the slider 11 with the copier 12 attached to it. The rollers of the contact 14 move along the copier 12 and the levers 13 open. ASZ with the help of the lifting mechanism 6, lowering on the part, touches the stop 15 to the outer surface of the part. Moving, the copier 12 brings the levers 13 and the slider 11 into contact with the part 8 through the stops 15 located evenly relative to the shaft surface with a step of 120 °. At the moment of contact of the stop 15 with part 8, the electrical circuit of the power source closes, which is mounted in the control unit 5 (with a voltage not higher than 12 V). At the moment of contact of the part 8, which has a plus pole and the stop of the slider 11, which has a minus, from the power supply, a signal is sent to the input of the control unit 5 to stop the drive of the lifting mechanism 6 and to turn on the electromechanical drive of the clamp 3. The latter through the drive 3, which rotates in the opposite direction and the screw mechanism 10 moves the slider 11 with the copier 12 attached to it on the part. Moving, the copier 12 brings the stops 15 of the levers 13 and the slider 11 into contact with the part 8 through the stops 15. This captures the part and fixes it. Further, when the operating torque is exceeded by 10%, the torque sensor 4 installed on the electromechanical drive of the clamp 3 stops it. Further, the part 8 is freed from the machine centers 9 and the mechanism for lifting and transporting the device 6 with the part is turned on with the help of the stopper 7 to the next machine to perform another mechanical operation.

The use of the developed device for gripping and transporting long axisymmetric shaft-type parts is advisable to use for long parts from two to six meters in length. For such parts, force surges during lifting and installation on machine tools lead to plastic microdeformation and loss of accuracy.

Sources of information

1. A.S. USSR 1624909 IPC В66С 1/66

2. Patent RU 2394747 IPC В66С, 1/42, 2010

Claims (2)

1. A device for gripping and transporting long axisymmetric parts, suspended on a lifting mechanism using cables, containing a body, gripping levers, a mechanism for fixing their position, characterized in that it contains a traverse with fixed grips, including a body with a built-in slider, on which the copier is attached to and on one end of which there is a built-in stop, and the second is connected to the electromechanical drive of its axial feed, and two grips made in the form of two levers, at one ends of which stops are installed, and at the other ends there are rollers of contact with the copier, and the stops spaced evenly around the circumference in 120 ° increments. 2. A device for gripping and transporting long axisymmetric parts according to claim 1, characterized in that it is equipped with an automatic control circuit for fixing and clamping the part, which includes a torque control sensor of the electromechanical drive, the output of which is connected to the input of the control unit, and its output is turned on to the input of the electric drive.

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