CS204483B1

CS204483B1 - Gripping facility

Info

Publication number: CS204483B1
Application number: CS12979A
Authority: CS
Inventors: Pavol Zelina; Pavol Cervenak
Original assignee: Pavol Zelina; Pavol Cervenak
Priority date: 1979-01-04
Filing date: 1979-01-04
Publication date: 1981-04-30

Description

Vynález aa týká uchopovacieho zariadenia, najma pre manipuláciu a hriadelovými predmetmi pri častéj zmene ich rozmerov a tvarov v podmienkach malosériových výrob.The invention aa relates to a gripping device, in particular for handling and shaft objects, frequently changing their dimensions and shapes under conditions of small series production.

Doposial známe uchopovacie zariadenia pre manipuláciu s hriadelovými predmetmi sú riešené účelovo s využitím vo velkosériových a hromadných výrobách. Ich aplikácia v podmienkach malosériových výrob si vyžaduje bud častú výměnu celého zariadenia, alebo pracné prezoradovanie.Previously known gripping devices for handling shaft objects are designed for use in large-scale and mass production. Their application in conditions of small series production requires either frequent replacement of the whole equipment or laborious re-arrangement.

Uvedené nedostatky v podstatnej miere odstraňuje uchopovacie zariadenie podía vynálezu, ktorého podstata spočívá v prisposobovaní sa tvaru i rozmerom manipulovaného předmětu, čo je zabezpečené dvomi pármi uchopovacích čelustí, prisposobených svojou aktívnou častou vyrovnávaniu osi a centrovaniu manipulovaných predmetov, s pohonom cez vykyvné tiahlo na dvojicu ozubených hrebeňov, prostredníctvom nich na ozubené kolesé dvojíc uchopovacích čelustí, pričom každú dvojicu uchopovacích čelustí je možné voči osi manipulovaného predmetu přestavoval.The above-mentioned drawbacks are substantially eliminated by the gripping device according to the invention, whose essence consists in adapting the shape and size of the object to be handled, provided by two pairs of gripping jaws adapted to their active part of alignment and centering of the objects. of the ridges, by means of which on the gear wheels of the pair of gripping jaws, each pair of gripping jaws can be adjusted relative to the axis of the object being manipulated.

Na připojených výkresoch je na obr. 1 kinematicky znázorněné uchopovacie zariadenie a na obr. 2 je příklad prevedenia uchopovacieho zariadenia podía vynálezu.In the accompanying drawings, FIG. 1 shows the gripping device shown schematically and FIG. 2 is an example of an embodiment of a gripping device according to the invention.

204 483204 483

Tiahlo 2» ktorého prostredníctvom je zabezpečovaný pohon dvojíc uchopovacích čeíustí i, je kíbovo uložené v pohyblivej časti 6 pohonu s translačným pohybom, pričom pevná časť 2 pohonu je pevne spojená s telesom 10, napojiteíným na rameno manipulátora, alebo robota. K telesu 10 je pevne připojené vedenie 8, na ktorom sú posuvné uložené dve telesá £ uchopovacích čeíustí 1, opatřené aretačnými skrutkami 2 pře prestavovanie a fixovanie polohy v smere osi manipulovaného predmetu. Manipulovaný predmet je uchopovaný uchopovacími čeíustami 1 v dvoch miestach. V případe potřeby uchopovania manipulovaného predmetu v jednom mieete, například u krátkých hriadeíov, je možné jednu dvojicu uchopovacích čeíustí 1 jednoducho zosunút z uchopovacieho zariadenia bez narušenia funkcie. Uchopovacie čeíuste 1 sú pevne spojené s ozubenými kolesami 2, otočné uloženými v telese £ uchopovacích čeíustí X, pričom ozubené kolesá 2 eú v stálom zábere s ozubeným hrebeňom J, kíbovo a presuvne uloženým na tiahle 2· Tiahlo 2 prostredníctvom kíbových spojení s pohyblivou časťou 6 pohonu a s ozubenými hrebeňmi J pri pohybe pohyblivej časti 6 pohonu smerom nahor tahá zároveň dvojicu ozubených hrebeňov J, ktoré prenášajú cez ozubené kolesá 2 uchopovací pohyb na čeluste 1, a to tak, že při rozdielnych uchopovaných priemeroch dvojice čeíustí 1, ktorá dosadne prvá na manipulovaný predmet, ostává v dotyku s ním bez vyvinutia uchopovacej sily, pohyb druhéj dvojice čeíustí 1 pokračuje pri naklápaní tiahla 2 až po stav dotyku v druhom uchopovacom mieste. V ňalšej fáze nastáva vyvinutie uchopovacej sily na obidve dvojice uchopovacích čeíustí 1 súčasne. Vzhíadom na otočný pohyb uchopovacích čeíustí 1 okolo středu otáčenia ozubených kolies 2 je pre příslušný rozsah uchopovaných priemerov prisposobená aktívna časť 101 čeíustí 1 svojim tvarom vzájomnému centrovaniu.The rod 2, by means of which the pairs of gripper jaws 1 are provided, is articulated in the movable part 6 of the translational drive, wherein the fixed part 2 of the drive is fixedly connected to the body 10 attachable to the arm of the manipulator or robot. A guide 8 is rigidly connected to the body 10, on which two gripper jaw bodies 1 are displaceably provided, provided with locking screws 2 for adjusting and fixing the position in the direction of the axis of the object to be manipulated. The manipulated object is gripped by the gripping jaws 1 in two places. If the gripping object is to be gripped in one place, for example in the case of short shafts, one pair of gripping jaws 1 can be easily removed from the gripping device without disturbing the function. The gripper jaws 1 are rigidly connected to the gearwheels 2 rotatably mounted in the gripper jaw body X, wherein the gearwheels 2e are in continuous engagement with the toothed rack J, articulated and displaceably mounted on the rod 2. At the same time, when moving the movable part 6 of the drive upwards, it pulls at the same time a pair of toothed racks J which transmit the gripping movement on the jaw 1 through the gears 2, so that at different gripping diameters a pair of jaws 1 the object remains in contact with it without exerting a gripping force, the movement of the second pair of jaws 1 continues to tilt the rod 2 up to the contacting state at the second gripping point. In the next phase, the gripping force is exerted on both pairs of gripping jaws 1 simultaneously. Due to the rotational movement of the gripping jaws 1 around the center of rotation of the gear wheels 2, the active part 101 of the jaws 1 is adapted to be centered relative to one another for a given range of gripping diameters.

V případe, že manipulované predmety vo vychystávacej polohe před uchopením vplyvom změny tvaru a rozmerov nie sú v stálej osi a ich os je naviac nakloněná, zabezpečuje uchopovacie zariadenie podlá vynálezu vo fáze po dosednutí obidvoch dvojíc uchopovacích čeíustí 1 vyrovnánie osi manipulovaného predmetu a jeho posunutie do osi uchopovacieho zariadenia. Tomu sú prisposobená pretiahlé aktivně časti 101 čeíustí 1.If the objects to be handled in the picking position before being gripped due to the change in shape and dimensions are not in a fixed axis and their axis is additionally inclined, the gripping device according to the invention ensures alignment of the handled jaws 1 axis of the gripping device. The elongated active parts 101 of the jaws 1 are adapted to this.

Uchopovacie zariadenie podía vynálezu umožňuje v spojení s manipulačnými celkami, ako roboty a manipulátory, široké využitie najma v malosériových výrobách, kde dochádza k častým tvarovým i rozměrovým změnám manipulovaných predmetov hriadeíového tvaru.The gripping device according to the invention enables, in conjunction with handling units such as robots and manipulators, a wide application, in particular in small series production, where there are frequent shape and dimensional changes in the manipulated shaft-shaped objects.

Claims

204 483 The rod 5 through which the pairs of gripping jaws are driven is articulated in a movable drive part 6 with a translational motion, the fixed drive part 2 being rigidly connected to the body 10 connectable to the manipulator arm or robot. a rigidly connected conduit 8, on which two retaining jaw bodies 1 are slidably disposed, provided with locking screws 2 for adjusting and fixing in the direction of the axis of the manipulated object. The manipulated article is gripped by the gripping tabs 1 in two locations. If the object to be handled is to be gripped in one piece, for example short shafts, one pair of gripping jaws can be simply slid from the gripping device without disrupting the function. The gripping jaws 1 are rigidly connected to the gears 2 rotatably mounted in the gripping body 6, wherein the gears 2 eu are permanently engaged with the toothed rack J, pivotally and slidably mounted on the rod 5. the movable part 6 of the drive and the racks J when moving the movable part 6 of the drive upwards and the pair of toothed ridges J which transfer the gripping movement on the jaw 1 via the gear wheels 2 such that with different gripping diameters of the pair of jaws 1 which abuts first on the object to be manipulated, remains in contact with it without exerting a gripping force, the movement of the second pair of jaws 1 continues as the rod 5 is tilted up to the point of contact in the second gripping point. At a later stage, the gripping force develops on both sides of the gripping jaws 1 simultaneously. Due to the rotational movement of the gripper tabs 1 around the center of rotation of the gears 2, the active portion 101 of the gripper 1 is shaped relative to each other over a respective range of gripped diameters. In the event that the manipulated objects in the picking position are not in the fixed axis before being gripped by the change of shape and dimensions and their axes are additionally inclined, the gripping device according to the invention provides a phase after the two pairs of gripping jaws abut against the axis of the manipulated object and its displacement into The gripping device according to the invention makes it possible, in conjunction with handling units such as robots and manipulators, to make widespread use, especially in small series production, where frequent shape and dimensional changes of the shaft-shaped objects being manipulated occur. SUBJECT OF THE INVENTION

A gripping device, in particular for handling shaft components, characterized in that it comprises a rod (5) which is hingedly connected to the toothed ridges (3), epoluzing the toothed wheels (2) fixedly connected to the gripping jaws (1), which are rotatably mounted in the gripping jaw body (4), and this is slidably mounted on the guide (8), the rod (5) being hingedly connected to the movable part (6) of the drive and the fixed drive part (7) being firmly connected to the body (10) to which the conduit (8) is fixedly bonded.

A gripping device according to claim 1, characterized in that the gripping body (4) is provided with a locking screw (9).

3. A gripping device according to claim 1, characterized in that the gripping ceilings (1) are provided with an active casing (101) formed by the centering envelope curve in the lower part. 2 drawings