CS227944B1 - Gripper of manipulator with chain drive of jaws - Google Patents
Gripper of manipulator with chain drive of jaws Download PDFInfo
- Publication number
- CS227944B1 CS227944B1 CS716582A CS716582A CS227944B1 CS 227944 B1 CS227944 B1 CS 227944B1 CS 716582 A CS716582 A CS 716582A CS 716582 A CS716582 A CS 716582A CS 227944 B1 CS227944 B1 CS 227944B1
- Authority
- CS
- Czechoslovakia
- Prior art keywords
- jaws
- gripper
- chain
- manipulator
- flange
- Prior art date
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- 239000006185 dispersion Substances 0.000 description 1
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- Manipulator (AREA)
Description
Vynález sa týká širokorozsahového chápadla manipulátora s retazovým pohonom čelustí určeného na uohopovanie manipulovaných predmetov predovšetkým přírubového tvaru.The invention relates to a wide-range gripper of a chain-jaw manipulator intended to accommodate manipulated objects, in particular flange-shaped.
Doteraz známe širokorozsahové chápadla určené na uchytávanie manipulovaných predmetov predovšetkým přírubového tvaru do čelustí, sú konštrukčne navrhované obyčajne na principe pohybovéj skrutky s maticou pre obojstranné pohyby čelustí vo vedeniach. Čeluste sú pevne spojené s maticou skrutky. Nevýhodou tohto riešenia sú dlhotrvajúce zdvihy čelustí. Ovládanie čelustí pákovými mechanizmem! obyčajne neumožňuje' dostatočnú širokorozsahovosť. Použitie čelnej skrutkovloe na principe sklučovadla je značné nevýhodné pre jej vyššiu hmotnost, čo je u chápadiel závažný nedostatok a taktiež aj pomalost zvierania čelustí.The prior art wide-range grippers intended for gripping manipulated objects, in particular of a flange-like shape, into jaws are generally designed on the principle of a movement screw with a nut for two-way jaw movements in the guides. The jaws are firmly connected to the bolt nut. The disadvantage of this solution is the long stroke of the jaws. Jaw control by lever mechanism! it usually does not allow sufficient wide-ranging. The use of a chuck on the chuck principle is considerably disadvantageous for its higher weight, which is a serious drawback for the grippers and also slowness of the jaw clamping.
Uvedené nevýhody odstraňuje chápadlo manipulátora s retazovým pohonom čelustí určené na uchytávanie manipulovaných predmetov predovšetkým přírubového tvaru, ktorého podstatou je, že pozostáva z nosnéj konzoly, na ktorú je z jednej strany uchytená pohonová priamočiara jednotka a oproti nej na opačnéj straně konzoly je uchytená čelná doska, v ktorej sú vyhotovené vedenia pre najmenej jeden pár čelustí unášených každý uzavretým reťazom napnutým medzi trojicou kladiek, pričom dve z každej trojice sú uchytené na čelnej doske a tretia je uchytená na doske konzoly, každá reťaz je spojená svorníkom s piestom pohonovej priamočiarej jednotky, a na čelnej doske je na odpružených kolikoch uložená dotlačaoia doska.These drawbacks are eliminated by the gripper of the chain-jaw manipulator for gripping the objects to be manipulated, in particular of a flange-like shape, which consists of a support bracket on which a drive rectilinear unit is mounted on one side and a front plate mounted on the opposite side of the bracket. in which guides are provided for at least one pair of jaws carried by a closed chain tensioned between a triad of pulleys, two of each triad being mounted on a faceplate and a third mounted on a console plate, each chain connected by a bolt to a plunger drive drive unit; The front plate is supported on the spring-loaded pins of the printing plate.
Výhodou navrhovaného riešenia širokorozsahového chápadla je to, že chápadlo podlá vynálezu umožňuje uohopenie manipulovaných predmetov so značným rozptylom uchytávacích rozmerov. Velkost zdvihu čelustí je totožná so zdvihom plestu pohonovej jednotky. Chápadlo je konštrukčne jednoduché s relativné nízkou hraotnosťou. Zdvih čelustí je rýchly, čím nedochádza pri uchopovaní manipulovaných predmetov k časovým stratám.An advantage of the proposed solution of a wide-range gripper is that the gripper according to the invention allows the handled objects to be grasped with a considerable dispersion of the gripping dimensions. The size of the jaw stroke is identical to that of the drive unit felt. The gripper is structurally simple with a relatively low power. The jaw lift is fast, which avoids time loss when gripping the handled objects.
Svoje použitie nájde tam, kde je potřeba rýchlej manipulácie, resp. rýchleho uchytenia manipulovaného predmetu do čelustí a rýchlej manipulácie.It can be used where fast manipulation is needed. fast gripping of the handled object into the jaws and fast handling.
Příklad prevedenia manipulátora podlá vynálezu je znázorněný na priloženom výkrese.An exemplary embodiment of a manipulator according to the invention is shown in the attached drawing.
Sirokorozsáhové chápadlo manipulátora s retazovým pohonom čelustí, určené na uchytávanie manipulovaných predmetov predovšetkým přírubového tvaru, pozostáva z nosnej konzoly £, na ktorú je z jednej strany uchytená pohonová priamočiara jednotka £ a oproti nej, na opačnej straně konzoly, je uchytená čelná doska £, v ktorej sú vyhotovené vedenia £ pre čeluete £, unášané uzavretými reíazami 6, ktoré sú napnuté medzi trojicami kladiek £ otočnými na čapoch 12, pričom dve z trojice sú uchytené na čelnej doske 3 a tretia je uchytená na doske konzoly £ tak, že sú otočené navzájom k sebe, pričom retaze 6 sú spojené svorníkom 10 s piestom 13 pohonovej priamočiarej jednotky 2, pričom tieto retaze 6, napnuté medzi kladkami £ s čelustami 5, sú minimálně dve a na čelnej doske £ je na odpružených kolíkooh 11 uložená dotláčacia doska 8.The wide-range gripper of the chain-jaw manipulator for gripping objects of a particularly flange-like shape consists of a support bracket 5 to which a drive rectilinear unit 6 is mounted on one side and a faceplate 6 mounted on the opposite side of the bracket. 2, wherein two of the three are mounted on the front plate 3 and the third is mounted on the console plate 5 so that they are rotated with respect to each other. The struts 6 are connected by a bolt 10 to the piston 13 of the drive linear unit 2, these struts 6 being tensioned between the pulleys 6 with the jaws 5, at least two and a pressure plate 8 mounted on the spring plate 11 on the spring pins.
Pri manipulácii na technologickom pracovisku, manipulátor, na konci pracovného ramena s chápadlom s otvorenými čelustami 5, vysunie pracovně rameno k manipulovanému prectmetu tak, že zlahka narazí dotláčacou doskou £ na čelo príruby, ktorá je medzi čelustami £ chápadla. Dotláčacia doska £ odpruží na pružných kolikoch 11.In handling at the workstation, the manipulator, at the end of the gripper arm with the open jaws 5, extends the arm to the manipulated object so that it gently strikes the flange face between the gripper jaws by the pressure plate. The thrust plate 6 springs on the resilient pins 11.
Následuje uchytenie príruby do čelustí £ chápadla a to tým, že priamočiara jednotka 2 vysunutím piestu 13 uvedie do pohybu retaze 6 a na nich uchytené čeluste 5 chápadla, až tie narazia na manipulovaná prírubu a ďalej ju držia silou úměrnou tlaku média v priamočiarej jednotke 2.This is followed by attaching the flange to the gripper jaws by placing the piston 13 in motion of the chain 6 and moving the gripper jaws 5 attached thereto until they strike the manipulated flange and further hold it with a force proportional to the medium pressure in the rectilinear unit 2.
Manipulátor prenesie prírubu napr. do čelustí obrábacieho stroja. Uvolněním čelustí 5 chápadla, dotláčacia doska £, dotlačí prírubu na čelné plochy sklučidla obrábacieho stroja.The manipulator transfers the flange e.g. into the jaws of the machine tool. By releasing the gripper jaws 5, the pressure plate 6 presses the flange onto the chuck face of the machine tool.
Ten ju uchytí do čelustí sklučovadla a manipulátor odsunie chápadlo z priestoru obrábacieho stroja do stanovenej východzej polohy.It grips it into the jaws of the chuck and the manipulator moves the gripper from the machine tool compartment to the specified starting position.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CS716582A CS227944B1 (en) | 1982-10-07 | 1982-10-07 | Gripper of manipulator with chain drive of jaws |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CS716582A CS227944B1 (en) | 1982-10-07 | 1982-10-07 | Gripper of manipulator with chain drive of jaws |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CS227944B1 true CS227944B1 (en) | 1984-05-14 |
Family
ID=5420271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CS716582A CS227944B1 (en) | 1982-10-07 | 1982-10-07 | Gripper of manipulator with chain drive of jaws |
Country Status (1)
| Country | Link |
|---|---|
| CS (1) | CS227944B1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102717378A (en) * | 2012-02-01 | 2012-10-10 | 昆山华恒焊接股份有限公司 | Manipulator device |
-
1982
- 1982-10-07 CS CS716582A patent/CS227944B1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102717378A (en) * | 2012-02-01 | 2012-10-10 | 昆山华恒焊接股份有限公司 | Manipulator device |
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