RU193126U1 - MANIPULATOR CAPTURE - Google Patents

Abstract

The utility model relates to hoisting and transport machinery, in particular to load gripping devices, and can be used in hoisting cranes or, for example, in remote manipulators, where it is necessary to carry out the capture of a variety of products. a mechanism whose links have the same length, and the axes of the hinges of the odd links are crossed at an angle complementing up to 180 ° the angle of intersection of the axes of the hinges of the even links, The clamping jaws are rigidly connected to the ends of the first and third links, and the first link is driven through an adjustable cam clutch. The gripper ensures guaranteed retention of products (weights) of any geometric shape and length.

Description

The utility model relates to hoisting and transport machinery, in particular to load gripping devices, and can be used in hoisting cranes or, for example, in remote manipulators, where it is necessary to capture a variety of products.

A gripping device is known (Aut. St. USSR No. 440249, class B25J 15/00, claimed July 13, 1972, publ. 08/25/1974) containing clamping jaws connected to the housing by a multi-link articulated lever mechanism. The disadvantage of this device is the design complexity of the articulated link mechanism.

The closest solution to the proposed device is the capture of the manipulator (Aut. St. USSR No. 810476, M. cl. B25J 15/00, stated 14.12.78, publ. 07.04.81, Bull. No. 13).

.The capture consists of a leading link articulated with four links and a bed. In the device, three links have an angle of intersection of the hinge axes α, and two other movable links and a bed have an angle β = 180 ° -α. Three clamping (gripping) jaws are attached to the ends of the three movable links. All links are the same length.

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The disadvantage of this capture is as follows.

The capture by three clamping jaws limits the gripping range of products having different overall dimensions, especially the length, since the opening of the clamping jaws in three directions have the same distances into the solution of which the gripping product may not be placed, which should be closed on three sides by three clamping jaws.

Secondly, the clamping of the product is not always securely fixed with clamping jaws, and the object falls out of the grip under the action of its own weight. State of the art

The purpose of the utility model is to increase the gripping range of products of various sizes, especially long-sized ones, to increase the pressing force of the clamping jaws with an adjustable device.

Description of drawings

In FIG. 1 schematically depicts a gripping scheme while holding a load; FIG. 2 - the position of the capture mechanism in the absence of cargo.

This goal is achieved by the fact that in the grip of the manipulator containing clamping jaws connected to the housing by a pivot-lever mechanism, the links of which have the same length, the axis of the hinges of the odd links are crossed at an angle that extends up to 180 ° the angle of intersection of the axes of the hinges of the even links, characterized in that the clamping jaws are rigidly connected to the ends of the first and third links and the first link is driven through an adjustable cam clutch.

Distinctive features of the proposed capture in comparison with the prototype are

 in the prototype, three clamping jaws are rigidly connected to the ends of the first, third and fifth links; in the proposed grip, two clamping jaws are rigidly connected to the ends of the first and third links;

 the prototype, the product is clamped at three points, the impact zone on the product is limited by the size of the position of the jaws in the compressed position, which prevents the capture of products whose length exceeds the size between the jaws in the compressed position, in the proposed capture the product is clamped in thickness at two points, therefore, the products may have any length with their considerable thickness;

 in the prototype there is no adjustment of the pressure force of the clamping jaws on the product, therefore, it can fall out of the grip, which can lead to breakdowns of the lifted product and accidents, in the proposed grip, the pressure force of the jaws is controlled by a cam clutch with guaranteed holding of the products in the grip.

Utility Model Disclosure

При этом у каждого звена геометрические оси шарниров скрещиваются (оси не параллельны и нигде не пересекаются), угол отсчитывается от оси шарнира, обращенного к наблюдателю против часовой стрелки. Угол скрещивания четных звеньев 2, 4 и станины 6 одинаковый, т.е. α₂=α₄=α₆=α. Угол скрещивания β осей шарниров нечетных звеньев 1, 3, 5 дополняет до 180° угол скрещивания осей шарниров четных звеньев, т.е. β=180°-α.The grip of the manipulator (Fig. 1 and 2) contains the leading link 1 - a crank pivotally connected to links 2, 3, 4, 5 and to the bed 6. All links have the same length, i.e.

At the same time, at each link, the geometric axis of the hinges are crossed (the axes are not parallel and do not intersect anywhere), the angle is counted from the axis of the hinge, facing the observer counterclockwise. The crossing angle of even links 2, 4 and bed 6 is the same, i.e. α ₂ = α ₄ = α ₆ = α. The crossing angle β of the hinge axes of the odd links 1, 3, 5 supplements the angle of crossing of the hinge axes of the even links, up to 180 ° β = 180 ° -α.

The clamping jaws 7 and 8 are rigidly attached to the ends of the odd links 1 and 3 (the jaws can be integral with the links in accordance with the manufacturing technology). The surfaces of the contact part of the gripping jaws can be structurally designed in different versions, taking into account the physicomechanical properties of the lifted loads 10, i.e. performed flat, corrugated, cylindrical, curly, etc.

All articulated joints of the links are structurally formed by standard ball bearings or sliding bearings (as shown in Figs. 1 and 2).

The parameters of the articulated mechanism are determined on the basis of the properties of the lifted products (goods): shape, dimensions, hardness, etc.

The angles α and β are selected from the maximum possible opening of the gripping jaws and their position in a compressed state, i.e. from the range of capture of goods of different geometric shapes and dimensions. Moreover, a larger value of the angle α corresponds to a larger opening of the gripping jaws.

The compression force of the jaws 7 and 8 on the captured product 10 is regulated by the torque on the leading crank 1 of the cam clutch 9.

The capture mechanism works as follows.

From the drive source (not shown in the diagram), the rotation through the cam clutch 9 is transmitted to the driving link 1 (crank), which drives the links 2, 3, 4 and 5. Due to the fact that the even links 2, 4 and 6 are crossed at an angle and the hinge axes, and the odd links 1, 3 and 5 - at an angle β, complementing the angle α to 180 ° and all links have the same length, the clamping jaws 7 and 8 simultaneously rotate relative to links 2, 4 and move towards each other, t .e. the gripper closes and clamps the product 10 on both sides with clamping jaws.

The compression force of the jaws is regulated by a cam clutch 9, which is tuned to the ultimate moment of closure of the jaws 7 and 8 on the lifted product.

With the opposite direction of the driving link 1 (see Fig. 2), the links move in the opposite direction and the jaws 7 and 8 open (see Fig. 2), freeing the lifted product 10.

The proposed grip provides guaranteed retention of products (cargo) of any geometric shape and length, since two gripping jaws open a fairly large distance, covering products (cargo) of large thickness and any length. By means of a cam clutch, the force of pressing the jaws to the products is regulated within a wide range, which ensures the retention of products with different weights.

Claims (1)

The grip of the manipulator containing clamping jaws connected to the bed by a multi-link articulated lever mechanism, the links of which have the same length, the axes of the hinges of the odd links are crossed at an angle that extends up to 180 ° the angle of intersection of the axes of the hinges of the even links, characterized in that it contains two clamping jaws rigidly connected to the ends of the first and third links, and is equipped with an adjustable cam clutch transmitting rotation to the first link.

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