SU1110059A1 - Industrial robot gripping device - Google Patents

Description

The invention relates to robotics, namely, to designs of gripping devices of manipulators and other load handling devices for transporting blanks and finished products from irepreg type press material,. A device for transporting a layered billet during cutting, made in the form of a plate, on which ijm is smanked, is known. Such a device makes it possible to transport only dry materials that are held on them by piercing with straight needles. It is also known to be a gripping device of an industrial robot, which includes a housing on which several pairs of pivotally attached arms are mounted around the perimeter of the product, which hold the jaws holding the product and pneumatic drive of their movement. type of prepreg. The aim of the invention is to enhance the functionality of the gripping device and increase the reliability of the capture of viscous press materials such as prepreg. Expansion of functionality allows for the capture of both the workpiece and the finished product from the prepreg. Preurega blank is a viscous mass based on polyester resins, bonded with glass fiber filler. The shape of the workpiece corresponds to the configuration of the mold. The finished product, pressed from prepreg, has a flat shape and a smooth surface. The goal is achieved by the fact that the capture device of an industrial robot includes a housing on which are mounted on. According to the invention, the sponge has several pairs of hinged levers carrying the holding sponges and a pneumatic drive for their movement. In accordance with the invention, the jaws are needles that are curved around the circumference with the center of the carrying arms that have an additional shoulder that is rigidly connected a soft thrust, around the blocks located around the perimeter of the product and fixed to the pneumatic actuator rods. In addition, it is equipped with pneumatic sockets located on the body opposite to the jaws side. Figure 1 shows the general view of the gripping device, figure 2 - section A-L in figure 1; on fig.Z - view B in figure 1. The gripping device comprises a housing 1 with grooves 2 (FIG. 3). Above the grooves 2 there are sponges made in the form of needles 3 bent around the circumference. The latter are fixed on the double-sided corner arms A, which turn freely on axis 5 and are attached to body 1 by means of crown mattes 6. The needles 3 are designed to be blocked during rotation them in parallel planes to prevent the workpiece 7 from sliding off the needles 3. Movement on two shoulders levers 4 is transmitted by means of two cables 8, pulled along the contour of the housing 1, from a two-way pneumatic cylinder 9. The ends of both cables 8 are fixed on two levers 10, which rigidly connected to the rods 11 of the pneumatic cylinder 9. To adjust the tension of the cables 8, use the hollow adjusting screws 12. For proper orientation and tension of the cables 8, the ij direction (He 13, which rotates freely on the uprights 14 reinforced along the edges of the housing 1) The latter is attached to the suction cups 15, which are connected to the ejector unit 16. The solenoid valve 17 serves to connect the compressed air source to the ejector 16. The gripping device is attached to the arm of the manipulator with the help of an arm 18. conductive manner. In the initial position, the compressed air enters the extreme cavities of the pneumatic cylinder 9. Both the rods 11 are in the retracted position. Needles 3 unclenched. The housing 1 is located above the workpiece 7. After the housing 1 is lowered onto the workpiece 7, air enters the middle cavity of the pneumatic cylinder 9, the rods 11 with the levers 10 move to the extreme position. The cables 8, tensioned in the guide blocks 13 and rigidly connected with the levers 10 and with the upper arms of the levers 4, rotate the latter around the axis 5 of the brackets 6. The needles 3 dig the workpiece 7 and seize it.

After hand-handling of the workpiece 7, the air is supplied to the mold (not shown in the figures) into the middle cavity of the pneumatic cylinder 9. The rods 11 are retracted by moving the levers 10, which drive the ropes 8. The needles 3 are depressed, lowering the workpiece 7 in the mold. The manipulator arm returns to its original position.

At the end of the pressing process, the arm of the manipulator, together with the gripping device, rotates 180 ° around its axis (rotation movement) and extends over the finished product.

After lowering the gripping device to the finished product, the solenoid valve 17 turns on the ejector 16, the Ejector 16 connected to the suction cups 15, creates a vacuum in their internal cavity.

When the working part of the suction cups 15 touches the surface of the finished product, the latter is captured. After the product has been transferred to the required position, the solenoid valve 17 is turned off and the product falls into the finished product storage under the action of its own weight.

The arm of the manipulator, together with the gripping device, is turned around. 180 degrees around the axis, returns to its original position, and the manipulation cycle repeats again.

The proposed gripping device has enhanced functionality, namely, it ensures the capture and reliable retention of both the workpiece and the finished product from press materials of the prepreg type.

Suckers, two-armed levers with needles fixed on them and their drive are unified units. The location of these assemblies on the body and the shape of the body itself can be used; a gripping device can be used to work with blanks and finished products of various sizes and shapes.

The proposed gripping device is mounted on the manipulator.

domestic production of PR-YuI, which is part of the robotocomplex for servicing L-2035 presses at the Stupino GRP plant in the manufacture of two types of products:

a triangular traffic sign, the inside panel of a KAMAZ car door. . 4 x / J

2

Claims (2)

1. A GRAVING DEVICE OF INDUSTRIAL ROBOT, including a housing on which are mounted, around the product perimeter several pairs of pivotally mounted levers supporting the jaws holding the product, and a pneumatic drive for moving them, so that, in order to expanding the functionality and increasing the grip reliability of viscous press materials such as prepreg, the sponges are made in the form of needles bent around a circle with a center coinciding with the axis of rotation of the Carrying levers having an additional shoulder rigidly connected with a flexible rod, o ibayuschey located on the perimeter of the product units and fixed to an actuator rods. 2. The device according to claim 1, with the fact that it is equipped with pneumatic suction cups located on the housing on the side opposite to the jaws. 110059