SU1135640A1 - Gripper for non-oriented parts such as shafts - Google Patents

Abstract

- CAPTURE FOR NON-ORIENTED DETAILS OF TYPE OF SHAFTS, containing an annular piston in the housing in the form of plates installed with the possibility of independent axial movement, characterized in that, in order to expand technological capabilities by providing gripping and basing non-oriented parts, the axis of which is not parallel to the axis of gripping, it is provided with a glass with an annular recess mounted concentrically to the body rotatably from the actuator inserted into the device, and located in its recess to olnitelnym annular piston in the form of a plate, the pistons are fixed against rotation relative to the housing, respectively, and glass. cl from the joint venture about :) 4ib

Description

The invention relates to robotics and can be used in jobs designed to grip shaft-like parts.

Known gripper for non-oriented parts such as shafts, containing an annular piston arranged in the housing, made in the form of plates that are installed with the possibility of independent axial movement of the plates 1.

However, the known grip does not provide reliable clamping and positioning of the part located not parallel to the axis of the head grip.

The purpose of the invention is the expansion of technological capabilities by providing a base for a non-oriented part, the axis of which is not parallel to the grip axis.

The goal is achieved by the fact that the grip for non-oriented shaft-type parts, which contains an annular piston in the form of plates installed with the possibility of independent axial movement, is equipped with a cup with an annular recess mounted concentrically to the body rotatably from the actuator inserted into the device. its recess with an additional annular piston in the form of plates, while the pistons are fixed against rotation, respectively, relative to the body and the glass.

FIG. 1 shows the grip, longitudinal section; in fig. 2 shows section A-A in FIG. one; in fig. 3 shows a gripping device, the piston of which has two rings in cross section, having the possibility of independent movement with preservation of the seal between the rings, a section; in fig. 4 shows a section BB in FIG. 3; in fig. 5 and b are diagrams for clamping a shaft-type part with a gripping device with a piston consisting of two sealed rings.

The gripping device consists of body 1, which is made of teams of at least three parts: the inner sleeve, outer and cover. FIG. 1-4, the housing is shown as one piece and shaded in one direction so as not to complicate the circuit. The housing 1 is equipped with a rotational drive 2 associated with a movable cup 3, which can also consist of at least two parts: internal and external. In the diagram, glass 3 is shown in one position and shaded in one direction. In the annular grooves of the housing and the glass plate 4 are installed pistons so that in the cross section of the plate

installed in the housing and the block without gaps, as well as between each other, ensuring independent movement of the piston plates relative to each other, while retaining the consolidated piston seal. The plates 4 in the lower part have a groove into which a travel stop is inserted, for example a pin 5, designed to keep the piston plates from falling out of the body and the block.

The gripping device works as follows ..;

When approaching the gripping device to an unoriented part, for example, in the mass of unoriented parts (in bulk), the plates 4 copy the surface of the part or parts, covering them. In this case, part of the plates are embedded in the housing 1 and the glass 3, and a part covers the part. The spring loading forces of the plates 4 during the supply of the gripping device, i.e. during the coverage of the part, play a role only in the case of the capture of the part in the pile, when the plates in some cases to cover the part must penetrate into the space between adjacent parts. After the end of the supply of the gripping device to the non-oriented part, the drive 2 of the rotation of the cup 3 is activated, which must be reversible. When the actuator 2 rotates, the inner ring of the plates 4 rotates so that the inner and outer rings of the plates do not slide relative to the housing 1 and the cup 3, respectively, in each ring of the piston plates 4 there is at least one piston plate that is larger than the rest of the ring plates.

When the actuator 2 rotates, the part is clamped between the plates of the inner and outer rings (FIGS. 5 and 6). The part is then transferred by a manipulator (not shown) to its intended location. In the case of gripping, for example, two shafts when gripping in bulk, by changing the spring loading force of the plates 4, it is possible to find such a moment when the plates that fall on the gripped parts by the end part eject the weakest part from the gripping device. When the drive 2 is reversed, the clamped part is released and ejected from the gripping device. Plate 4 is in its original position. The pickup device is ready for the next operation.

The use of the invention allows the gripping of non-oriented parts such as shafts in bulk.

FIG.

6

Claims (1)

- CAPTURE FOR NON-ORIENTED DETAILS OF SHAFT TYPE, comprising an annular piston located in the housing in the form of plates mounted with the possibility of independent axial movement of the plates, characterized in that, in order to expand technological capabilities by providing capture and basing of non-oriented parts whose axis is not parallel to the capture axis , it is equipped with a glass with an annular undercut, mounted concentrically to the housing with the possibility of rotation from the drive inserted into the device, and located in its undercut to complement an integral ring piston in the form of a plate, while the pistons are fixed against rotation, respectively, relative to the housing and the cup. Figure 1