SU1202866A1 - Manipulator gripping device - Google Patents

Description

The invention relates to mechanical engineering, in particular, to manipulators for mechanization and automation of production processes, in particular, automated casting complexes, where, when the manipulator removes casting from a mold, it is necessary when asynchronous movement of the mold pushers and the gripper of the manipulator is obtained. to exclude. disorientation of the casting relative to the grip.

The purpose of the invention is to increase the technological capabilities by ensuring that the part is gripped when an asynchronous movement of the gripper and mold pushers occurs.

Fig. 1 shows a kinematic scheme of a gripper; figure 2 - section aa in figure 1.

The manipulator grip contains sponges 1, connected with the help of hinges in the form of eccentric axes 2, with output links in the form of levers 3. a transmission mechanism, which also has spacer links 4, a cross 5, rigidly mounted on the rod 6, compression sponges, for example , the power cylinder 7. Springs 8 hold the sponge 1; (pressed to the levers 3.

The hinges 9 of the levers 3 are made in the form of eccentric axes 10, on which the toothed sectors 11 are fixed, kinematically connecting the levers 3 to each other. The toothed sectors 11 are spring-loaded by springs 12 to the adjustable stop 13. These links allow you to adjust the compression force of the jaws 1.

The manipulator grip works in an observable manner.

When the rod 6 moves to the left, the links 4 are sprung up and the sponges 1 on the casting 14 are reduced, turning the levers 3 around the hinges 9, which are currently stationary, as they are fixed by pressing the sectors 11 to the stop 13.

As the stem 6 moves to the right, the jaws 1 open. The adjustment of the working force of the compression of the jaws 1 is carried out by changing the position of the stop 13, as a result of which the distance between the hinges 9 changes

5 without breaking the symmetry of the mechanism. To remove the casting from the mold of the casting machine, a signal is given to simultaneously move the pushers of the mold and the manipulator arm (not shown) in a plane perpendicular to the casting axis 14. Under production conditions, the synchronization of the actuators and the manipulator arm are achieved relocation paths are almost impossible. Therefore, as a result of the asynchronous movements of the pushers and the manipulator arm, two positions can arise: either it moves faster

0 hand manipulator, or pushers. At either of the two positions on the casting, forces begin to arise which are transmitted through the casting to the jaws 1, which begin to rotate on the eccentrics of the levers 3, thereby eliminating the displacement of the clamped casting relative to the jaw 1. In this case, the springs 8 are stretched. In the absence of forces acting on the casting, the springs 8 return the jaws 1 to the initial position, and the casting is established according to the initial orientation.

W 3

five

0

FIG. 2

VNIIPI Order 8366 / 1-9 Circulation 1049 Subscription Branch PPP Patent, Uzhgorod, Proektna St., 4

Claims (2)

1. GRAVING OF THE MANIPULATOR, containing jaws, a drive for their information with a transmission mechanism, the output links of which are connected to the jaws, characterized in that, in order to expand technological capabilities by ensuring reliable retention of the workpiece by the grip when the grip and the gripping object are asynchronous, each jaw is articulated connected to the output link of the transmission mechanism by means of a crank and spring-loaded relative to this. link, 2. The gripper according to claim 1, characterized in that the axes of the rotational pairs of the crank are installed parallel to the direction of reduction of the jaws. 12 figure 1