SU1217656A1 - Gripping device - Google Patents

Description

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The invention relates to a machine building, namely to gripping devices of manipulators, intended for the mechanization and automation of various technological processes.

The purpose of the invention is to increase the reliability of work due to the introduction of a fixation mechanism.

FIG. 1 shows the proposed gripping device, general view; FIG. 2 is a section A-A in FIG. I; FIG. 3 shows a drive for converging the gripping elements; in fig. 4 - drive mechanism for fixing sponges; Fig, 5 - the mechanism of fixing sponges; Fig. 6 shows an example of the implementation of the capture of the product; Fig, 7 is a diagram of the capture of the product;

FIG. 8 is a section BB in FIG. 5, I

Gripping device manipulator torus

contains two guides 1 fixed in the base 2, symmetrically with respect to the base 2 on the guides 1 are mounted two bodies 3 can be moved along them and two plates 4 are rigidly fixed; In the rectangular holes of Kopnycoia there are jaws 5, the longitudinal grooves of which are mounted plates 6 with spring-loaded brake elements 7, plates 8 and elastic elements 9, All plates 6 are inserted into the corresponding grooves 10 of the housing 3, fixed to the body by strips 11 and 12 and connected to axis 13 eccentric mechanism, dix on the housing 3 by means of rod 14 and the bracket 15, the handle bore 16 tc 17, fixed in OS- inserted eccentric mechanism. 2 on the pivot around the axis 18 of the bracket 19 connected to the drum 20, on which the flexible element 22 is rigidly fixed with a screw 21, flexible elements 26 and 27 fasten to the bracket 23 of the housing 3 by means of tpek L and 25 housing Z with a drive. On the axis I3 of the eccentric mechanism, the bracket 29 is fastened with the screw 30 and the elastic gasket 31, the bandage passes into the hole of the bracket 32 and —pads — with the elastic gasket 31 into the body of the bracket 32. At the end of each rod 5, the tip 33 is fixed,

The gripping device of the manipulator is

In the initial position, both bodies 3 are displaced to the plates 4, and the clamping

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the jaws 5, resting against the plates 4, form a plane with their tips 33. When moving the housings 3 with the rods 5 to the product, the rods

5, resting with the tips in the product, moving relative to the housing 3. Moving one rod does not cause displacement of the other, since each rod is braked by elements

7 with respect to the plates 6, and, consequently, with respect to the housing 3 with a force, npnMepHj twice the weight of all rods 5, worn on one plate 6. Braking

also allows the rods to be held at any grip position. After the rods 5 have seized the product, the plates 6 are moved upwards by the eccentric mechanism and clamped

rods by means of plates 8 and elastic elements 9. Due to some inaccuracy of manufacture or deflection of structural elements, the force of clamping each column of rods 5 can

to be different, but the minimum of them will be sufficient to prevent the rods from moving, since the excise mechanism provides considerable effort, and this is not transmitted to the captured product. The eccentric mechanism through the screw 30 and the elastic frame 31 moves upwards and the bracket 32, which allows fixing both the bodies, 3 relative to the guides 1, the distance between the elastic gasket 31 and the bracket 32 is adjusted by the screw 30. and the nut 34, thus making There is a reliable grip of the product, and the force acting on the rods 5 on the product is insignificant and does not depend on the force of fixation,

To release the product, the rods 5 and the housings 3 are unfixed by means of an eccentric mechanism and both housings 3 are moved to the plates 4. In this case, the rods 5 are aligned and the gripping device can brad the product of another shape,

Depending on the loads, environment, properties of the captured products, Moryt rods can be made of various shapes and from various materials. The tips, for example, can be made of resilient materials to grip fragile products, connected through asbestos pads to rods, when working with heated products.

 1217656

Such a grip can also be takenApplication of the gripping device

11 products, in this case the effort will increase the reliability of the gripper will be transmitted by the actuator, since the eccentric mechanism

body 3, and the eccentric will not loosen the fixation of the rods and the corpusive fixation mechanism are used j ow even when the flexible

will not be. elements and drives.

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for inventions and opened t 113035, Moscow, Zh-35, Raushsk nab, D. 4/5

Branch PPP Patent, Uzhgorod, st. Project, 4

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Claims (1)

(56) Copyright certificate of the USSR No. 618280, cl. 25 J 15/00, 1976. “A GRAVING DEVICE containing a base with clamping elements placed on it and a drive for their information, each clamping element is made in the form of a housing with jaws placed in it, which means that, in order to increase the reliability of operation, each clamping element is equipped with a jaw locking mechanism made in the form of a plate on which the jaws and their brake elements are placed, the plate is mounted with the possibility of linear movement relative to the housing of the clamping element · perpendicular to the direction their information, and on the base there are fixed plates intended for interaction with non-working ends of the sponges.