SU1220793A1 - Gripping device - Google Patents

Description

The invention relates to mechanical engineering, in particular, to gripping devices of manipulators used for gripping and transporting various in weight and shape of parts when operating in various environments.

The aim of the invention is to improve the reliability of the grip by directional deformation of the elastic clamping elements.

FIG. 1 shows schematically a gripping device, a longitudinal section; in fig. 2 - possible main angular positions of the gripping device relative to the manipulator arm; in fig. 3 shows section A-A in FIG. one; in fig. 4 section bb in fig. one; in fig. 5 - gripping device with telescopic levers.

The proposed gripping device consists of a housing 1, in the lower part of which fingers 2 are installed with clamping elements in the form of elastic sleeves 3 (rubber, polyurethane, etc.) and pressure elements 4, and at the top - a power actuator of clamping elements made in the form cylinder 5 single acting.

The piston 6 of the cylinder 5 is loaded from top to bottom with a power return spring 7 up to contact with an end-set screw stop 8 with the formation of a cavity 9 in the cylinder 5, into which a channel 10, made in the housing 1, is supplied with pressure of the working fluid, for example compressed air.

At the end of the rod 11 of the piston 6, the yoke 12 is fastened through which the fingers 2 arranged parallel to the rod 11 are held, and the force of the spring 7 is transferred to the elastic sleeves 3 in the direction of the workpiece clamp 13. To ensure the radial adjustment of the fingers 2 to the specified external and internal dimensions parts in the housing 1 and the cross bar 12 is made of radial grooves: respectively T-shaped 14 and through 15.

The gripping device is connected to the arm 16 of the manipulator by means of hinged fastening, made with the possibility of rigid angular installation of the housing I with the fingers 2 relative to the arm 16 of the manipulator (Fig. 2), for which uniformly spaced recesses 18 under the clamp are made on the end surface of the gripper eye 17 19 hands 16 manipulator torus (Fig. 3).

To prevent radial limb of the finger 2, the yoke 12 has a disk lock 20 having radial grooves 21 with a one-sided toothed crank, between the depressions of which the finger 2 passes (Fig. 4).

The gripping device may be configured to grip the parts 13 with fingers 2 without additional movement of the gripping device. In this structural

The design of the fingers 2 is made up of composite, the lower rod 22 is telescopically connected by the upper rod 23 of the finger 2 by means of an elastic element, such as a tension spring 24, with the possibility of limited axial reciprocating movement (Fig. 5).

In addition, for a more tight clamping of parts, the support flange of 25 fingers 2 is shaped conically or spherically. With

 This ensures a consistently upward tight clamping of the part 13 by elastic sleeves 3.

The gripping device operates as follows.

The working fluid is supplied to the cavity 9 by a command from the control system and the piston 6 with the rod 11 and the crosspiece 12 moves towards the arm 16 of the manipulator, compressing the spring 7. The elastic sleeves 3, previously formed by the force of the spring 7, are the energy of elastic deformations restore their original shape, forming between them a gap for the piece to be taken 13. After that, a command is sent from the control system to move the arm 16 with a gripping device to the gripping position, where the cavity 9 of the cylinder 5 is automatically ski is connected to the drain. When this is compressed, the spring 7 moves the piston 6 with the rod 11 and the cross member 12 (on the clamp

0 details 13) in the direction from the arm of the manipulator of the torus. Traverse 12 through the pressure elements 4 performs volumetric deformation of elastic sleeves 3, the material of which, tightly pressed radially to the surface of the part 13, fills all its

irregularities. As a result, the gripped part is securely held by elastic sleeves not only due to the forces of friction, but also due to the forces of adhesion of the material of the sleeves to uneven surfaces of the part. The degree of deformation of the material of the elastic sleeves and the clamping of the part is regulated by a screw stop 8, while limiting the force effect of the spring 7, which acts as a return spring and locking mechanism for clamping the part in the working position.

5 Managed by the movement of clamping elastic sleeves, namely the directional deformation of their material, it is possible to provide a secure grip, clamping and retention of parts of different shape and weight for external and internal surfaces.

0

After clamping the part 13 with elastic sleeves, the command to move the hand 16 to the unloading position is given.

To unload the part 13 into the cavity 9 of the cylinder 5, a working body is supplied from the control system and the piston 6 moves in the direction of the manipulator arm 16, compressing the spring 7. The elastic sleeves 3 press on their original shape, the part is unloaded by its own weight unloading position, cycle over.

The gripper made according to FIG. 5, whose fingers are 2 parts. In this case, the lower rods 22 of the fingers 2 perform a limited axial reciprocating movement, elongating when the part is gripped (working position) and shortened after unloading the part (initial position).

When clamping the part, the rods 22 of the fingers 2 move in the direction away from the arm of the manipulator under the influence of the crosspiece 12, as the latter pushes the pressure elements 4, which act on the sleeves 3, the latter move the rods 22, stretching (compressing) the spring 24. After selecting freewheel rods 22

there is a deformation of the sleeves 3 on the clamp parts 13.

In this case, if the support collar 25 of the fingers 2 is shaped conically or spherically, the clamping of the part 13 by the bushings 3 occurs from the bottom upwards along the height of the sleeves 3. This allows better control of the deformation of the material of the sleeves 3 by wrapping around the bottom and further enhancing the reliability of the clamping and retention of parts of different shape and weight. When the part 13 is unloaded, the lower rods 22 of the fingers 2 move in the direction towards the arm 16 of the manipulator under the influence of the springs 24, since there is no force action of the spring 7, and the sleeves 3 restore their original shape. The proposed gripping device improves the reliability of operation.

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Claims (2)

1. GRAVING DEVICE, comprising a housing, fingers with elastic clamping elements mounted on them, characterized in that, in order to increase the reliability by directional deformation of the elastic clamping elements, it is equipped with a traverse with a drive of its movement, made in the form of a power cylinder mounted on the housing , the stock of which is rigidly connected to the traverse, moreover, on the body and in the traverse, do it! radial grooves in which fingers with shoulders at the ends are placed with the possibility of fixed movement, and elastic gripping elements made in the form of bushings are installed between the shoulders and the traverse. 2. The device according to π. 1, characterized in that the fingers are made in the form of two telescopic spring-loaded rods. Figure 1 nd ND O СО SaE