SU1227465A1 - Gripping device - Google Patents

Description

The invention relates to a nonstandard tooling of industrial robots, and more specifically to the working bodies of their manipulators, and can be used with the greatest effect in creating robotized technological systems designed to process a large group of parts that are significantly different in overall dimensions, such as shafts, sleeves, sleeves, flanges, adapters, etc.

The aim of the invention is the expansion of technological capabilities by providing the ability to capture parts of different sizes.

FIG. 1 shows a gripping device, a general view; in fig. 2 — node 1 in FIG. one; in fig. 3 is a view A of FIG. one.

The arm of the manipulator 1 carries the drive 2, which controls the movement of the clamping elements of the levers 3. To each lever 3, a screw 4 is attached to a plate spring 5. The tension spring 6 constantly presses the toothed part of the fixing element 7 mounted on the axis 8 to the toothed gear rail 9, made on the inner side of the sponge 10. Sponge 10 is placed in the groove of the lever 3 with the possibility of radial (in the direction of the center of the gripping device) movement. The other side of the sponge is framed as a copier 11. On the copier 11, a screw 12 is fixed to a stop 13, which holds the sponge 10 in the initial position, which it occupies under the action of the spring 5. On the side opposite to the spring 5 on the sponge 10, the working part 14 is formed which the inclined surface of the inbound bevels of the copiers 11 extends beyond the inner cavity of the lever 5. The sponge 10 has a slot on the other edge to accommodate the toothed part of the fixing element 7 at the maximum consumption of working jaws 10. The gear part is fixed The tapering element 7 is connected to the stationary body of the drive 2 by a flexible inextensible cable 15. The clamping part 16 is placed between the working jaws 10. If the length of the jaw 10 exceeds half the distance between the outer planes of the levers 3, then the presence of stops 13 is not necessary. In this case, the initial position of the jaws 10 is determined by the working parts of the 14 jaws, which are closed one to the other.

The gripping device operates as follows.

In the initial position, the actuator 2 moves the levers 3 to the extreme position. In this case, the inextensible flexible cables 15 are tensioned and the teeth of the locking element 7 are released from engagement with the slats 9 (see.

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FIG. 2). The sponge 10 is moved by the action of the springs 5 up to the stop of the limiters 13 in the copiers 11, the working surfaces of the 14 jaws converge to the distance determined by the clamping conditions of the smallest part of this batch. This distance is determined by the diameter of the smallest detail and the idle speed of the levers 3, while the toothed parts of the fixed elements 7 engage with the rails 9 and wrap the jaws 10 in

About the grooves of the levers 3.

In order to grip the next part, the universal charger due to the axial extension of the manipulator 1 advances onto the detail with the drive bevels of the copier 11. Since the gear parts of the locking elements 7 are disengaged from the rails 9, the sponges 10 are under pressure from the workpiece on the bevelings of the copier 11, having overcome The forces of the springs 5 move in the slots of the levers 3, and the working surfaces of the jaws 10 move apart to a distance sufficient to cover the next part 16. Thus, a part of any size from the smallest to the largest can be covered, meschayuscheys between the working jaws 10 at their limiting dilution until it stops in the arms 3 (with the idling of the levers). In this case, the distance between the working jaws is set automatically without additional cost of working time.

After the gripping device is pushed onto the part, the control device issues a command to the actuator 2 and the levers 3 begin to approach each other. In this case, the tension of the flexible cables 15 weakens, the toothed parts of the fixing elements 7 rotate in the direction of the rails 9, their teeth engage with the teeth of the rails 9 and the jaws 10 are wedged in the slots of the levers 3. The pressure of the part 16 on the jaws 10 facilitates the engagement of the teeth of the locking element 7 and slats 9. Working sponge 10 clamping part 16.

When expanding the levers 3 locking

the elements 7 hold the jaws 10 for some time, which move away from the part 16, releasing it. Then the cables 15 are tensioned, the toothed parts of the locking elements 7 are withdrawn. From the engagement with the laths 9, and the jaws 10 are returned to the initial position.

The proposed device can also be used to clamp parts for internal surfaces. To do this, all the equipment of each lever must be turned to

Q 180 ° around the axis parallel to the axis of the manipulator, and for fastening the cables to install on the body extended brackets. In this case, the device provides for capturing parts of different sizes without additional readjustment.

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Claims (1)

A GRAVING DEVICE comprising a housing on which clamping levers with spring-loaded jaws are mounted and a drive for moving clamping levers, characterized in that, in order to expand technological capabilities, each jaw is provided with a locking element made in the form of an additional lever pivotally mounted on the clamping lever, spring-loaded relative to clamping lever and connected by means of a flexible rod with the housing, moreover, on the fixing elements and jaws mating teeth are made, and on the jaws are made Khodnev bevels. Fug. 1