SU1234179A1 - Industrial robot gripping device - Google Patents

Description

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The invention relates to mechanical engineering and instrumentation technology and is intended for use as a gripping device for industrial robots.

The purpose of the invention is to provide adjustment of the stiffness of the gripping connection with the robot arm in accordance with changing technical parameters, which is necessary for reliable operation of the robot, increases its service life, reduces the requirements for accuracy of positioning of the robot.

Fig, 1 shows the proposed grip, section; in fig. 2 - position of the grip with the part relative to the mandrel.

The gripper of the robot consists of a connecting flange 1 connecting the gripper with the arm of the robot 2, and the housing 3 in which the gripping elements and the drive of their movement (not shown) are placed. Between the flange 1 and the housing 3 there is a screw spring 4 that compresses the ends of which are fixed in their ends, and a pin 5 located inside the spring. The latter is screwed at one end into the flange 1, at its other end installed in the opening 6 of the housing 3 with the possibility of radial movement , there are a washer 7, a nut 8 and a lock nut 9. The washer 7 has the ability to slide on the surface 10 of the housing 3, which provides

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swimming body 3 with gripping elements relative to the arm of a robot.

The device works as follows.

When adjusting the grip, the lock nut 9 is lowered and with the help of the nut 8, the distance between the housing 3 and the flange 1 is changed through the washer 7 and the spring stiffness is adjusted in accordance with the change in the weight of the part to be set by the robot and the speed of movement of the robot. At the same time, the spring stiffness must ensure that the casing 3 can float with the part to be installed and when it is installed on the mandrel.

When the robot is working, the arm together with the grip carrying the part 11 is axially displaced in the direction of installation of the part 11 on the mandrel 12 with a conical approach as far as it will go to the butt end 13. Due to inaccurate positioning of the robot arm, some displacement of the axes is possible. Therefore, when installing parts 11 in the base slot, additional forces arise that cause the body 3 to float relative to the arm, allowing the parts to be mounted. When the workpiece 11 stops in the mandrel end 13, the arm continues forward movement for some time, while the spring 4 compresses and straightens the arising axial force, protecting the hand from overloads.

Phie. 2

Compiled by L. Voskoboinikawa Editor S. Lisin Tehred O. Sopko Proofreader A, Ferenc

Order 2941/18 Circulation 1031 Subscription

VNIIPI USSR State Committee

for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5

Production and printing company, Uzhgorod, Projecto st., 4

Claims (1)

CAPTURE OF AN INDUSTRIAL ROBOT, comprising a housing connected to the flange of the arm ^{of a} robot ¹ with gripping elements and a drive for moving them, a spring installed between the flange and the housing, characterized in that, in order to increase the reliability of the grip, it is equipped with a stud and a nut installed on its free end and a washer, moreover, the pin is installed in the center of the flange, and a central hole is made around the pin with a gap in the case, while the housing is pressed against the washer, and the spring ends are rigidly fixed to the case and flange, respectively. Figure 1