SU1234180A1 - Gripping device - Google Patents

Description

The invention relates to robotics, to gripping devices of manipulators.

The purpose of the invention is the expansion of technological capabilities by engaging the liver with parts with different base schemes, the possibility of rolling the part along a plane along any trajectory and enabling the centering of the part such as rods with intersecting axes.

FIG. 1 shows schematically a gripping device, a longitudinal section; in fig. 2 shows a section A-A in FIG. 1 in FIG. 3 shows a section BB in FIG. 2; in fig. 4 shows a section B-B in FIG. 2; in fig. 5 shows one possible variation of the position of the part in the gripping device at the end of the gripping supply to the part J in FIG. 6 - 8 is a diagram of the centering of a part such as a rod with intersecting axes; in fig. 9 - 1 some variants of the base part in the grip; in fig. 15 and 16 are some options for manipulating the part in the grip.

The gripping device comprises a housing G, in which coaxially mounted. the cups 2 are rotatable about the axis of the gripping device. For this purpose, for example, annular grooves are made on the inner and outer sides of the cup 2, as well as in the case 1, which are filled with balls 3. Each cup 2 has a toothed crown which is kinematically connected with a discrete drive, for example, a stepper motor 4, into a chain control has a sensing element 5, for example a current relay. In glass 2, a finger 6 is mounted in the form of a rod rotatably about its own axis, associated with a rotational drive 7. In glass 2 there is an internal cavity in the form of a part of a hollow cylinder, the axis of which coincides with the axis of glass 2. In the cavity of glass 2 a piston 8 is installed that is not full rotary. power cylinder. In the cavity of the piston 8 there is a piston with a rod 9 of a linear cylinder of the displacement. The piston 8 is connected with a chucked element with a 10 position sensor installed in glass 2. To supply compressed air to the piston cavities of the linear cylinder of the displacement, as well as in the cavity,

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The baths are annular piston 8 and cup 2, the gripper contains switchgears 11 and 12, respectively, which are associated with control system 13, as well as actuators 4 and 7, as well as sensing elements 10.

The gripping device operates as follows.

Capture and manipulate a curved bar-type part with intersecting axes. In the initial position, the part is located so that the center (the point of intersection of the axes) does not coincide with the axis of the gripping device. The fingers 6 are located on the same line diametrically opposite. When approaching the grip to the part, the fingers 6 enclose the part as shown in FIG. 5. After finishing the supply of the gripping device to the part, the control system 13 includes actuators 4, which rotate the cups 2 until they touch the parts 6 with their fingers. When the fingers touch 6, the parts sharply increase the moment and, accordingly, the current on the drive 4 and the latter stops. (Or turn off) as the fingers 6 rotated by them 6 touch the part and the sensitive elements 5 are triggered.

After stopping all the actuators 4 and respectively the glasses 2 rotated by them, the control system 13 switches the distributors 11. In this case, the excess pressure (compressed air) from the underflow cavity of the rod 9 is switched to the over-piston cavity. The rods 9 extend out of the piston 8 and enclose the part. After the piston 8 has advanced the rods 9, the switchgears 12 are switched to supply overpressure into the cavity of the semi-rotary power cylinder. The level of overpressure is determined so that the clamping forces of the part are less than the forces generated by the actuators 4 when they are turned on with the operating load, i.e. not with the load of the idle chrda, on which the sensitive element 5 is designed, but with the moment created by the engine 7. At the same time, the pistons 8 rotate in the cavity of the cup 2 and the rods 9 move with them until it touches the part. touching the rods 9 with detail of the pistons 8 stopping 0

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Further, the control system includes an actuator 4 of one of the glasses 2. (Fig. 6 When rotating the glass 2 in one direction or the other, the part also rotates with respect to the oppositely arranged fingers 6 and rods 9. In this case, if the part rotates to the grip center, then the distance between fingers 6 and rods 9 decreases if the part moves away from the center of the gripper, the distance between fingers 6 and rod 9 increases. Changing the distance between fingers 6 and rods 9 determines the sensing element 10, with which the control system 13 at Selects the direction of rotation of the cup 2 to move the part to the center of the gripping device.In a position where the axis of the part of the part covered by the fingers 6 and the rods 9 of the fixed glasses passes through the center, as shown in Fig. 7, the distance between the fingers 6 and the rods 9 minimally (for example, control system 13 is set to this size) and rotation of cup 2 is stopped.

After that, the control system includes actuators 7 of those fingers that cover a part of the part, the axis of which passes through the center of the grip. In this case, the sensitive element 10 of the cup 2, the finger 6 and the stem 9 of which cover a part of the part whose axis does not pass through the center of the grip j, the device is ready for the next one determines the direction of rotation of the actuators 7 and their fingers, i.e. when the center of the part (point 0) approaches the pickup center (point O), the distance between the finger 6 and the rod 9 decreases; as the part moves, the ratio

By gripping in the opposite direction, the distance between the finger 6 and the rod 9 increases. When moving the center of the part (point 0) to the center of the grip (point O), as shown in FIG. 7, the center of the part and the center of the gripping device coincide (Fig. 8). At the same time, the distance between the finger 6 and the rod 9 is minimal, and the sensor element 10 installed in this glass is about to transmit a signal to the control system 13. In this case, the part and the gripping device are centered relative to each other. Next, the part is transferred to the designated place by a manipulator (not shown).

The control system 13 may in this case contain a subroutine for rotating the part relative to the body 1 at any angle. For example, when transferring a part to a designated location, control system 13 may turn actuators 4 on to perform machine re-rotation to its original position. To release the part, the control system switches the distributors 12 to remove the rods 9 from the part together with the annular pistons 8. Next, the actuators 4 turn the cups 2 to their original position and the distributors 11 switch pressure, and the rod 9 is installed in the piston 8. Gripping

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The invention provides for capturing parts with different base patterns and centering pieces of various types. .

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Compiled A, Alekseev Editor S. Lisin .. Tehred O. Sopko

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

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Corrector T, Kolb

Claims (1)

CAPTURE DEVICE, comprising a housing with a rotatable cup placed inside it, in which a piston of a part-turn power cylinder is located, as well as a drive control system, characterized in that, in order to expand technological capabilities, it is equipped with at least one an additional cup, in which the piston of the additional part-turn power cylinder is located, moreover, a finger with a drive for its rotation is installed in each cup, and in each piston there is an incomplete • rotary power cylinder a cavity is made in which the piston is arranged to move along its axis with the rod of the linear cylinder of the linear movement, in addition, each half-turn power cylinder is equipped with a piston position sensor associated with the control system. 1234180 A1