SU1237418A1 - Gripping device - Google Patents

Description

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The invention relates to robotics, in particular to gripping devices of industrial robots.

The aim of the invention is the expansion of technological capabilities by providing the possibility of rotation of the drive shaft in different directions.

FIG. 1 shows a gripping device for gripping hollow parts by internal surfaces, longitudinal section; in fig. 2 - the same, dd1 capture parts for the outer surface.

The gripping device (Fig. 1) contains a drive 1, a drive shaft 2 mounted in the bearing 3 of the housing 4 and the bearing 5 of the head 6 .. The housing 4 and the head 6 have a cylindrical shape and are connected by means of a ball krv 7, with the housing 4 and the head 6 in this case, the cage and the bearing of the bearing serve respectively. The gripping jaws 8 are made in the form of two shoulders and are articulated on the projections 9 in the lower part of the head 6. To the upper arms of the gripping arms 8 are attached one end flexible non-expanding elements 10, which are a drive unit, the other ends of which are fixed to the shaft 2 The flexible elements 10 are fitted with elastic elements 11, which are, for example, springs resting one end of the upper shoulders of the gripping jaws 8 and the other into the recesses 12 on the head 6. In the recesses 12 of the head 6 there are holes 13there are flexible 14 non-expandable elements 10. In the Hi-Gene parts of the housing 4, a latch 14 is inserted into the recess 15 in the upper part of the head 6. The final switch 16 is used to receive information (acting on the actuator I) in case the parts are not in the zone seizure. The shaft 2 with the drive 1 is connected using a coupling 17.

It is advisable to use a gripping device to grip hollow parts beyond the inner surfaces. If necessary, gripping the parts beyond the outer surface (e.g., for nuts, washers, etc.) suggests a different arrangement of the jaws 8, the flexible 10, and the elastic 11 elements on the head 6 of the gripper (Fig. 2).

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In this construction, the gripping jaws 8 are made in the form of one-arm levers and are hinged with their upper ends on the projections 9 of the head 5. The projections 9 are located in the upper part of the head 6, and the recesses 12 with holes 13 and flexible non-expanding elements

10 with springs 11 located in the lower 10 part of the head 6. Flexible non-expandable elements 10 are fixed at one end to the lower part of the shaft 2,

and the other on the middle part of the corresponding sponge 8.

 5 The device operates as follows.

In the initial position, the gripping jaws 8 (Fig. 1) are collapsed (2 are divorced) under the action of elastic elements 20, the shaft 2 does not rotate, and the coupling 17 is turned off. When the part is gripped, the clutch 17 is turned on, the drive 1 begins to rotate, and the drive shaft 2 rotates, which winds up the flexible non-expanding elements 10, overcoming the force of the elastic elements 11 and thereby moving the jaws (in FIG. 2). 8. The latch 14 does not come out of the recess 15 until the jaws 8 reach the part and capture it. After the part is gripped, the latch 14 by rotational force of the drive shaft 2 is taken out of the gouge 15 and slides along the surface of the head 6. In this case, the head 6 with the gripped part can rotate in one direction or the other, depending on the rotation of the drive. This rotation can be used, for example, during assembly, polishing operations, etc. The strength of the latch friction 14 on the head 6 does not allow the lips 8 to release the part. The force of the fixture 14 to the head b is regulated by a spring, and thereby the force of compression of the part by the jaws 8 is adjusted.

To release the parts, they stop the drive 1, disconnect the Fl 17, and under the action of elastic elements

11, the flexible elements 10 are wound off the shaft 2, rotating it in the opposite direction, with the gripping lips 8 converging (spending), freeing the part.

When using the invention, the technological possibilities are expanded.

structure is simplified and the reliability of the device is improved, since

the possibility of capturing its detail both against it and the arrow, i.e. in both hanpai

1B

eleven

FIG. 2

Editor A. Lezhnin

Compiled by A. Alekseev

Tehred G.Gerber Proofreader E. Syrohman

Order 3237/17

Circulation 1031

VNIIPI USSR State Committee

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

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

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Claims (1)

A gripping device comprising a housing in which a head with gripping jaws and a drive shaft is rotatably disposed, the housing and head being interconnected by means of a retainer and a sensor, further, in order to expand technological capabilities, gripping jaws are fixed at the ends of levers spring-loaded relative to the housing, pivotally mounted on the head, the levers being connected to the drive shaft by means of flexible inextensible rods, one end of each rod is fixed to the drive shaft by the other - on the lever. figs! .SU. „, 1237418 f