SU1237422A1 - Gripping device - Google Patents

Description

The invention relates to the automation and mechanization of technological processes, and can be used in the construction of industrial robots and manipulators.

The aim of the invention is to increase the reliability of operation and to ensure the capture of parts displaced relative to the axis of the device.

FIG. presented gripping device, general view; in fig. 2 is a view A of FIG. one.

The gripping device comprises a housing 1, a linear movement actuator 2 with a rod 3, a wedge 4. On the case i there are two hinge-lever mechanisms 5 and 6, made in the form of pantographs. Rollers 9 and 10 are installed at the ends of the levers 7 and 8 of the hinged-lever mechanisms 5 and 6 and rotate about axes 11 and 2. Axes II and 12 of rollers 9 and 10 are placed in transverse grooves of housing I and spring-loaded with springs 13 and 14, Rollers 9 and 10 rests on the surface of the wedge 4. At the ends of the levers 15 and 16 of the hinge of the lever mechanisms 5 and 6, the stops 17 and 18 with the hinges 19 and 20 are fixedly mounted, on which two clamping jaws 21 and 22 are hinged, spring-loaded relative to the stops 17 and 18 springs 23, 24 and 25.26 respectively. At the end of the rod 3 of the linear actuator 2, the flat pusher 27 is fixedly mounted, the wedge 4 has a T-shaped transverse groove and is movably mounted relative to the flat pusher 27 placed in its T-shaped transverse groove (FIG. 2). Wedge 4 spring through profiled stop

28 relative to the housing 1 spring

29press.

DEVICE works as follows.

 The linear actuator 2 moves the rod 3 with a flat pusher 27, which is wedge 4, causes it to interact with the rollers 9 and 10, which causes their axes II and 12 to move in the transverse grooves of the housing 1 in the direction from the axis of symmetry II of the gripping devices. Springs 13 and

14 provide a constant contact of the rollers 9 and 10 of the wedge 4, and the compression spring 29 through the profiled support 28 - a constant contact of the wedge 4 with a flat pusher 27. The hinged mechanisms 5 and 6 convert the movement of the axes 11 and 12 of the rollers 9 and 10 into plane-parallel movement of the lugs 17 and 18 with the clamping jaws 21 and 22 mounted on their hinges 19 and 20 in the direction to the axis of symmetry 1-1 of the gripping device. This ensures the capture of parts located

 between the clamping jaws 21 22. When the clamping jaws 21 and 22 are released, the compression spring 29 excludes the appearance of a play between the flat pusher 27 and the wedge 4.

0 The possible displacement of the part along the axis of symmetry I-I of the gripping device is compensated by turning the clamping jaws 21 and 22 around the hinges 19 and 20, the turn damping is carried out by springs 23, 24 and 25, 26, respectively.

If the part is displaced in the transverse direction with respect to the axis of symmetry II of the gripping device, then in the process of gripping only one of the clamping jaws 21 and 22 comes into contact with the part. With further compression, the force arising from this contact is transmitted through one of the hinged-lever mechanisms 5 and 6, to one of the rollers 9 and 10. As a result, an additional force arises, with which one of the rollers 9 and 10 acts on the wedge 4. Since the wedge 4 can move along the surface of the flat pusher 27, under the action of this additional. he begins to move in the transverse direction relative to the axis of symmetry II of the gripping device, thereby creating an additional force on the npoTi geo-roller 9 or 10, which as a result accelerates the movement of the other jaw 21 or 22. So, one of the jaws The jaws 21 or 22, which have entered into contact with the part, remain stationary, while the other continues a plane-parallel movement until the surface of the part is touched.

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Budt (

Editor A. Lezhnin

Compiled by A. Kotov Tehred G.Gerber

Order 3237/17 Circulation 1031Subscription

VNIIPI USSR State Committee

on inventions and open nd 113035, Moscow, Zh-35, Raushsk nab, D. 4/5

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

1

Proofreader L. Pilipenko

Claims (1)

A gripping device comprising a housing, a drive including a wedge connected to an output link of a linear displacement motor, at least two articulated link mechanisms - a pantograph, the output links of each of which are connected with clamping jaws, and the input links are equipped with rollers, designed to interact with the wedge, characterized in that, in order to increase reliability and ensure the capture of parts displaced relative to the axis of the device, it is equipped with a profiled stop spring-loaded relative to the housing, the contact with its working surface with the edge of the drive wedge, and the latter 'is mounted on the output link of the engine with the possibility of movement in the direction perpendicular to the movement of the output link of the motor. со со м к к к??