SU1237425A1 - Manipulator gripper - Google Patents

Description

The invention relates to mechanical engineering, in particular, to a technique for manipulating products, and may find application in the mechanization and automation of technological processes of processing and assembly.

The aim of the invention is to expand the technological capabilities of the gripper of the manipulator by providing gripping details of complex shape, for example, the type of torus, as well as improving the reliability of the device due to variable stiffness of the fingers.

FIG. I depicts the capture of the manipulator, a general view; in fig. 2 - section along the hinge axis.

The capture of a manipula torus consists of. cases 1, fingers assembled from links 2, connected to each other and to case 1 by means of hinges 3. In links x 2, the main 4 and additional 5 holes are made, through which the main 6 and additional 7 cables are passed, covering pairs of blocks 8 and 9, which are mounted on drive rods (not shown). On the axles of the hinges 3, torsion springs 10 are installed, the ends of which are rigidly fixed in the housings of adjacent links 2, and the maximum torque, starting from the spring placed on the hinge axis connecting the pin to the casing 1, is determined by the expression

 m; m „am, p-1,

Where Mj is the largest operating torque of the i-th spring; M is the largest working torque of the torsion spring mounted on the axis of the hinge connecting the pin to the housing;

M.

- the moment of training in the joint;

but . - coefficient of proportionality (a 3-50); i is the serial number of the hinge

(i 1,2 ...).

Capture manipulator torus works as follows.

t 1,

When force is applied to a pair of blocks 8, the main cable 6 is pulled, which, having overcome the resistance. springs 10 torsion, leads to the convergence of the fingers gripping the manipulator torus. The approach starts from the initial position, in which the axes of the fingers are linear and located

relative to each other at an angle of 180, and is carried out by rotating the fingers around the hinges 3 connecting them to the housing 1. In this case, the bending of the axes of the fingers does not occur, because the torsional moments of the springs mounted on the axes of the hinges connecting the fingers with the body, less than the torque of the other drivers on the axles of others

About the hinges on the vel1-gchiiu M amgr i Os; and the fingers remain straight until the moment of contact with the ODNRGM or with several links 2 of the surface of the object being captured. Further tensioning the pair of blocks. 8 a force is created to overcome the torsional moments of the springs 10 mounted on the axles of the hinges 3, which leads to the bending of the axes of the fingers in

0 side of the captured object. In case one of the fingers touched the object before the other, which occurs as a result of the asymmetry of the object being captured or

5, its location not in the center of the gripping zone, the finger that has come into contact with the object stops, and the other finger, due to turning the pair of blocks 8, is further tightened against the object.

The further work of capturing the manipulator will be considered on the example of the work of one of the fingers, the action of which occurs in a similar way. After contacting one of several links of the finger with the gripping object, the movement of the finger progresses around the hinge connecting the most distant from the body link of the currently contacting links with the object links, if there are several such links, and the link that has not yet entered contact with the subject. For example, if the first link in contact with the gripping TbinaeNfbiM object is the third link, then the subsequent finger movement, carried out due to further tension of the cable 6, occurs around the hinge connecting the third and fourth links, since at this time period The torsion of the spring mounted on the axis of the specified hinge is the smallest. Consequently, upon contact with the item of the 1st link, further rotation of the finger is carried out around the hinge connecting the i-e and i + 1-e links. Ta0

five

0

five

In a CIM manner, sequential contacting of all links of a finger with the object being captured occurs. Further tensioning of the cable 6 provides the necessary compressive force for securely gripping the object. When the tension of the cable 6 is loosened, which is achieved by disconnecting the drive of the pair of blocks 8, the grip fingers under the action of the elastic forces of the torsion springs 10 return to the initial position, i.e. the subject is being released. Followed by 37425 -

The operating cycles of the manipulator grip proceed in the same way as described.

When gripping the body parts of the torus type in the initial position, the fingers are located relative to each other at an angle O, i.e. their axes are parallel. The fingers are inserted into the body cavity or hole of the torus, 10. and when a pair of blocks 9 is applied to the force and the subsequent tension of the cable 7 is applied, the object is gripped in a manner similar to that described.

FIG. 2

Editor A. Lezhnin

Compiled by I. Bakulina Tehred G. Gerber

Order 3237 / 17TirageGOZG Subscription

VNIIPI USSR State Committee

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

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

Proofreader E. Shiro.hman

Claims (1)

Grip of the MANIPULATOR, comprising a housing, pivotally mounted fingers on it, each of which is assembled from links pivotally connected to each other, and cables passing through holes made in the relative axis of the finger and connecting the fingers to the drives, distinguishing frost from the fact that, for the purpose of expanding technological capabilities and increasing reliability, each finger is equipped with torsion springs located on the axes of the hinges of the links, the ends of which are rigidly fixed to adjacent links, while the rigidity of the torsion springs from the base to the end ltsev reduced, and each actuator is equipped with a pair of blocks, the blocks in a pair are arranged symmetrically with respect to the axis of the capture, wherein each cable fingers _ equidistant from this axis encloses a respective pair of Bloch links 59 on opposite sides Cove The relative e to m th Sl