SU1248794A2 - Gripping head of manipulator - Google Patents

Description

The invention relates to a robotic process equipment used in the manufacture of electroplating, as well as in rapidly reworking machining or assembly systems, and is an improvement to the invention in accordance with the author. St. No. 770790.

The purpose of the invention is to expand technological capabilities.

FIG. 1 shows a gripping head, a general view; in fig. 2 is a view A of FIG. 1j in FIG. 3 shows the node I in FIG. in fig. 4 - section bb in Fig.3.

The gripping head consists of a body, 1, a gripper, made in the form of two pivotally mounted on a movable platform 2 spring-loaded levers 3 with rollers 4, a gripper drive 5 fixed on the housing 1, an actuator 6, which is also fixed on the housing 1, linear movement of the platform 2 along the guides 7, rigidly fixed in the housing 1, and a vibrator made in the form of an electromagnet 8, roma 9 and an elastic body 10. The length 9 has an adjusting screw 11, a locking screw 12 and a gasket 13. Elastic, the body 10 is made in the form of flat springs in to There are at least two installed at an angle to the direction of force of the electromagnet 8. The core 14 of the electromagnet 8 is fixedly connected to the base 15. The base 15 is fixedly connected to the end link of the manipulator 16. One end of the elastic body 10 is fixed on the frame 9, and the other on the base 15 of the electromagnet 8. The levers 3 have longitudinal grooves 17 for paldev 18, which act as supports for the levers 3, and connected through the cable 19 to the body with the possibility of angular and linear movement relative to it.

In this case, the movable platform 2 has a curved one, groove 20 along an arc of a circle, through which a finger 18 is passed. Grooves 21 are also made at both ends of the levers 3, in which axes 17 secure the spring-loaded along the axis of the grooves 17 with the angle at the vertex and with the ability to interact with the finger 18 for its unambiguous fixation in pa

Hound 17. Gripping head manipulates the product 24.

The gripping head works as follows.

In the initial position, the actuators 5, 6 and the electromagnet 8 are disabled. Spring-loaded levers 3 divorced, the end surface of the PM 9 and the core 14 under the action of the elastic body 10

form a gap between themselves. There is also a gap between the adjusting screw 11 and the core 14. Initially, the actuator 5 is turned on, while the levers 3 rotate with respect to

fingers, 18 and seize the product 24. Next, the electromagnet 8 is turned on, powered by a pulsating voltage. During the time of operation of the electromagnet 8 RMO 9, connected into one

with the housing 1, it is attracted to the core 14, compressing the elastic body 10. During the release time of the electromagnet 8, the rome 9 returns to its original position under the action of the elastic body 10. Thus, the product 24 oscillates. The oscillation amplitude is controlled by the screw 11. The elastic body 10, set at an angle to the axis of the electromagnet, provides translational-rotational oscillation.

When the voltage is turned off, the vibrations are stopped. At the end of the technological process, the drive 5 is turned off, the levers 3 release the product 24. The cycle is repeated automatically the required number of times.

When changing the size of the product, the actuator 6 is connected to the movable platform 2, which linearly moves along the guides 7 fixed in the housing 1, and causes the fingers 18 to move along the longitudinal grooves 17 in the lever: x 3.

In this case, the finger 18 rotates the bracket 23 around the axis 22, and the bracket 23 is placed by means of its spring in the groove 21 so that its free end does not protrude in the longitudinal groove 17 of the lever 3. The finger 18 self-aligns in the groove 20 of the platform 2 due to rotation gi 19 and its linear displacement together with a finger 18 relative to the axis linking the tug 19 with the housing 1. Changing the location of the axis of the finger 18 relative to the longitudinal groove 17 of the lever 3 leads to a change in the gain of the lever 3, the values of the working-displacements of their ends. Moreover, the end positions of the periphery of the clamping jaws after changeover are parallel to the initial position. The finger 18 is fixed on the lever 3 by the clip 23 when it rotates around the axis 22 due to the action on the spring-loaded end of the bracket 23 of the linearly moving finger 18. Unlocking the finger 18 is prevented due to exceeding the working force developed by the drive 6 in comparison with the drive 5, which is provided before their setting.

View A is covered

19 of FIG.

Y // //

W7

7

3 22

FIG. H

Compiled by A. Korotkov Editor R. Tsitsika Tehred N. Bonkalo Proofreader, L. Pat Ay

Order 4171/13 Circulation 1031Subscription

VYIIPI USSR State Committee

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

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

Claims (1)

CAPTURE HEAD OF THE MANIPULATOR by ed. St. No. 770790, distinguished by the fact that, in order to expand technological capabilities, guides are mounted on the head housing on which a movable platform with an individual drive of longitudinal movement and two 'symmetrically curved grooves with slots located in them are mounted fingers, each of which is rigidly connected at one end to a corresponding rod movably connected to the housing, and the other end is placed in the groove of the gripping lever provided with movable spring-loaded brackets; FIG. ! (b SU .. „1248794 (5 1248794 '