SU1250452A1 - Industrial robot grip - Google Patents

Abstract

The grip refers to the gripping bodies of industrial robots. The purpose of the invention is the expansion of technological capabilities by clamping parts of various sizes and configurations. The grip includes a housing on which clamping jaws are mounted with a mechanism for their movement along the product axis, an automatic positioning of the clamping jaws mounted in the housing and kinematically associated with the mechanism for moving the clamping jaws, the clamping jaws are mounted in pairs on the front part of power cylinders made in the form of pneumatic chambers rigidly mounted on brackets, the cavities of which through tubular channels are connected to a pneumatic distributor fixed to the housing. The movement mechanism of the jaws is made in the form of a gear mounted on a rotary shaft, and rails movably mounted in guide bodies, each of which is associated with one of the brackets and at the same time is a guide for the other bracket. c & (L Nd SP about 4ii cl to

Description

The invention relates to roVoto-, namely to the gripping bodies of industrial robots.

The purpose of the invention is the expansion of technological capabilities by clamping parts of different lengths.

FIG. I shows the gripper of an industrial robot, a general view; 2 is the same plan view; on fig.Z - section LA in figure 1; figure 4 - section K-R in figure 3.

The shnat consists of a housing 1 fixed on the arm 2 of the robot, a drive gear 3 fixed by means of a nut 4 on a rotary shaft 5 connected to the gear 3 of the rails 6 and 7 placed in the body guides 8 with the possibility of reciprocating movement fixed on the rail 6 of the bracket 9 with the guide 10 fixed on the rail 7 of the bracket 1 1 with the adapter 12, two pneumocameras 13 and 14 fixed on the shelf 9 and 1 1 fixed on the housing I of the pneumatic valve 15 with a cannap 16 and tubular canapes 1 7

KA; KDA of pneumatic chambers consists of a base 18, a membrane 19 connected to the rod 20, a cylinder 21 and a spring 22 returning the rod to its original position. In each base 18, a cavity 23 is formed, connected by a tubular channel 17 to a pneumatic chamber.

The fastening of the objects 24 and 25 is carried out with the help of the non-arc-free jaws 26 fixed in pairs on the cylinders 21 of the pneumatic chambers 13 and 14, and

pivoting jaws 27 fixed in pairs on the cylinders 21 by means of axles 28 and svnngh: tami 29 with tongs 20.

The rotary shaft 5 is rotated by the robot's control system. Air is supplied to the chambers 13 and 14 through the shaft opening 30.

The grip works as follows

From the pneumatic system of the robot compressed air through the hole 30 in the shaft 5, the channels 16 and 17 are supplied to the cavity 2 of the pneumatic chambers 13 and 14, the membranes 19

wiggling the rods 20 and by means of the snipers 29, the jaws 27 rotate, fastening the objects 24 and 25. Then a command is given to lift, pull in and turn the hand to transfer the object to the next operation. Simultaneously with the rotation from the robot system, the shaft rotates

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5 counterclockwise, and with it the gear wheel rotates, moving the toothed racks 6 and 7. Bracket 9 moves with the rail 6, and the rail 7 slides along the guide 10 of the bracket 9. At the same time, the bracket P. with the rail 7 moves and slides along the rail 12 brackets II. Air chambers 13 and 14, fixed

on brackets 9 and 11, move with them. The angle of rotation of the shaft 5 is adjusted automatically by the robot control system. In this way, the amount of movement of the pneumatic chambers 13 and 14 with the jaws 26 and 27 attached to them is automatically achieved.

At the end of the rotation of the arm 2, the robot is given a command to extend and lower the arm to place the objects 24 and 25 to another position. After that, the pressure from the pneumatic chambers is relieved by releasing objects 24 and 25.

Then, a command is given to lift, retract, turn arm 2. Simultaneously with rotation of shaft 5 together with the drive gear, 3 toothed racks

6 and 7 are moved respectively to the right and left. Air chambers 13 and 14 are returned to their original position.

After the end of hand rotation 2, the cycle is repeated. A pair of clamping jaws 27 and 26 can be made adjustable along the axis of securing the objects.

Thus, supplying the device with two independent clamping jaw systems provides clamping of parts of various sizes and configuration20

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Claims (1)

40 Formula izob. reteni The grip of an industrial robot, located on a rotary shaft, includes a housing and two pairs of clamping elements, each of which is associated with the pneumatic cylinder stem and installed on its edge, which is designed to expand the technological capabilities clamping parts of various lengths the tong is equipped with a gear mounted on a rotary shaft, with slats located in the housing with the possibility of movement and interaction with gears and pneumatic cylinders and a pneumatic valve mounted on the housing with channels connected to the pneumatic cylinder. 29 20 29 th JO 21 13 IS (-H  V 27 Editor A.Lezhkia Compiled by E. Sheslavska Tehred L. Serdyukova Proofreader I. Musk Order 4365/14 Circulation 1031. Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Pr octna, 4 tpt / e.4