SU1265043A1 - Manipulator grip - Google Patents

Abstract

LOCK OF MANIPULATOR, comprising a housing, a drive with a rod, at the end of which a satellite gear is placed. drive rails kinematically connected by a gear-rack mechanism to racks on which sponges are placed, characterized in that, in order to simplify the construction, the drive racks are made three-sided and kinematically connected to each other and to the drive rod, while the satellite combuster is installed on the rod with the possibility of rotation. S (L tc O) ate oo

Description

The invention relates to mechanical engineering, namely to the grips of industrial manipulators. The purpose of the invention is to simplify the design by making three-sided drive rails and their kinematic connection with the sponges and with the drive by means of a satellite gear placed on the stem rotatably. FIG. 1 shows a gripper, longitudinal section; in fig. 2 is a section A-A in FIG. one; in fig. 3 view B in FIG. one; in fig. 4 shows a section B-B in FIG. one; in fig. 5 - capture parts on the outer surface; in fig. 6-grip parts on the inner surface. The manipulator grip consists of body 1, drive 2, for example, a piston, stem 3, two three-sided drive rails 4 and 5. At the end of the stem 3 the satellite gear 6 is hingedly mounted, kinematically connecting rail 4 and 5 with one another and with the stem 3. In case 1, axles 7–10 mounted gears 11–18. Gears II and 12, 13 and 14 are in engagement with the slats 4 and 5. Gears 11 and 15, 12 and 16, 13 and 17, 14 and 18 are storied and engaged in pairs. In the lower part of housing 1, guides 19 and 20 are made, in which rails 21 and 22, 23 and 24 are mounted. On rails 21-24

Aa

F1 / g, .2

Type B

27

28

Fig.Z fastener replaceable jaws 25 and 26, 27-l 28. The grip captures part 29. The grip works as follows. When the rod 3 moves down, the satellite ujecrepHH 6 moves the rails 4 and 5 down. The rails 4 and 5 rotate the gears 1 and 12, 13 and 14, which, in turn, rotate the gears 15 and 16, 17 and 18. The gears 15-18, rotating, radially bring the rails 2 and 22, 23 and 24 together with their jaws 25 and 26, 27 and 28, clamping part 29 on the outer surface. With the capture of the part 29 on the inner surface movement of the actuators occurs in the opposite direction. When gripping the stepped part 29, for example, a stepped shaft, one pair of jaws that capture a larger diameter stops, for example, the jaws 25 and 26, and, accordingly, all the elements of this kinematic chain are also stopped. However, the rod 3 continues to move and the satellite gear 6 begins to roll along the stopped drive rail, continuing to move the second drive rail and all its kinematic chain elements until the second pair of jaws, for example sponge 27 and 28, grabs the part by a smaller diameter .

Claims (1)

Grip of the MANIPULATOR, comprising a housing, a drive with a rod, on the end of which a satellite gear is located, drive racks kinematically connected by means of a rack-and-pinion mechanism with racks on which the jaws are located, characterized in that, in order to simplify the design, the drive rails are made of three-sided and kinematically connected to each other and to the actuator rod, while the satellite gear is rotatably mounted on the rod. Figure 1 With