SU1266737A1 - Manipulator grip drive - Google Patents

Abstract

The DRIVE OF THE MANIPULATOR, containing two double-arm levers, pivotally connected to each other and to the base, one shoulders of which are spring-loaded to each other, and the other supporting sponges are connected through rods with electric coils, and two magnetic systems installed in the gripper's working area capable of interacting with electric coils, characterized in that, in order to expand technological capabilities by ensuring the re-operation of the gripper at various points in the working area of the manipulator, it is equipped with two bodies, intercepts a rods and rigidly coupled to the base, two sliders mounted within the housing and spring-loaded towards it, and locks with their displacement drives mounted on polzune.s to cooperate with the surfaces of the rods and the inner surface of the housing poW. Cb and W

Description

The invention relates to robotics, namely, the implementation of the tongs of industrial robots and manipulators. The aim of the invention is to expand the technological capabilities of the manipulator by allowing the gripper to work again at any point in the working area of the manipulator.

FIG. 1 shows the gripper drive of the manipulator; general view; in fig. 2 view A in FIG. one; Fig, 3 knot fixation slider; in fig. 4 - 8 different phases of the stem movement,

The drive contains two double-arm levers 1 and 2, connected by a hinge 3 between themselves and the base 4. One arms of levers 1 and 2 are spring-loaded to each other by a spring 5, and the other by means of support sponges 6 are connected via rods 7 with rods 8, at the ends which are fixed electrical coils 9. The rods 8 are located inside the housings 10, mounted on the base. Between the rods 8 and the housings 10 there are slides 11, spring-loaded to the housings by springs 12. On the sliders 11, clamps 13 and 14 are installed with a drive for moving them, for example, in the form of solenoids 15 and 16 with spring-loaded cords 17 and 18 to them, on which clamps 13 and 14 are fastened, the inner surface of the housings 10 and the surfaces of rods are fixed overlays 19 and 20, which cooperate with clamps 13 and 14. At least in one of the work zones of the gripper there are two magnetic systems 21 with gaps for accommodating the coils 9 .

The device works as follows.

When the gripper extends into the working area of the coil 9, it enters the zone of the magnetic systems 21, preparing it for the jaws 6 to expand. When the electric coils 9 are connected to an electrical energy source (not shown), their turns placed in a magnetic field experience electromechanical forces; 1: x sponge 6 and compressive spring 5. When

this is the release of the previously captured part or tk) D1X5t () for its capture. The reversal of the jaws occurs when the current in the electric coils 9 is disconnected under the action of the spring 5, and the solenoids 15 and 16 are permanently connected to the source of electrical energy.

In that case, when the further work of the gripper should occur in the zone that does not have magnetic systems, after the gripper opens, the solenoids 15 are turned off by the electromechanical forces generated by the turns of the electric coils 9 (Fig. 4) and the clamps 13 are pressed to the pads 20 by the action of springs the rods 8, fixing the slides 11 with respect to the rods 8 (Fig. 5). Then the direction of the current in the electric coils 9 is reversed and the jaws are flattened and the springs 12 (Fig. 6) are compressed under the action of the spring 5 and the electromechanical forces acting 9 turns on the coil after reversing the current. After the jaws 6 are brought together or the parts are gripped, the solenoids 16 are turned off and the solenoids 15 are turned on, which leads to the fixation of the sliders 11 relative to the housings 10 and their unlocking relative to the rods 8 (Fig. 7). In this case, the electromechanical energy generated by the turns of the electric coils 9 is stored in the form of the potential energy of the compressed spring 12, which remains in this state after the electrical coils 9 are turned off and the gripper is moved to another position.

To break the gripper jaws 6, it is enough to turn off the solenoids 15 and turn on the solenoids 16. At the same time, under the action of the springs 12, the gripper jaws 6 (Fig. 8) will be diluted, which can be further reduced by unlocking the latches 13 by turning on the solenoids 15.

Further work of the gripper is possible after returning it to the working area equipped with magnetic systems 21.

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Claims (1)

(.54) MANIPULATOR Grip DRIVE, containing two two-arm levers pivotally connected to each other and to the base, one of which shoulders are spring-loaded to each other, and the other - supporting jaws - are connected through rods to electric coils, and two magnetic systems installed in the working zone of the tong with the possibility of interaction with electric coils, characterized in that, in order to expand technological capabilities by ensuring re-operation of the tong at various points in the working area of the manipulator, it is equipped with two buildings, oh atyvayuschimi rods and rigidly connected with the base, two sliders mounted within the housing and spring-loaded towards it, and locks with their displacement drives mounted on polzune.s to interact with the surfaces of the rods and the casing inner surface.