SU1283093A1 - Centering gripping device - Google Patents

Abstract

The invention relates to the field of mechanical engineering, namely, to gripping devices of manipulators intended for carrying out hoisting operations with cylindrical parts. The aim of the invention is to ensure the reliability of the gripper in the work when capturing parts from the current

Description

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wired material, due to automatic self-installation of the gripping part. When the jaws 1 are mixed by the drive 4, the part 16 interacts with the elastic elements 5, made of electrically conductive material and closes through part 16 of the power supply circuit of the relay 6, which by its contacts and contacts of the relay 7 closes the power supply circuit of the electromagnetic vibrator 3. The vibration of the sponge 1 leads to offset parts in prismatic

one

The invention relates to mechanical engineering, namely to gripping devices of manipulators intended for carrying out hoisting-and-transport operations with cylindrical parts.

The aim of the invention is to ensure the reliability of the work of the gripper when the parts are taken from. conductive material due to automatic self-installation of the captured part.

FIG. 1 shows the gripper, general view; in fig. 2 is a view along arrow A in FIG. one.

The centering tong contains sponges 15 1 with prismatic grooves 2 on the working surface connected to an electromagnetic vibrator 3j connected to a power source (not shown), and a plane-parallel displacement actuator 4 equipped with a control circuit. On the working surface of the sponge .1 on both sides of the prismatic pa; call 2 set elastic elements 5,

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for example, needles made of conductive material and angled to this surface with a slope toward the groove 2.

In addition, the tong contains two electromagnetic relays 6 and 7 with sources of their power supply 8 and 9, respectively, the first relay 6 has a pair of normally open 1 "contacts 10 and 11, and the second relay 7 has a pair of normally closed contacts 12 and 13, - Example of magnetically controlled. Elastic elements 5 located on each sponge 1, except for the prismatic groove along the edges.

grooves 2, made on the working surfaces of the jaws, in this case there is a closure through the part 14 of elastic elements 5 located symmetrically along the edges of the groove 2 of one of the jaws, which leads to the inclusion of the relay 7, which by its contacts 12 breaks the power supply of the electromagnetic vibrator 3, and pin 13 is the power supply circuit of the solenoid valve 14. In this case, the sponges are further reduced and the part 16 is gripped.

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five

About 5

electrically interconnected and connected in series with the power supply source NIKOM 8 relays 6, and the elastic elements 5 located along each edge of the groove 2 at least one of the jaws are electrically interconnected and connected in series with the power source 9 of the relay 7. When This contact 10 and 13 are connected in series to the control circuit of the actuator 4, containing the solenoid valve 14 and the power source 15, and the contacts 11 and 12 are connected in series with the power source of the electromagnetic vibrator 3. The position 16 denotes captured detail from the grounded material.

The centering tong works as follows.

When fluid is discharged into the line (not shown) through the solenoid valve 14 from the engine of the drive 4 of the jaws 1, the jaws synchronize together. In case of its displacement relative to the prismatic grooves 2, the gripping piece 16 interacts with elastic elements 5 located on the surface of the jaws 1. At the same time, the power supply circuit of the relay 6 is closed and the contact 10 is closed and the power supply circuit of the electromagnetic valve 14 is closed. Once the valve 14 stops the discharge of the liquid, the mixing of the jaws 1 is stopped. The contact 11, a circuit of the electromagnetic vibrator 3, which drives the sponge 1, also breaks. The oscillations of the sponge 1 occur

the longitudinal axis of the gripper. Under the action of these vibrations and due to the presence of elastic oblique elements, the detail 16 begins to move toward the edges of the groove 2, upon reaching which it acts on the elastic elements 5 located symmetrically along the edges of the groove 2 of one of the jaws, the electrical closure the power supply circuit of the relay 7, which is triggered, and by its contact 13 opens the circuit of the electromagnetic vibrator 3, and contact 12 opens the power supply circuit of the electromagnetic valve 14. The drain line and the working fluid open under the action of the drive motor spring 4 is drained, the jaws 1 converge and the workpiece 16 is clamped, and the part is finally centered under the action of the faces of the prismatic groove. 2

Claims (1)

Invention Formula A centering tong containing sponges with prismatic grooves on the working surface associated with an electromagnetic vibrator connected to a power source, and with a drive of their plane-parallel movement equipped with a control circuit, and mounted on the working surface of the sponges on either side of the prismatic grooves are elastic elements. H O five 0 five 0 You are at an angle to this surface with an inclination towards the groove, characterized in that, in order to increase the reliability of the gripper in operation when gripping parts from conductive material, it is equipped with two electromagnetic relays with their power sources, the first of which has a pair of normally open contacts, the second - a pair of normally closed contacts, with all the elastic elements located on each sponge, made of conductive material, part of the elastic elements, with the exception of elastic elements located along The prismatic groove frame is electrically interconnected and connected in series with the power supply of the first relay, and the elastic elements arranged along each edge of the prismatic groove of at least one of the jaws are electrically interconnected and connected in series with the power supply of the second relay, This of the normally open contacts of the first relay and one of the normally closed contacts of the second relay are connected in series to the drive control circuit, and the other contacts of these relays are connected in sequence tionary to a power source electron | ferromagnetic vibrators. J