SU1283097A1 - Gripping device - Google Patents

Abstract

The invention relates to the field of mechanical engineering, to gripping devices of manipulators. The invention allows for improved reliability. When the actuator 6 is rotated, the coils of the spring 3 are twisted until the inner coil touches the outer surface of the gripped part. The coils of the spring are pressed against each other by an additional spring 7. The outer coil of the spring is fixed on the conical surface 2 of the housing 1. 2 Ш1.

Description

cl

dx

2ff

1

one

The invention relates to mechanical engineering, to devices for performing auxiliary operations associated with changing the position of products and parts in space, and specifically to gripping devices of manipulators.

The aim of the invention is to increase the reliability of operation.

 FIG. 1 shows a gripping device; in fig. 2 - the same, the example of the execution with several mechanisms - Itisma sh.:

Pickup device (Fig. 1)

It contains a cylindrical body 1, 1h; an ice conic bearing surface 2, which is the helical surface of a spiral spring-1-H1Y 3 clamping mechanism, made in its conical cross section, the outer end of which is fixed in the housing 1. The inner end of the spring 3 is fixed to a conical the surface of the additional element 4, installed with the help of the guide square 5 with the possibility of axial movement in the rod b of the spring rotation actuator 3, and is spring-loaded 7. The rod 6 is installed in The body 1 with a threaded bushing 8 can be rotated with a limitation in angle with the pins 95 of the rod 6 and the body 1. The body 1 and the rod 6 are finished with the handles 10 and 11 for their relative use.

15

20

25

40

45

The gripping device (Fig. 2) contains two or more helical springs 3, spaced along the part to be fixed and located in the housing 12, 13. The spring drive 3 is made in the form of cylindrical sleeves 14 with supporting conical surfaces for the inner end of the springs 3 installed in the hollow cylindrical housing 12,13 using restrictive pins 15 and longitudinal grooves under them in the wall of the housing pressed to the inner ends of the springs 3 relative to 50 springs 16. The core of the hollow mold 111 17 rotates the upper sleeve 14. The sleeves 18.19, rotatably clad on the housing 12, rotate the outer end of the lower spring 3. The sleeves 18.19 are kinematically connected with a pin 20with rod -1em 17, rigidly or using a sector groove, as well as using

12830972

spring ball 21 can be staggered on the body 12. The arms 22 and 23, respectively, are fixed to the rod 17 and the body.

5 12 and provide a relative rotation (mouth of the ends of the springs 3 of the clamping mechanism.

The gripping device operates as follows.

0 In the initial position of the gripping device, the coil springs 3 of the clamping mechanism are in a spun position in which the inner diameter of the inner turns of the spring is slightly larger than the outer diameter of the fixed part 24,25, which in turn is provided by unwinding the outer turns of the spring 3 relative to its outer turns by relative rotation of the handle 10,11,22,23 rods 16,17 relative to the housing 1.12.

Next, the gripper, with its springs 3, is put on the fixed part 24, 25 and by reverse rotation of the handle 10, 11,22,23, relative tightening of the turns of the spring 3 is performed by reverse rotation of the stem 6.17 of the drive of the additional element 4, sleeves 14 until the inner turns 3 with the outer surface of the fixed part 24-, 25, as shown in FIG. 1.2. At the same time, the springs 7,16 through the additional element 4, the sleeves 14 tighten the coils of the spring 3 before they touch by axial movement of the latter, as well as up to the stop of the outer end of the spring in the bearing surface 2 of the housing 1 with some axial movement of the entire spring 3 (mounting hole Narzkoki end of the spring 3 has an elongated shape). To remove the gripping device from the part 24.25 by turning the knob 10,11,22,23 backward, the inner turns of the spring 3 are turned back up to form a diameter slightly larger than the outer diameter of the fixed part.

The use of the invention allows to increase the reliability in operation and to simplify the design of the gripper arm.

thirty

Claims (1)

Invention Formula A gripping device comprising a housing in which it is fixed by its Invention Formula A gripping device comprising a housing in which it is fixed by its 25 22