SU1288050A1

SU1288050A1 - Manipulator gripping device

Info

Publication number: SU1288050A1
Application number: SU853913996A
Authority: SU
Inventors: Владимир Андреевич Зверьков; Владимир Андреевич Моисеев; Владимир Семенович Свиридов; Юрий Петрович Королев
Original assignee: Предприятие П/Я М-5671; Предприятие П/Я Р-6719
Priority date: 1985-06-20
Filing date: 1985-06-20
Publication date: 1987-02-07

Abstract

Изобретение относитс к захватам промышленных манипул торов. Целью изобретени вл етс расширение технологических возможностей путем обеспечени центри- руюш.его захвата неориентированных деталей различной формы. Механизм зажима деталей выполнен в виде кол-ьца, состо ндего из р да звеньев 3 в виде кольцевы.ч сегментов , по концам которых выполнены отверсти 5 и пазы 4, причем в отверсти х установлены оси 6, пропущенные через пазы соседних звеньев. Ползуны 7 установлены в корпусе захвата с возможностью радиального перемещени , соединены с приводом и жестко св заны с каждым вторым кольцевым сегментом 3. Захват подводитс к изделию 11 так, чтобы оно вошло внутрь кольца , затем включаетс привод, перемещающий ползун 7. При этом звень 3 сдвигаютс до зажати издели 11, после чего оно может быть подано на требуемую позицию дл обработки. Выполнение кольца в виде сегментов позвол ет захватить изделие в любом положении, в большом диапазоне его размеров и форм. 5 ил. Ш 1(Л J 77 to 00 00 о сд 4The invention relates to the capture of industrial manipulators. The aim of the invention is the expansion of technological capabilities by ensuring the centering of its capture of non-oriented parts of various shapes. The mechanism for clamping parts is made in the form of a ring, a state of a series of links 3 in the form of annular segments, at the ends of which holes 5 and grooves 4 are made, with axes 6 mounted in the holes, passing through the grooves of adjacent links. The slides 7 are installed in the gripper housing with the possibility of radial movement, connected to the drive and rigidly connected with each second annular segment 3. The gripper is brought to the product 11 so that it goes inside the ring, then the drive moving the slider 7 is activated. are shifted until the product 11 is clamped, after which it can be fed to the desired position for processing. Making the ring in the form of segments allows the product to be captured in any position, in a large range of its sizes and shapes. 5 il. W 1 (L J 77 to 00 00 about cd 4

Description

Изобретение относитс к машиностроению , а именно к захватам промышленных манипул торов.The invention relates to mechanical engineering, in particular to the seizure of industrial manipulators.

Целью изобретени вл етс распжре- ние технологических возможностей путем обеснечени центрирующего захвата неориентированных деталей различной формы .The aim of the invention is the distribution of technological capabilities by depleting the centering grip of non-oriented parts of various shapes.

На фиг. 1 показан захват в положении максимального сведени ползунов к центру захвата, вид сбоку; на фиг. 2 - то же, в положении максимального разведени ползунов от центра захвата; на фиг. 3 - разрез А-А на фиг. 1; на фиг. 4 - разрез Б-Б на фиг. 1; на фиг. 5 - разрез В-В на фиг. 2.FIG. Figure 1 shows the grip at the position of maximum sliding of the sliders to the grip center, side view; in fig. 2 - the same, in the position of maximum dilution of the sliders from the center of capture; in fig. 3 shows section A-A in FIG. one; in fig. 4 shows a section BB in FIG. one; in fig. 5 shows a section B-B in FIG. 2

Захват манипул тора содержит корпус 1 с механизмом зажима в виде кольца 2, состо щего из шарнирно соединенных между собой звеньев 3. выполненных с пазами 4, отверсти ми 5 и ос ми 6, причем каждый второй жестко соединен с ползунами 7.The gripper comprises a housing 1 with a clamping mechanism in the form of a ring 2 consisting of links 3 pivotally interconnected. They are made with grooves 4, holes 5 and axles 6, each second rigidly connected with sliders 7.

На корпусе 1 установлен привод 8 и подпружиненный упругими элементами 9 упор 10.On the housing 1 has a drive 8 and a spring-loaded elastic elements 9 stop 10.

Захват работает следующим образом.Capture works as follows.

Захват подводитс к изделию 11 так, что оно входит внутрь кольца 2, упира сь в упор 10 и сжима упругие элементы 9. Вклю10The gripper is supplied to the product 11 so that it enters inside the ring 2, abutting against the support 10 and compressing the elastic elements 9. On

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нужную позицию обработки. Освобождение издели 11 осуществл етс тем же приводом 8. При этом кольцо 2, разжима сь, освобождает изделие 1 1, а за счет упругих элементов 9 упор 10 выталкивает изделие из захвата, оно прижимаетс базовой поверхностью к базовой поверхности зоны обработки и фиксируетс . Далее цикл повтор етс .desired processing position. The release of the product 11 is carried out by the same drive 8. In this case, the ring 2, unclenched, releases the product 1 1, and due to the elastic elements 9, the stop 10 pushes the product out of the grip, it is pressed against the base surface to the base surface of the treatment zone and fixed. Then the cycle repeats.

Claims

Invention Formula

The gripper of the manipulator, comprising a housing, a clamping mechanism, made of links, and a clamping mechanism drive, characterized in that, in order to expand technological capabilities by providing a centering gripper of non-oriented products of various shapes, the clamp mechanism is equipped with sliders, and its links made in the form of ring segments with holes and grooves at opposite ends, with axes inserted in the holes of each segment, passed through the grooves of adjacent segments, and the sliders are located in the housing with chaets actuator 8, conductive actuator 25 movement NOSTA radial movement, of rigid || zu |. 1y 7 wherein units of translations 3 2-Rings secured to each second ring

are pressed until the product 11 is clamped. Then the gripping segment and are connected with the drive mechanism

Chepp I

Product 1 may be filed on

clamping.

desired processing position. The release of the product 11 is carried out by the same drive 8. In this case, the ring 2, unclenched, releases the product 1 1, and due to the elastic elements 9, the stop 10 pushes the product out of the grip, it is pressed against the base surface to the base surface of the treatment zone and fixed. Then the cycle repeats.

Invention Formula

The gripper of the manipulator, comprising a housing, a clamping mechanism, made of links, and a clamping mechanism drive, characterized in that, in order to expand technological capabilities by providing a centering gripper of non-oriented products of various shapes, the clamp mechanism is equipped with sliders, and its links made in the form of ring segments with holes and grooves at opposite ends, with axes inserted in the holes of each segment, passed through the grooves of adjacent segments, and the sliders are located in the housing with NOSTA radial movement, rigidly secured to each second ring

clamping.

J

srig.2.

srig.Z

AT 6

at 6

Sriga

FIG. about