SU1311923A1 - Manipulator grip - Google Patents

Abstract

The invention relates to mechanical engineering, namely to lifting and transporting devices, and can be used in the mechanization of relevant technological processes in various industries using a manipulator. The purpose of the invention is to expand the operational capabilities of the manipulator by providing the seizure of goods with variable / a 15 (L 00 with U2.2

Description

131

cross-section along the length, laid close to the slash box. The device is a mechanism for gripping a manipulator mounted on the head of the manipulator in the housing 1 of the device, which is also a power cylinder, there are two pairs of rocker arms hinged to the gripping jaws 8. The rocker arms are mounted

one

FIELD OF THE INVENTION The invention relates to mechanical engineering, namely to lifting and transporting devices.

The purpose of the invention is to expand the operational capabilities of the manipulator by providing the seizure of goods with a variable cross section along the length, laid close to the protective packaging.

FIG. 1 shows schematically a gripping device, an open view; in fig. 2 is a section A-A in FIG. one; in fig. 3 is a section BB in FIG. 2

The manipulator grip includes a housing 1, which simultaneously serves as a power cylinder, in which plunger 2 is located, kinematically connected by means of two hinged connecting rods 3 to sliders 4, each of which carries the connecting rod 5 with the lead fingers 6, the last interact with the rocker pae. , made in each of the rocker arms 7, placed in the housing 1 with the possibility of rotation in the horizontal plane and carrying gripping jaws Sj which, by means of vertically arranged trunnions 9, are hinged at the ends of the rocker arms 7 and have a working th surface is crescent shaped.

In the housing 1, there are two adjustable support elements 10 and a pivot pin 11, in which there is an opening 12 perpendicular to its axis, for its hinged attachment to the head 13 of the manipulator. On the rotary axle 11, the holder 14 is installed for supplying the working medium through the corresponding channel on the axle 11 into the cavity of the power cylinder, combined with

923

can be rotated in the horizontal plane, and the gripping jaws have free rotation around their longitudinal axis in the plane of rotation of the rocker arms. In the device case there is a vertically rotatable pin, which is also a connecting link with the head of the manipulator. 2 hp f-ly, 3 ill.

ABOUT

five

0

50

housing 1 on which the control valve 15 is mounted.

The device works as follows.

When gripping the shaft 16, which is placed in the stapling container (not shown 1, it is necessary to move the head 13 of the manipulator to align the longitudinal axis of the gripping device with the axis of the shaft 16 and give the command to move the head 13 of the manipulator down. In the case of an inclined shaft in the box case, the device body 1 must be rotated on the rotary axle 11 at an angle of 90 relative to the axis of the finger, allowing the body 1 to swing in a vertical plane for the contact of the adjustable supporting elements 10 with the upper generator shaft 16.

one

When the manipulator head 13 is moved downwards, the gripping jaws 8 pass with their working crescent-shaped surfaces along the lateral surfaces of the shaft 16, while pushing the adjacent shafts adjacent to it.

By turning the control valve 15, the power cylinder is turned on, the plunger 2 of which moves the sliders 4 kinematically associated with it.

When the sliders 4 of the yoke are moved, the 7 gripping bodies, connected with the sliders by means of the connecting rods 5, rotate in a horizontal plane, taking both smooth and stepped shafts in two cross sections.

After lifting the manipulator head 13, the body I can be rotated on the pivot pin 11 to align

the longitudinal axis of the housing 1 with the axis of the finger, whereby the axis of the transported shaft 16 is aligned in a horizontal plane, which is necessary for installing the shaft of the machine.

Claims (3)

1. A gripper arm, comprising a housing, means for mounting it on the manipulator, two pairs of rocker arms hinged in the housing, connected to the gripping jaws and connected kinematically by the mezza and driving them through a differential mechanism, characterized in that the purpose of expanding operational capabilities, the working ends of the gripping jaws are crescent-shaped and hinged in the rocker arms with the ability to turn around its longitudinal axis in the plane of rotation of the rocker arms. 2. The grip according to claim 1, characterized in that the kinematic connection of the rocker arms and the drive is made in the form of wings attached to the rocker arms and connected with rods hinged to the sliders connected by rods to the piston of the power cylinder. 3. The grip according to claim. Characterized in that, in order to grip the obliquely disposed parts and fix them in a horizontal position, the means for fastening the body on the manipulator are made in the form of a pin mounted in the body with the possibility of rotation around its axis and provided with a hole , the axis of which is perpendicular to the axle of the trunnion, for pivotally fastening it on the head of the manipulator torus. I I -L FIG. one 5-5 5 Fig.Z