SU1313701A1

SU1313701A1 - Manipulator gripping device

Info

Publication number: SU1313701A1
Application number: SU864002965A
Authority: SU
Inventors: Иван Федорович Панасенков; Евгений Семенович Назаров
Original assignee: Предприятие П/Я А-7438
Priority date: 1986-01-08
Filing date: 1986-01-08
Publication date: 1987-05-30

Abstract

Изобретение относитс к машиностроению и может быть использовано в манипул торах промышленных роботов. Цель изобретени - повышение производительности за счет сокращени технологического процесса . Захват содержит рычаги 1, т ги 2 зажимные губки и зубчатые секторы 4, приводное устройство. Регулировка привода осу- ш,ествл етс за счет узла регулировки угла раскрыти губок, который содержит регулировочные диски с упорами и датчики наличи детали. 3 ил. (Л со со оThe invention relates to mechanical engineering and can be used in the manipulators of industrial robots. The purpose of the invention is to increase productivity by reducing the process. The grip contains levers 1, 2 and 2 clamping jaws and toothed sectors 4, a driving device. The drive adjustment is dried by means of the jaw opening angle adjustment unit, which contains adjustment discs with stops and sensors for the presence of the part. 3 il. (L with

Description

1one

Изобретение относитс к машиностроению , в частности к промышленным роботам и манипул торам.The invention relates to mechanical engineering, in particular to industrial robots and manipulators.

Цель изобретени - повышение производительности путем сокраш,ени технологического процесса.The purpose of the invention is to increase productivity by shortening the process.

На фиг. 1 схематически показан предлагаемый захват, общий вид; на фиг. 2 - разрез А-А на фиг. 1 (устройство ре13FIG. 1 schematically shows the proposed grip, general view; in fig. 2 shows section A-A in FIG. 1 (device pe13

Максимальный угол раскрыти захватаMaximum opening angle

гулировки угла и диапазона раскрыти гу устанавливаетс поворотом диска 11 на ми- бок); на фиг. 3 - разрез Б-Б на фиг. 2„имальный угол так, чтобы при контактеgulirovka of the angle and range of the disclosure is set by turning the dial 11 on the mic); in fig. 3 shows a section BB in FIG. 2 „nominal angle so that on contact

(установка датчиков срабатывани захватов ) .(installation of pick-up sensors).

Захват манипул тора содержит рычаги 1,The manipulator grip contains levers 1,

ограничител 22 в упор 13 деталь надежно освобождалась и срабатывали датчики 17 и 15. После установки дисков в необт ги 2, зажимные губки 3 и зубчатые 5 положение зажимаетс гайка 21 иThe limiter 22 in the stop 13, the part is reliably released and the sensors 17 and 15 have been triggered. After the discs are installed in 2, the clamping jaws 3 and the toothed 5 position, the nut 21 is clamped and

секторы 4. Приводное устройство захвата включает корпус 5 с сектором 6 и осью 7, сектор 8 и крышки 9 и 10. Привод снабжен устройством регу.тировки угла раскрыти губок, который содержит регулировочманипул тор включаетс в работу в автома- тическо.м режиме. Через канал 23 в полость ротора подаетс под давлением рабочее тело , которое действует на сектор 8, при этом поворачиваютс ось 7 и рычаг 1, закрепные диски 11 и 12 с упорами 13 и 14 и 20 ленный на этой оси, по часовой стрелке, датчики 15-18. Крышки 9 и 10 роторатак как зубчатые секторы соединены междуsectors 4. The drive gripping device includes a housing 5 with a sector 6 and an axis 7, sector 8 and covers 9 and 10. The drive is equipped with a jaw opening angle adjusting device which contains an adjustment knob that is activated in automatic mode. Through the channel 23 into the cavity of the rotor, a working fluid is supplied under pressure that acts on sector 8, while the axis 7 and the lever 1 are rotated, the fixed disks 11 and 12 with the stops 13 and 14 and 20 are fixed on this axis clockwise, the sensors 15 -18. The caps 9 and 10 of the rotoratak as the jagged sectors are connected between

собой, второй рычаг поворачиваетс противitself, the second lever turns against

часовой стрелки и зажимные губки 3 расход тс . Ось 7 и рычаг 1 поворачиваютс до тех пор, пока ограничитель 22 рычага не упираетс в упор 13. При этом срабатывают датчики 17, 15 и дают сигнал о возможности перемешени захватных губок к детали или детали к захвату (в зависимости от выбранного технологическогоclockwise and clamping jaws 3 consumption vehicle. The axis 7 and the lever 1 are turned until the limiter 22 of the lever rests against the stop 13. In this case, the sensors 17, 15 are triggered and give a signal that the gripping jaws can be moved to the part or part to be gripped (depending on the selected technological

закреплены жестко на корпусе 5. В крышках ротора установлена с возможностью враше- ни ось 7, на которой при помош,и штифтов жестко закреплен сектор 8. Сектор 6 25 жестко закреплен на корпусе 5. На выходном конце оси жестко при помош,и шпонки установлен и поджат гайкой 19 один из рычагов захватного устройства. Второй рычаг захвата закреплен с воз.можностью вращени на корпусе 5. Зубчатые секторы зо ). После того, как деталь оказы- 4 выполнены за одно целое с рычагамиваетс в зоне губок захвата, подаетс сиги соединены между собой. Вторые концынал в систему управлени . Губки сход тс rigidly mounted on the housing 5. In the rotor covers, an axis 7 is mounted with the possibility of a shaft, on which a sector 8 is rigidly fixed with pins and pins. and preload nut 19 one of the levers of the gripping device. The second gripping lever is fixed with the possibility of rotation on the housing 5. The gear sectors (zo). After the part is turned out 4 in one piece with the levers in the area of the gripping jaws, the whitefish are interconnected. Second terminations in the control system. Lips similar to vehicle

рычагов соединены с зажимными губкамиД тех пор, пока не зажимают деталь,the levers are connected to the clamping jaws until they clamp the part,

шарнирно. Т ги 2 соединены шарнирно од-После захвата детали срабатывают датчиним концом с корпусом 5 при помощи 16, 17 и дают сигнал на выполнениеpivotally. Ti g 2 are connected pivotally one- After the capture of the part, they are triggered by the sensor end with the body 5 with the help of 16, 17 and give the signal to execute

осей 20, другим концом соединены шарнир- 35 следующего движени манипул тора. Отпус- но с зажимными губками. Оси шарнирногокакие детали производитс изменением давлени в полост х ротора. Далее цикл повтор етс .axes 20, the other end is connected by a hinge-35 of the next movement of the manipulator. Holders with clamping jaws. The hinge axes are produced by varying the pressure in the rotor cavity. Then the cycle repeats.

Если при зажатии детали ограничитель 22 упираетс в ограничитель 14, то срабатысоединени каждого рычага и соответствующей т ги с корпусом и зажимной губкой расположены так, что линии их соединени составл ют параллелограмм. Благодар этотаютс параллельными одна другой.If, when the part is clamped, limiter 22 abuts against limiter 14, then the connection of each lever and the corresponding tie with the housing and the clamping sponge are arranged so that the lines of their connection constitute a parallelogram. Thanks to this parallel one another.

му при любом положении захвата губки ос- 40 вает датчик 18 наличи детали в захвате.At any position of the gripping jaw, the sensor 18 is present in the presence of the part in the gripper.

Это означает, что на позиции детали не имеетс или деталь имеет размер, меньший допустимого (деталь бракованна ). В этом случае работа останавливаетс и принимаютс необходимые меры дл запуска оборудовани в работу.This means that at the position of the part there is no or the part has a size smaller than the allowable one (the item is defective). In this case, the work is stopped and the necessary measures are taken to put the equipment into operation.

Claims

Claims of the invention The gripper of the manipulator containing gripping levers hinged in the housing by means of axles and interconnection 45

The lid 10 has adjustment disks 11 and 12, which are pressed against it by a nut 21. A mouse tooth is cut at the ends of the lid and disks, which makes it possible to turn the disks relative to each other and, accordingly, the housing 5 when the nut is pressed 21. When clamped the nuts the disks become fixed relative to one another and the housing 5. 50 6 with each other by means of the support 13 fixed on the disk 11, on the gripping arms of the toothed segments,

A stop 14 is rigidly mounted on the disk 12. On the lever 1, which is mounted on the axis 7, there is a limiter 22. The travel stop and the stop are arranged so that when turning

the lever in one or another side of the fences, made in the form of mounted on the move niche rests on the stop. On the stop axis of the adjusting discs with the possibility of permutation relative to each other with stops on the side surface and

one of these segments is associated with a drive, characterized in that, in order to increase productivity, it is provided with a device for adjusting the angle of opening of the gui limiter fixedly mounted sensors 15-18.

1313701

Capture works in the following way.

Before starting work, the opening angle of the jaws is adjusted in accordance with the size of the part. The minimum angle is set by turning the disk 12 (nut 21 edge, ene) in such a position that when the part is clamped, sensors 17 and 16 are triggered, and the stopper and the stop do not reach one another.

Maximum opening angle

is set by turning the disk 11 to the optimum angle so that upon contact

limiter 22 in the stop 13, the part is reliably released and the sensors 17 and 15 have been triggered. After the disks are installed in the required position, the nut 21 is clamped and

The manipulator is activated in automatic mode. Through the channel 23 into the cavity of the rotor, the working fluid that acts on sector 8 is supplied under pressure, the axis 7 and the lever 1 are rotated, the hour hand and the clamping jaws 3 are fixed. The axis 7 and the lever 1 are turned until the limiter 22 of the lever rests against the stop 13. In this case, the sensors 17, 15 are triggered and give a signal that the gripping jaws can be moved to the part or part to be gripped (depending on the selected technological

). After the part is in the area of the gripping jaws, a sigboc, made in the form of adjustment disks mounted on one axis, is supplied, possibly one of these segments associated with a drive m, characterized in that it is equipped with a device for adjusting the angle of opening with a guzub mi on the end surface, and the disks have the ability to interact with an additionally formed toothed surface, while at the lower end of the gripping lever there are mounted stoppers having The interaction with the stops of the disks, which are arranged to interact with the additionally formed toothed surface of the housing, moreover, the stops of the disks and the limiters of the levers are equipped with sensors for the presence of the part.

75

fig.Z

Compiled by V. Khudoleev

Editor S. LisinaTehred I. VeresKorrektor M. Pojo

Order 2169/17 Circulation 954 Subscription

VNIIPI USSR State Committee for Inventions and Discoveries

113035, Moscow, Zh-35, Raushsk nab. 4/5 Production and printing company, Uzhgorod, ul. Project, 4