SU1313705A1 - Industrial robot gripping device - Google Patents

Abstract

The invention relates to manipulators and industrial robots and can be used in various areas of mechanical engineering in the automation of technological processes, in particular in the assembly industry. The purpose of the invention is to expand the technological capabilities of the grip due to its automatic changeover to clamp workpieces of various thickness with parallel jaws in the process of work using a single drive for supplying the grip to the workpiece and its clamping. The grip of an industrial robot includes a housing made in the form of cheeks 1, 2 with a longitudinal groove 4. On the axis 5, two shoulders are attached levers 6-9, the shoulders of which are made from the inside with bevels and ledges 18. The axis 5 is movable along the groove 4. On the x 13 axes of the double-arm levers 6–9, spring-loaded clamping levers 14 are hinged, with bevels on the arms 17. The axes 13 of the clamping levers are adapted to move along the outer surfaces of the housing 1, 2. The pusher 11 of the drive mechanism is adapted to cooperate with the bevels of the shoulders 17 of the clamping levers 14, the bevels of the shoulders 10 and the steps of the 18 two shoulders. 2 Il. / 7- / 7 6.8 5 W М IS со со о pr 7.9 7/0 FIG. 2

Description

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The invention relates to maniaultors and industrial robots and can be used in various fields of mechanical engineering in the automation of technological processes, in particular in the assembly industry.

The purpose of the invention is to expand the technological capabilities of the capture of industrial robots by automatically changing over to clamp workpieces of various thicknesses with parallel jaws during operation using a single drive for supplying the gripper to the workpiece and clamping it.

FIG. 1 shows schematically the capture of an industrial robot, a general view; in FIG. 2 shows section A-A in FIG. one.

The grip of an industrial robot includes a housing made in the form of w, ek 1 and 2 fastened together with a flange 3. The body is made longitudinal (along the axis of capture) groove 4. On axis 5, two pairs of double shoulders 6-9 are fixed. The axis 5 of the two shoulders arms 6-9 is made with the possibility of reciprocating mixing along the groove 4. The shoulders 10 arms 6-9 are made with bevels. A pusher of the actuator on the rod 12 of the drive mechanism (for example, a pneumatic actuator, not shown), is adapted to interact with said bevels. On the other shoulders of the double-arm levers 6-9 on the axles 13, the clamping levers 14 with jaws 15, uncoupled by the spring 16, are hinged. They are made with bevels on the shoulders 17 of the clamping levers 14. At the ends of the bevels of the shoulders 10 of the two shoulders 6–9, steps 18 are made. The axes 13 of the clamp levers 14 are adapted to be mixed along the outer surfaces of the grips 1 and 2 of the gripping body. The pusher 11 of the drive mechanism is designed to cooperate 17 clamping levers as with bevels of the shoulders

The heads are 1 and 2. When the groove reaches the end, the axis 5 stops, the ends of the double-shouldered levers with the axles 13 and the clamping levers 14 begin to contract as the surfaces of the necks 1 and 2 have terminated. levers 14, interacting with the pusher. 11 in the process of its movement, provides parallel compression of the clamping jaws, and consequently, the seizure of blanks of various thicknesses by parallel jaws.

When the stem 12 is moved to the right, the spring 16 expands the clamping levers 14, providing by clamping the shoulders 17 17 of the clamping levers 14 with a toque 11 their parallel mixing. After the clamping levers 14 fully open, with the further movement of the rod 12 to the right, as a result of the interaction of the pusher 11 with the ledges of the 18 two-arm levers 6-9, the grip retraction takes place

20

position.

Claims (2)

Invention Formula The grip of an industrial robot, containing a 25-body thirty 35 axes with a groove fixed on the axis of two shoulders levers, on one of the shoulders of which clamping levers with sponges are fixed, and on others shoulders are bevelled, and a drive mechanism with a pusher that differs from that.m. in the groove of the housing with the possibility of reciprocating displacement, with the axis of attachment of the clamping levers to the two shoulders levers installed with the possibility of their interaction with the outer surfaces of the gripping housing, and the actuator pusher has the ability to interact with the bevels of the corresponding shoulders of both double-arm arms and 14, so with ledges 18 double shoulders 40 bevels clamping levers, while , - (Ri-rR). 6-9. Capture industrial rotobe works as follows. In the initial position, the clamping levers 14 are in the opened position under the action of the spring 16. When the stem 12 is moved to the left, the pusher 11 of the drive mechanism, acting with cylindrical surfaces on the bevels of the shoulders of the 10 two-arm levers 6–9, mixes them. The axis 5 slides along the groove 4, and the ends of the axes 13 with clamping levers 14 - along 0 five The heads are 1 and 2. When the groove has reached the end, the axis 5 stops, the ends of the double-arm levers with the axles 13 and the clamping levers 14 begin to contract as the surfaces of the necks 1 and 2. The presence of the spring 16 and the bevels of the shoulders 17 of the clamping levers 14, which interact with the pusher 11 in the process of its movement, provides parallel compression of the clamping jaws and, consequently, the gripping of workpieces of various thicknesses with parallel jaws. When the stem 12 is moved to the right, the spring 16 expands the clamping levers 14, providing by clamping the shoulders 17 17 of the clamping levers 14 with a toque 11 their parallel mixing. After the clamping levers 14 fully open, with the further movement of the rod 12 to the right, as a result of the interaction of the pusher 11 with the ledges of the 18 two-arm levers 6-9, the grip retraction takes place 0 position. 0 five axes with a groove fixed on the axis of two shoulders levers, on one of the shoulders of which clamping levers with sponges are fixed, and on others shoulders are bevelled, and a drive mechanism with a pusher that differs from that.m. in the groove of the housing with the possibility of reciprocating displacement, with the axis of attachment of the clamping levers to the two shoulders levers installed with the possibility of their interaction with the outer surfaces of the gripping housing, and the actuator pusher has the ability to interact with the bevels of the corresponding shoulders of both double-arm arms and braids clamping levers, while de , - (Ri-rR). L is the distance between the end of the grip frame and the groove; i is the magnitude of mixing along the slot of the axis of attachment of the two shoulders; i is the intercenter distance of the axis of the clamping arms and the transverse axis of the groove nearest to them; R, is the radius of the axis of attachment of the two shoulders; Rg is the radius of the axis of attachment of the clamping levers. R fl 1