SU1350005A1 - Robot grip - Google Patents

Abstract

The invention relates to the field of mechanical engineering, namely, to gripping devices of industrial manipulators. The invention makes it possible to reduce the drive power by tilting in the direction of the axis of the body of the cylindrical guides with spring-loaded cams arranged on them. The housing I is symmetrically relative to / f- / 4, but its axes are made with radial grooves in which sliders 2 are arranged for movement by means of a drive. Each gripping jaw is designed as a cylindrical guide 4 and a spring-loaded cam 6. The cylindrical guide 4 is fixed on the slide 2 at an angle to the axis of the housing 1. The cam 6 is mounted with the possibility of axial movement on the guide 4. On each cam 6, two mutually perpendicular working surfaces 7 and 11 are made. When the grip approaches the part 3, sliders 2 are diluted The cams 6 are pressed against the rings 9. The end of part 3 contacts the surface 7. Under the action of springs 8, the cams 6 clamp part 3, perform the function of a wedge between guide 4 and part 3. After the part 3 is gripped by the installation surfaces 10, the grip moves away from the part 3. 2 Il. with (L co wore Fig. 2

Description

The invention relates to the field of mechanical engineering, namely, to gripping devices of industrial manipulators.

The purpose of the invention is to reduce the mosh, the drive due to the tilt towards the axis of the body of the cylindrical guides with the spring-loaded cams placed on them.

FIG. 1 shows the capture of the manipulator, general view; in fig. 2 shows section A-A in FIG. one.

The gripper of the manipulator includes a housing 1, in the radial grooves of which the sliders 2 are mounted with a possibility of movement and symmetrically about its axis. On the sliders 2 with an inclination towards the axis of the housing 1, i.e. in the direction of the clamped surface of the part 3, cylindrical guides 4 are installed with pins 5 securing the cams 6 from turning around the guide 4. The cams 6 have a face 10

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2, a radial movement towards the part 3 is communicated until the surfaces 11 of the cams 6 are in contact with its side surfaces. After the preset contact force is reached, the slides 2 stop, the housing 1 begins to move away from the mounting surface 10. Under the action of the springs 8, the cams 6 additionally clamp the part 3, act as a wedge between the guide 4 and the part 3. The sliders 2 remain in place due to the self-braking of the drive drive .

When installing the part 3, the gripper with the clamped part moves until the end face of the part 3 contacts the mounting surface 10. After the contact, the housing 1 continues to move, compressing the spring 8. This is necessary to unlock the gripping drive, which occurs due to its self-braking. After unlocking, body 1 stops, engages drive, engages working surfaces - protrusion 7 for 20 sliders 2 from part 3 at a distance to the end of clamped part 3, and providing a gap between the gripper under the influence of spring 8. the cam 6 and the side cam 6 towards the clamped part 3 by the overhead of the part 3 in the extreme position are limited by a retaining ring 9. The working cam 6, i.e. when it comes into contact with the anvil, the surface 10 serves to be installed with a ring 9. Part 3 at the moment of removal of part 3. The cams 6 have working 25 sliders under the action of springs 8 and stand up.

surfaces 11. Sliders 2 move under the action of a drive (not shown).

Capture works as follows.

When the grip approaches the gripping part 3, the slide blocks 2 are separated, the cams 6 are pressed by the action of the springs 8 to the stop rings 9, there is a gap between the side surface of the part 3 and the working surfaces of the cams 6. After the end 3 of the part 3 contacts the protrusion 7, the case 1 continues to move toward the part 3 through the protrusions 7 on the cams 6, compressing the spring 8. Compressing the springs 8 to a given force or deformation, i opnyc 1 stops. At this point, the protrusion 7 is still in contact with the end face of the part 3, the gap between the working surface 11 of the cam 6 and the side surface of the part 3 increases compared with the original due to the fact that the cams 6 are pressed in the direction of the housing 1 and at the same time due to the inclination of the cylindrical guides 4 departing from side surface of part 3. After that, the sliders

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Room 7 is pressed against the mounting surface 10. After the part is grasped by 3 with the mounting surfaces 10, the grip moves away from the part 3.

Claims (1)

Invention Formula The gripper of the manipulator, comprising a housing with radial grooves symmetrically located about its axis, in which sliders with gripping jaws are placed, and a drive, with two mutually perpendicular working surfaces on each gripping jaw, characterized in that in order to reduce the drive power , each gripping jaw is made in the form of a cylindrical guide and a spring-loaded cam, while the cylindrical guide is attached to the slide at an angle to the axis of the body, and the spring-loaded cam with The working surfaces mounted on it are mounted with the possibility of axial movement on the cylindrical guide. 0 2, a radial movement towards the part 3 is communicated until the surfaces 11 of the cams 6 are in contact with its side surfaces. After the preset contact force is reached, the slides 2 stop, the housing 1 begins to move away from the mounting surface 10. Under the action of the springs 8, the cams 6 additionally clamp the part 3, act as a wedge between the guide 4 and the part 3. The sliders 2 remain in place due to the self-braking of the drive drive . When installing the part 3, the gripper with the clamped part moves until the end face of the part 3 contacts the mounting surface 10. After the contact, the housing 1 continues to move, compressing the spring 8. This is necessary to unlock the gripping drive, which occurs due to its self-braking. After unlocking the housing 1 stops, the gripping drive turns on, and the slides 2 away from part 3 at a distance, providing a gap between the gripping surface of cam 6 and the lateral surface of part 3 in the extreme position of cam 6, i.e. . when it comes into contact with an anvil of ring 9. Part 3 at the time of withdrawal of 5 sliders 2 under the action of springs 8 is high.  the slide blocks 2 from part 3 are at a distance, providing a gap between the gripping surface of cam 6 and the lateral surface of part 3 in the extreme position of cam 6, i.e. when it comes into contact with an anvil of ring 9. Part 3 at the time of retracting the sliders 2 under the action of springs 8 is high. Room 7 is pressed against the mounting surface 10. After the part is grasped by 3 with the mounting surfaces 10, the grip moves away from the part 3. Invention Formula The gripper of the manipulator, comprising a housing with radial grooves symmetrically located about its axis, in which sliders with gripping jaws are placed, and a drive, with two mutually perpendicular working surfaces on each gripping jaw, characterized in that in order to reduce the drive power , each gripping jaw is made in the form of a cylindrical guide and a spring-loaded cam, while the cylindrical guide is attached to the slide at an angle to the axis of the body, and the spring-loaded cam with The working surfaces mounted on it are mounted with the possibility of axial movement on the cylindrical guide. VNIIPIZakaz 5053/15 Circulation 952 Subscription Production and printing company, Uzhgorod, st. Projects, 4