SU1351780A2 - Manipulator robot grip - Google Patents

Abstract

The invention relates to devices for gripping and holding blanks used in mechanical engineering and other industries. The purpose of the invention is to increase the reliability of fastening cylindrical parts by increasing the stiffness at the ends of the working part of the tape without changing the stiffness in its middle part. The ends of the working part of the tape 2, located in the cavity 5 of the housing 1, are installed by means of the hinges 4 with oppositely directed angular displacements relative to each other. The preform 6 is located inside the cavity 5. The piston of the pneumatic cylinder 3 moves to the left, loading. tape 2 in the longitudinal direction. Under the action of the load, the tape 2 bends, fixing, with its convex part, the workpiece 6 to the inner wall of the cavity shaped as a prism 5. 9 Il. with S cl SL 00 (jDua / hch

Description

The invention relates to devices for gripping and holding blanks used in mechanical engineering and other industries.

The aim of the invention is to increase the reliability of fastening of cylindrical parts by increasing the stiffness at the ends of the working part of the tape without changing the stiffness in its middle part.

FIG. 1 shows a general scheme with a handle manipulation robot; in fig. 2 - reversal of the elastic ribbon in the hinges of the figure. 3 shows section A-A in FIG. 2; in fig. 4-section BB in FIG. 2; in fig. 5 - turn the hinges in the housing; in fig. 6 is a sectional view BB in FIG. 5j in FIG. 7 - section G-Y in FIG. five; in fig. 8 - installation diagram of additional mounting tools and angular displacements of the ends of the tape; in fig. 9 is a section d-d in fig. eight.

The grip of the handling robot comprises a flexible elastic 2 located in the housing I. It is connected to the drive 3, which is, for example, a pneumatic cylinder.

The flexible elastic tape 2 is fixed at one end in the housing, and at the other end it is connected to the pneumatic cylinder rod 3, which ensures the longitudinal bending of the tape until it loses its steady state. The ends of the tape 2 are fastened with the help of hinges 4, which ensure smooth operation and less wear on the tape at the fixing points. A housing 5 is provided with a cavity 5, which provides for a more accurate basing of the clamped workpiece 6.

The ends of the working part of the belt 2, located in the cavity 5, are installed with oppositely directed angular displacements one relative to the other. This is achieved by the fact that the ends of the tape 2 are mounted turned at an angle oi in the hinges 4 (Figs. 2, 3, 4). Another example of mounting the ends of the tape can be a turn at an angle L of the hinges 4, in which the tape is fixed (Fig. 5, 6, 7), relative to the housing 1.

In the drawings, the darkened portion of the tape 2 denotes its lower side.

It is also possible to install the ends of the working part of the tape 2 by means of additional mounting means and providing multidirectional angular displacements of the ends of the tape one relative to another, made; for example, in the form of rollers 7 and 8 mounted on axles 9 in a rotary holder 10 mounted in housing 1 (Fig. 8 and 9). Rotate clip 10

can be carried out using adjustment screws 11 and 12.

The device works as follows.

In the initial state, the belt 2 is straightened and the piston of the pneumatic cylinder 3 is in the extreme right position. When the gripper approaches the loading position, the clamped workpiece 6 is located inside the cavity 5 of the housing 1.

Thereafter, the piston of the pneumatic cylinder 3 moves to the left, loading the belt 2 in the longitudinal direction. Under the action of the load, the tape flexes in a jumpy manner, while at this time the workpiece 6 is fixed by the convex part of the tape 2 to the inner wall of the cavity 5 in the housing 1, made in the form of a prism. Due to the presence of the hinges 4, the transfer of the tape 2 from one stable position to another occurs more smoothly and with less effort developed by the drive 3.

With increasing force on the rod of the pneumatic cylinder 3, the tape 2 occupies not only a convex position, but also a convex-concave position; concave, with respect to the overall working profile of the tape, the part is located in the zone of the part, creating an arc of coverage of the workpiece 6. Thus, the reliability of fixing the cylindrical parts is improved by increasing the stiffness at the ends

the working part of the tape, installed with oppositely directed angular displacements of one relative to another. In this case, the middle of the tape remains flexible. It covers and holds the workpiece over a certain surface, the area of which depends on the magnitude of the increased force on the pneumatic cylinder rod.

At the end of the technological operation, a signal is given to turn off the drive (pneumatic cylinder 3) from a power source (not shown).

In this case, the load is removed from the belt 2, and it returns to its initial position under the action of elastic forces, moving the piston of the pneumatic cylinder 3 to the right. Straighten, elastic tape 2 releases part 6, after which it is possible to repeat the cycle.

Claims (1)

Invention Formula Grab manipulation robot auth.St. No. 772844, characterized in that, in order to increase the reliability of fixing the cylindrical The components, the ends of the working part of the tape located in the cavity of the joint, are installed with oppositely directed angular displacements relative to each other. A a 6-6 dzivl in-in gd 6 2 4 .7 L d YU 12 fiez Editor A.Makovska Compiled by T. Pinchuk Tehred L. Oliynyk Order 5525/13 Circulation 952Subscribe VNISh State Committee of the USSR for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Project, 4 Proofreader L. Patay