SU1359092A1 - Apparatus for transfer of work from accumulator to manipulator grip - Google Patents

Abstract

The invention relates to mechanical engineering, in particular, to devices for transferring blanks in robotic complexes with stock storage. The purpose of the invention is to increase the reliability and expansion of technological capabilities. In the device for transferring the workpieces from the accumulator to the gripping device of the manipulator, when extracting the workpiece 7 from the bed (storage awnings 5 of the accumulator, the gripping jaws 16 and 17 interact with their projections 18 and 19 with the lodgement 5 and the slider 11, while the clamp 10 associated with slider 11, frees up the workpiece. Further movement of the jaws 16 and 17, the workpiece 7 is clamped in the grip and removed by the manipulator from the accumulator.

Description

one

The invention relates to mechanical engineering, in particular, to devices for the preparation and distribution of workpieces used in robotic complexes, in which industrial robots with stock storage are included.

The aim of the invention is to increase the reliability and expansion of technological capabilities by eliminating the readjustment of the grip and storage cradle for a different size of the workpiece.

Fig, 1 shows the device, a general view; figure 2 - node-I 15 figure 1; on fig.Z - section A-L in figure 2; 4 shows sponges for gripping blanks beyond the inner surface; on fig.Z - section bb in figure 4.

The device contains a storage device 1 20 of the elevator type, having a sleeve-roller chain 2, worn on the drive 3 and driven 4 sprockets. The cradle 5 base prismatic surfaces 6 for laying the blanks 7 25 are located on the axes 8, mounted between the plates 9 chain links 2. Each cradle has a clamp 10 with a guide slide 11, which is under the action of a compression spring) 2. 30 The gripper 13 of the manipulator 14 placed on the spindle head 15 of the metal cutting machine (not shown) is equipped with two movable driving clamping jaws 16 and 17 having gg protrusions 18 and 19. The jaws are used to grip the workpieces beyond the inner surface instead of the jaws 18 and 19. 20 and 21 with the protrusions 22 and 23. The ends of the sponges, bearing stops, crossed. 40

The device works as follows.

When adjusting, the gripper 13 is oriented relative to accumulator 1 so that the axis of symmetry of the jaws 16 and 17 or 45 20 and 21 coincides with the axis of the workpiece of maximum diameter (from the group of blanks of different nominal diameters) located on the base surfaces 6 of the lodgement 5 in the loading area 50 ki. In the initial position of the gripper 13 coaxially with the spindle of the machine, the sponges 16 and 17 or 20 and 21, respectively, are divorced or folded, the workpiece is under the clamp 10 on the cradle in the 55 loading (gripping) zone. On a command from the master (software) device (not shown), the manipulator 14 rotates and presses the hand, set13590922

The jaws of the jaws 16 and 17 coaxially with the workpiece 7, after which the gripper moves along the axis of the workpiece until the latter is between the jaws 16 and 17, the protrusions 18 and 19 of which in this position do not contact either the cradle 5 or the slider 11. When mixing the jaws 16 and 17, the protrusion 18 meets the cradle 5 and rests on its thrust pad, and the protrusion 19 presses the slider 11, lifts the pressure of the HE and releases the workpiece 7. With further movement of the sponge 17 relative to the cradle, it lifts the workpiece above the base surfaces 6 and the workpiece ceases to contact the lodgement, after which the jaws b and 17 clamp the workpiece 7. Then the manipulator 14 informs the gripper to move along the axis of the lodgement 5, and take the workpiece out of it. In this case, the protrusion 18 slides along the cradle, and the protrusion 19 slides over the slider 11, continuing to hold the presser 10 and allowing the workpiece to freely leave the reservoir 5, after which the contact of the protrusions 18 and 19 with the cradle and the finger also stops. The spring 12 lowers the clamp 10. The manipulator enters the workpiece into the chuck of the machine and returns the grip to its original position. The drive sprocket 3 moves the chain 2 one step, feeding the next blank into the loading area. In the case of using sponges 20 and 21 after insertion of the sponge blank from the clamping protrusions, the ledge 22 comes into contact with the lodgment, the lug 23 presses the slider 11, releasing the blank from the action of the clamp 10, the sponge 21 lifts the blank above the lodgment and with further movement clamps it together with the sponge 20. When removing the workpiece from the lodgement, the protrusion 22 slides over it, and along the slider 11 - the protrusion 23. The rest of the work happens as with the jaws 16 and 17. Basing the sponge with the aid of the support on the lodgement ensures a constant si capture relative to the lodgement and the ability to capture the workpiece limit diameters.

Claims (1)

Invention Formula A device for transferring blanks from an accumulator to a gripper of a manipulator, containing cradles for blanks. mounted on the links of the accumulator chain, and clamping jaws located on the gripping body with the possibility of their moving from the corresponding drive, characterized in that, in order to increase reliability and expand technological capabilities by eliminating readjustment of gripping of accumulators under different size billets, each lodgement is provided with a clamp, spring-loaded to it, mounted on the lodgement with the possibility of movement in the direction of movement of the clamping jaws; ene protrusion prednazGachenny for engagement with one of the jaws corresponding abutment plbschadkoy formed on the cradle, and another - with a clamp. Fig.Z / J 22 Editor M.Kelemes (pLie.S Compiled by E. Ermolaev Tehred M. Khodanych; . Proofreader S. Shekmar Order 6104/15 Circulation 786Signature VNIIPI USSR State Committee for Inventions and Discoveries 4/5, Moscow, Zh-35, Raushsk nab. 113035 Production and printing company, Uzhgorod, st. Project, 4