SU1390021A1 - Grip - Google Patents

Abstract

The invention relates to mechanical engineering, in particular to gripping devices for industrial robots and manipulators. The purpose of the invention is the expansion of technological capabilities due to the preliminary dilution of the clamping jaws when clamping the workpiece in the centers of the machine. On the housing I is mounted a drive made in the form of a cylinder 2 with a piston 5, and sliders 10, 11 with clamping jaws 8.9. The piston is pressed into the working position by the spring 7 and is kinematically connected by means of a gear-rack drive to the sliders 10, 11. In coaxial holes 12, 13 of the stepped form, the zoon 10.11 mounted means of the preliminary breeding of the jaws, made in the form of a stepped shaft 15, steps 16 and 17 which are made with sections of the profile form. The end surfaces of the stages 16 and 17 have the opportunity to interact with the corresponding end surfaces of the openings 12 and 13. The shaft 15 is connected to a limited rotation drive 20. The shaft 15 in one of the angular positions limits the opening of the clamping jaws 8,9, which ensures the preservation of the workpiece 26 at the working position of the processing machine and some movement of the workpiece 26 in the axial direction. 1 hp f-ly, 11 ill. with (L

Description

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The invention relates to a marsha-structure, in particular to gripping devices of industrial robots and manipulators, and can be used, for example, to feed blanks from cellular cassettes to the working position of the machine.

The purpose of the invention is the expansion of technological capabilities due to the preliminary dilution of the clamping jaws when clamping parts in the centers of the machine.

Fig, 1 shows the gripper, a section of the clamping jaws in the working position; in FIG. 2, the same, with a partially diluted fixed position, of the clamping jaws; on fig.Z - the same, with the open position of clamping gu

side; FIG. 4 is a section A-A in FIG. 2; 20 piston 5 with rod 6 moves in FIG. 5, section BB in FIG. 3; in cylinder 2 (down) and through adjusting changes in the gap between the end faces of the surfaces of the shaft steps 15 and the end surfaces of the steps of the holes 13 and 14, the latter are performed on inlays 23 and 24, which have the possibility of adjusting and axial movements in the sliders 10 and 11, by means of a thread and are fixed by screws 25,

In addition, the actuator 20 limited rtoBopoTa shaft 15 may be located on the axis of symmetry of the gripper, while the gear wheel 18 is also located on the middle cylindrical part 21 of the shaft 15,

The grip works as follows.

Supply of compressed air into the cavity

FIG. 6 is a section B-B in FIG. 7 is a view of FIG. 1, FIG. Fig, 8 - drive limited rotation of the shaft; FIG. 9 is a section DD in FIG. 8; FIG. 10 is a section E-E of FIG. 8; Fig, 11 is a section of the Ж-Ж in Fig, 8,

The grip includes a housing 1 with a drive made in the form of a cylinder 2 with a cap 3, In the cylinder 2 is installed, forming a working cavity 4, a horn 5 with a rod 6 ,, pressed into the working position by a spring 7,

The clamping jaws 8 and 9 are mounted on sliders 10 and 11, which are connected to the actuator stem 6 by means of a gear-rack drive. Slides 10 and 11 are mounted in rails 12 of housing 1,

In coaxial holes 13 and 14 of the stepped form of the sliders 10 and 11, a means of preliminary breeding of the clamping jaws 8 and 9 is mounted; it is made in the form of a stepped shaft 15, the steps 16 and 17 of which are made with sections of the profile form, with a gear wheel 18, the entrance with the gear rack of the rod 19 of the actuator 20 of the limited rotation of the shaft 15, made in the form of a power cylinder. The profile shape of the stages 16 and 17 is formed by parallel coats, spaced from each other at a distance equal to the diameter of the middle cylindrical part 21 of the shaft 15. The latter is kept from psevrgo displacement by a fork 22 entering the annular groove of the shaft 15,

gear rack and pinion separates the sliders 10 and 11 with clamping jaws 8 and 9, while this spring 7

5 is compressed. The shaped sections of the stages 16 and 17 of the shaft 15 enter the mating holes 13 and 4 of the sliders 10 and 11 (FIG. 3). After the gripper is installed on the workpiece 26, the cavity 4 co-fits with the atmosphere, the piston 5 with the rod 6 under the action of the spring 7 moves (up), reduces the sliders 10 and 11 with the clamping jaws 8 and 9, which clamp the workpiece 26

2 (fig,)),

In the working position of the clamping jaws 8 and 9 (in the clamping position of the workpiece) between the end bearing pads of the shaft 15 and the sliders 10 and 11 there are gaps h. When installing the workpiece 26, for example, in the centers of the machine, the working cavity of the actuator 20 is connected to the atmosphere, the spring-loaded piston of the actuator 20 returns to its original position and through the rail

0

five

0

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the rod 19 and the gear wheel 18 rotates the shaft 15 by 90 °. By supplying the working medium to the cavity 4, the clamping jaws 8 and 9 are diluted until the end faces of the shaft steps 15 match the end faces of the step holes, while. Gaps h are formed between the workpiece 26 and the clamping jaws 8 and 9, allowing for some displacement of the workpiece 26 in the axial I direction. After clamping the workpiece 26, for example, in the Centers of the machine, the cavity 4 of the actuator 2 is connected to the atmosphere, using

the drive 20, the shaft 15 is rotated 90, the cavity 4 is again connected to the pressure source of the working medium and the coverage is removed from the workpiece 26,

The next cycle of capture, transportation and installation of the workpiece is carried out in a similar sequence.

Claims (1)

1. A tongue containing jaws mounted on sliders connected to the drive by means of a gear-rack drive, characterized in that, in order to expand technological capabilities by pre-diluting the jaws when clamping the workpiece / / -t- /, I / -;  U R // TU / /// /// (I TO in the centers of the machine, it is provided with a means of pre-separation of the clamping jaws, made 1 m in the form of a stepped shaft mounted rotatably in coaxial holes of the stepped form. made in sliders, while the shaft has end surfaces of the steps I OPPORTUNITY to interact with the counter face surfaces of the hole, the shaft being connected to a limited rotation drive, 2, Pop Pop, 1, is different U and with the fact that the stepped holes are made in additionally introduced liners, coaxially installed in the sliders with the possibility; adjustment movement in the direction of the axis. 1 fS LI 17 J 1 I 2 2S tll // jjv  D f (A .four b- b FIG. five giving r I d nineteen Fi & .3 B- E  .2 20 2J FIGLO) -ZH . eleven