SU1397280A1 - Gripper - Google Patents

Description

(21) 4153602 / 25-08

(22) 12/01/86

(46) 05.23.88. Bul № 19 (72) I.V. Kopkarev

(53) 62-229-72 (088.8)

(56) USSR Author's Certificate No. 1136935, cl. B 25 J 15/00, 1982.

USSR Author's Certificate No. 1180265, cl. B 25 J 15/00, 1984.

(54) CAPTURE

(57) The invention relates to mechanical engineering and can be used for clamping and manipulating parts in automatic equipment. The purpose of the invention is to improve the reliability of the clamp, the accuracy of positioning of parts in the grip and the expansion of technological capabilities by increasing the opening angle of the gripping arms. The grip has a rod 3, which, when moved through pivotally connected rods 4, acts on levers 6 and 8. When the levers 6, which are rigidly connected with the clamping levers 8 by one hundred pores, are rotated, the jaws 1 1 move to the clamped part .. When the clamping levers 8 income m to the approaching restraints 13, the levers 6 are released from the rigid connection

with clamping levers 8. With further extension of the stem, 3 tons of 4 roll the levers 6 around the axes 7. The movement of the jaws 11 continues in a straight line, deforming the springs 12. Simultaneously with this movement, the limiter 14 of displacement associated with the stem 3, the bearing surfaces 15 the rollers 10 and rigidly connects the clamping levers 8 to the housing 1, and the jaws 11, while still moving closer, clamp the de-energ ..

hoist, centering it with respect to grip. 1 hp ff, 3 ill.

SL

"1/11

The invention from 5 sits to mechanical engineering, in particular to machine-tools, industrial robots and manipulators, and can be used hell clamping and manipulating parts subjected to various technological operations in automatic lines.

The purpose of the invention is to increase the reliability of the clamp, the accuracy of positioning} the release of parts in the grip and the expansion of the technological capabilities of the cells.

at.

1 t by increasing the opening angle

 gripping levers

 FIG. 1 shows the gripper in the open position; 2 is the same in the closed position; Fig, 3 is a section of AgA in Fig.2.

; The gripper comprises a housing 1,. mounted on the arm of a robot (not shown), drive 2 of translational movement, for example, a ram cylinder, is connected to rods 4 by means of a shaft 3, each of which is connected to the end of the hub 6 of the other end with a hinge 5 on the axis 7 of the clamping lever 8 mounted on the OPI 9 in the housing 1 and equipped with a roller IO and a movably mounted lip 1 1, pressed with a twisted spring 12 of the shaft in the unlocking direction and connected to the other end; Lever 6. On the housing 1, adjustable stop-limiting devices L 3 for closing the clamping levers 8 are mounted and a connected e-o-gok 3 located on it is placed on the movement limiter 14 displaced with the possibility of interaction with oyor surfaces 15 with the rollers W of the levers 8. On each of clamping bolts 8- are mounted locking mechanisms that have a clamping 18 in the hole 16 of the lever 6 under the action of a twisted spring 17, a clamp 18 with a roller 19, in contact with a coping surface 20 tx1 21 pressed by a twisted spring 22.

Capture works as follows; In the initial position, the rod 3 of the drive 2 is retracted. The sponges 11 under the action of the squads 12 are tightened to the clamping levers; 8, and 3 tons of gi 4 connected to the stem through levers 6 act on the levers of g 8, keeping them in the divorced position. The levers 6 under the action of the pores of the 12 jaws 11 are turned on the axis x 7 in such a way that the hinges 5 are close to the axis 9, and are additionally held in this position by the locks

0

five

five

0 5 0 0

0

five

18, which fall into the holes 16 of the arms 6 under the action of the springs 17. In this case, the roller 19 is mounted in the hollow of the copier surface 20 of the pusher 21, which is in the lower position. Pruzhr 22 decompressed.

When bringing the grip to the part 23, the rod 3 extends, ti 4, acting on the short arm enclosed between the hinge 5 and the axis 9, produces an accelerated rotation around the axes 9 of the clamping levers 8 rigidly coupled to the levers 6. Sponges 11 approach the surface of the part 23. In the final phase of rotation, the clamping levers 8 come into contact with the limit stops 13 and stop further movement. The levers are adjusted so that at this position the sponges 11 are coaxial with each other. At the same time, the pushers 21, coming into contact with the stops 13, are sunk, compressing the spring 22 and affecting the copier surface 20 on the rollers 19 of the clamps 18, while the latter, overcoming the forces of the springs 17, sink and exit the holes 16, thereby releasing the levers. 6 from the rigid connection with the clamping levers 8. With further stem movement, 3 tons 4 and 4 rotates the screws 6 around the axes 7 that stop the levers 8. The jaws 11 continue to converge straight ahead, deforming the springs 12. At the same time, the movement limiter 14 moves together with the rod 3, the supporting surfaces 15, cover the rollers 10 and thereby rigidly connect the clamping levers 8 to the housing 1. The jaws 11 continue to blend, clamp the part 23, and center it relative to the grip. In the final phase of the considered displacements, the jaws 11 come close when the action of the puller 4 on the long arm of the levers 6, which is enclosed between the hinge 5 and the axle 7, which provides the clamping forces on the part 23, which is then transferred to perform another technological operation.

The release of the part is carried out in reverse order.

The clips 18 prevent undesirable movements of the jaws 1I in the event that the resistances to the rotation of the levers 8 (for example, friction in the axles 9) exceed the stiffness of the springs 12. At the same time

The spring-loaded pushers 21, which control the operation of the latches 18, also play the role of dampers, significantly reducing the blows when the clamping levers 8 come into contact with the limiters 13, which increases the reliability of the device.

The movement limiter 14 can be mounted directly on the rod 3 or mounted on the housing 1 and interact with the rod in the final phase of the disengagement of the latter.

A wide dilution of the gripping arms with sponges allows the gripper to come closer to the part not only in the radial, but also in the tangential direction, which expands the technological capabilities when arranging the robotocomplex.

The linear approach of the jaws in the clamping phase allows for the secure capture of parts of various sizes without disturbing the centering in the gripper.

Claims (2)

1. A gripper comprising a housing, a translational drive with a piece, clamping levers with jaws, each of which is mounted on an axis in 0 five case, lidc-jieMi 1nom ti sripan with UITOKOM iipiKHi / ui and is equipped with an additional ocf-th, .. 1and read the displacements of the settings and 11 and Hii-i ioxHocTiiHi interaction iruipiih; drive, so that, in order to increase the reliability of the clamp, the accuracy of positioning parts in the grip and expand technological capabilities by increasing the opening angle of the gripping levers, it is equipped with additional levers, each of which is installed on the additional axis of the lever fflogo lever and one end of the ball It is snugly connected with a pull, and the other connected with a sponge, as well as limiters of approaching the clamping levers mounted on the housing, each clamping lever being provided with a locking mechanism that can interact with the auxiliary lever, and the jaws are 5 spring-loaded in the unlocking direction . 2. The gripping device according to claim 1, l and h aa-yu, and with the fact that the stop mechanism is made in the form of a latch for an additional chassis and a kinematically connected spring-loaded tip with a possibility of interaction with the proximity limiter. 0 0 T tx /; / 2 eight 13 Compiled by B.Pyshkin Editor G. Volkov Techred M.DnDYKCorrector M. Demchik Order 2289/16 Circulation 908 VIIIPI State Committee of the USSR 110 cases of inventions and discoveries inOTi, Moscow, Zh-35, Raushsk nab., 4/5 Subscription