SU1440705A1 - Transport robot gripping device - Google Patents

Abstract

The invention relates to mechanical engineering and can be used in transport robots. The purpose of the invention is to enhance the functionality and increase the reliability of loading and unloading and transporting the product cassettes. On the stationary plate 1 of the robot carriage, the gripping drive 3 and the swivel drive 4 are mounted. On the drive shaft 3 there is a coupling 5, and on the drive shaft 4 there is a gear 8, coupled to gear 9 and a drift of the rotary link 10 together with spring-loaded it is a plate 14, on which are placed two groups of gripping elements. For gripping the carriage is lowered, the clamping plates 19 abut against the cassette 29, compressing the spring 20. The pressing force is transmitted to the plate 14, the springs 15 are compressed and the shaft 24 comes into contact with the clutch 5 of the actuator 3. When activated, the actuator 3 rotates the coupling 5, the shaft 24 and then, through the flexible coupling 22, eccentric strips 18. The carriage is lifted, the cassette being clamped between the strips 19 and 18, the shaft 24 coming out of contact with the coupling 5. By means of the actuator 4, the plate 14 is rotated, swapping the group of gripping elements. 8 il. (L

Description

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The invention relates to mechanical engineering and can be used, in particular, as part of flexible manufacturing systems, in transport robots for loading and unloading and transporting parts that are in cassettes.

The purpose of the invention is to enhance the functionality and increase the reliability of loading and unloading and transporting the cassettes.

FIG. 1 shows a gripping device of a transport robot, general view; in fig. 2 shows section A-A in FIG. one; in fig. 3 shows a section BB in FIG. one; in fig. 4 is a view of B in FIG. one; in fig. 5 and 6 - the position of the device during the capture of the cassette; in fig. 7 and 8 are the positions of the device and the cassette during unloading.

The gripping device of the transport robot contains a plate 1 fixed with a bracket 2 on a vertical carriage of the robot (not shown), and a reversing drive 3 of the gripper and a drive 4 turning located on the plate. A telescopic clutch 5 and a leash 6 and also stops 7 are mounted on the drive shaft 3. A gear 8 is fixed on the drive shaft 4 and coupled to the gear 9 sitting on the rotary link 10, which is mounted on bearings 11 on the shaft 11 rigidly connected to the plate 1. On the latter, the rotation stops and the speed change and stop switches (not shown) are also fixed.

In the rotary link 10, columns 13 are placed on the guides 12, pressed into the plate 14, spring-loaded in the vertical plane by the springs 15 and held by the screw 16. On the plate 14 a gripping body is placed, made in the form of two groups of gripping elements. Each group of gripping elements consists of four eccentric strips 18 and clamping strips 19 rigidly fixed on the ends of the shafts 17 and clamping slats 19 spring-loaded to them with the help of springs 20. On each of the shafts 17 the sprockets 21 are rigidly mounted, connected in their flexible connection group 22 between themselves with an additional star 23, the shaft 24 of which with the flats on the end is located coaxially with the drive shaft 3.

The shafts 24 with the help of the latch 25 have two fixed positions. A flag 26 is fixed on the plate 14, the sensors for switching the speed of the robot carriage to the slow speed and the sensor 28 for the carriage stop 28 are fixed. On the initial positions of the cassette 29 are fixed on the base surfaces, for example, conical fasteners 30.

The gripping device operates as follows.

Capture cassette. After stopping the transport robot over the cassette 29, the robot carriage is lowered, the pressure bars 19 rest against the surface of the cassette 29, compressing the springs 20, the force of which is chosen

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such that by compressing them by more than the thickness of the cassette, plate 14 stops, sensor 27 triggers, switching speed to slow, springs 15 squeezes out, shaft 24 enters coupling 5, and sensor 28 stops the carriage. The actuator 3 rotates the clutch 5, the shaft 24 and then through the flexible coupling 22 — eccentric strips 18. The robot carriage rises, the cassette being clamped between the strips 19 and 18.

Transportation cassettes. After the cassette 29, for example with blanks, is taken from the warehouse loading position and the gripper is lifted, the drive 4 rotates the plate 14, swaps the seats, while the shaft 24 of another group of gripping elements stops against the coupling 5. The robot transports the cartridge with the blanks to another position, for example, to the machine, where the gripper takes the cartridge with the finished parts in this way, rises with two captured cassettes and after turning loads the cartridge with blanks to the machine position. When transporting the cassettes, the clutch 5 is disengaged from the shaft 24, therefore, the actuator 3 doesn’t voluntarily act out of the cassette. In addition, clamps 25 prevent accidental rotation of the gripping elements, which increases the reliability of the gripping operation.

Loading cassette. Going down with the grippers, the cassette 29 with its base holes locates on the conical pins 30, centers on them, and the cassettes, overcoming the frictional forces between the surfaces of the clamping bars 19 and eccentric bars 18, self-align. After final installation of the cassette to the support surface, the springs 20 are compressed, the eccentric strips 18 move away from the bottom surface of the cassette, the plate 14 stops, the sensor 27 is activated, the springs 15 are compressed, the sensor 28 is activated, the drive is turned off. The shaft 24 engages with the clutch 5 of the drive 3, and it turns the eccentric strips 18, finally releasing the cassette /. The robot carriage rises along with the gripper.

Claims (1)

Invention Formula A gripping device of a transport robot containing a carriage, a gripping drive mounted on a plate stationary relative to the carriage, and a gripping member mounted on a plate movable relative to the carriage, characterized in that, in order to extend the functionality and increase the reliability of loading and unloading and transporting the cassettes, it is equipped with a rotating link, mounted on bearings of a shaft rigidly mounted on a fixed plate and kinematically connected with a rotational drive of the gripping body; At the same time, the gripping body is made in the form of two groups of gripping elements mounted on a moving plate, spring-loaded with respect to the rotary link, each group of gripping elements consists of four eccentric strips and clamping strips spring-loaded to them, and the eccentric strips are rigidly fixed on the ends of the shafts, the asterisks of which are covered by a flexible coupling with an additional asterisk, the shaft of which has two fixed positions and is installed with the possibility of interaction with the additional about the inserted clutch reversing drive grip. Fig- 2 B-B Fig.Z f (-A 22 23 2S 75 In id FIG. if Faye. five 24 : il 29 H: K-: 5: Fi $ .7 m 24 d5 1 tk30 .eight