SU1444143A1 - Gripping device - Google Patents

Abstract

The invention relates to mechanical engineering and can be used in industrial robots and manipulator tori. The purpose of the invention is to increase the reliability of holding the captured objects by fixing the position of the sponges after clamping the object in them. For this purpose, the gripping device is provided with a fixation mechanism consisting of a spring-loaded additional stem 6 with a conical surface and a spring-loaded ball cage 13. After the object is pressed with the jaws 11 of the object 12, the balls 15 of the cage 13 under the action of the spring 14 are wedged between the surfaces of the body 1 and the additional stem 6, as a result, due to the impossibility of moving the additional stem 6 to the left, it is impossible to open the jaws 11 in the process of manipulation. In order to open the jaws, it is necessary to apply pressure to the cavity 8. When this happens, the piston 2 will move, which through the finger 4 first acts on the ball-shaped holder 13, which ensures the wedging of the fixation mechanism, and then on the additional rod 6, which moves to the left and opens the jaw 11. 2 Il. § (L

Description

4: 4

four;

with

Fiyo-- /

The invention relates to mechanical engineering, in particular to gripping devices of industrial robots and manipulators.

The purpose of the invention is to increase the reliability of holding the captured objects by fixing the position of the jaws with the object clamped in them.

FIG. 1 shows a gripping device with a clamped object — a glass bulb; in fig. 2 shows section A-A in FIG. one.

The gripping device consists of a housing 1 in which a piston 2 of a pneumatic module with a main rod 3 is installed. At the end of the rod 3 a pin 4 is fixed, which is mounted with the possibility of mixing in the groove 5 of the additional rod 6. The spring 7 is intended to return the piston 2 to the extreme right position air motor after relieving pressure in cavity 8.

The spring 9 generates a force that is transmitted through the additional rod b and the hinge-lever mechanism 10 to the clamping jaws 11 clamping the manipulation object 12. The stiffness of the spring 9 is chosen so as to provide the necessary clamping force. The ball clip 13 is pressed to the right by the spring 14 and the additional rod 6 is wedged, making it impossible to move it to the left (Fig. 1), and thus excludes the opening of the jaws 11. At the same time the clip 13 is made so that in the pressed position its right end is closer to the finger 4, than the left edge of the groove 5.

The taper angle (X of the additional stem (Fig. 2) is chosen so that the balls 15 of the sleeve 13 are reliably seized between the surfaces of the housing 1 and the additional stem 6.

The gripping device works in the following way.

In the initial state, there is no pressure in the cavity 8, the piston 2 reaches the rightmost position, the additional rod 6 and the ball cage 13 abut against the pin 4, the jaws 11 are maximally collapsed. After the pressure is applied to the cavity 8, the piston 2 is mixed to the left until it stops, and the finger 4 mixes the additional rod 6 and the ball holder 13 to the extreme left position, overcoming the force of the springs 9 and 14. At the same time, the movement of the additional rod 6 does not stop clip 13 oka0

five

0

five

0

five

0

five

it is displaced with respect to the additional stem 6 so that the balls 15 do not jam between the cylindrical surface of the housing 1 and the conical surface of the additional stem 6. As a result, the jaw 11 is divorced into its extreme positions. Next, the manipulator places a gripping device over an object, for example a glass flask 12, and a command is issued to shut off the supply pressure in cavity 8. The piston 2 moves as far as it will go to the right under the action of the spring 7. The additional rod 6 also begins to move to the right under the action of the spring 9 and stops as a result of the jaws 11 of the bulb 12. The balls 15 of the cage 13 under the action of the spring 14 are wedged between the surfaces of the housing and the additional stem. As a result, the movement of the additional stem 6 to the left becomes impossible and, therefore, it is impossible to open the jaws P. This position is shown in FIG. one.

In order to open the jaws 11 of the clamp and release the flask 12, pressure is applied to the cavity 8. The piston 2 comes into motion and acts through the finger 4, first on the ball-bearing holder 13, which ensures wedging of the balls 15 and then on the additional rod 6, as a result of which the latter is mixed to the left and opens the jaws 11.

Claims (1)

Invention Formula A gripping device comprising a housing, an air motor drive and clamping jaws coupled to the drive through a pivot-lever mechanism, characterized in that, in order to increase the retention reliability of the gripped part, it is provided with a locking mechanism consisting of a spring-loaded additional stem installed coaxially with the main stem with the possibility of longitudinal movement, and from the spring-loaded ball cage mounted between the device body and the conical surface of the additional stem, NCU main stem fixedly mounted finger cooperating with a mating groove additional rod whose other end is pivotally connected to the link mechanism. / J F777. ////. i / Fie.2