SU1484711A1 - Gripping device for industrial robot - Google Patents

Description

The invention relates to gripping devices for industrial robots and manipulators. The aim of the invention is to expand the technological capabilities of the gripping device by providing the ability to capture different-sized parts

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with various clamping forces. On the body 1 of the gripping device, an actuator 2 is mounted with a rod 3, at the end of which a toothed rack 4 of variable section is fixed. On the housing 1 pivotally on the axes 5 with eccentricity, the gear sectors 6 of the gripping levers 7 are mounted. When moving the rod 3 of the power cylinder 2, the gear rack 4 interacts with the gear teeth 6, which leads to the movement of the gripping arms 7. The gripping force of the parts depends on the position ' gripping levers and proportional to the radius of the ring gear at the point of contact with the rack 4. 2 ill.,

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The invention relates to gripping devices for industrial robots and manipulators ..

The aim of the invention is to expand the technological capabilities of the gripping device by enabling the gripping of different-sized parts with different clamping forces. YU

FIG. 1 shows a gripping device, a general view; in fig. 2 variant design embodiment of the gripping device.

On the housing 1 of the gripping device 15 mounted actuator 2, in the form of a pneumatic cylinder with a rod 3, at the end of which is fixed gear rack 4 of variable cross section. On the housing 1 is pivotally on the axes 5 with an eccentricity, 20 are mounted gear sectors 6 gripping levers 7,

The gripping device operates as follows.

When moving the stem 3 of the power 25 cylinder 2, the rack 4 interacts with the toothed sectors 6, turning them, and with them gripping levers 7. Using sponges of various shapes, it is possible to capture parts for both the outer and the inner surface.

And with different angular positions of the levers force. the capture of parts will be proportional to the radius of the toothed roller at the point of contact-55 with gear rack 4,

Thus, when using a gripping device in the first embodiment of the embodiment (FIG. 1), the parts are gripped with efforts that are large for small parts and decrease with increasing dimensions of parts to be gripped,

When using a gripping device according to the second embodiment of the embodiment (FIG. 2), the gripping of parts is carried out with efforts, large large parts and decreasing with decreasing dimensions of parts.

Claims (1)

Claim The gripping device of a prokyshpenny robot, comprising a housing, gripping levers with toothed sectors and a drive in the form of a power cylinder with a toothed rack at the end of the rod, characterized in that, in order to expand technological capabilities by gripping different-sized parts with different clamping forces, the toothed rack is made of variable section and has the ability to interact with the toothed sectors of the gripping levers hinged on the case of the gripping device with an eccentricity, with the toothed rack and the gear These sectors have the possibility of reorientation by 180 °.