SU1484715A1 - Manipulator grab - Google Patents

Description

The invention relates to the field of engineering, in particular to pneumatic grippers. ¹ The aim of the invention is to enhance the functionality. For this cavity 3 and

4 second cylinders are connected to pressure sensors. The cavity 4 communicates with the atmosphere through the cavity of the sucker and through the check valve 14. At the end

2

The first cylinder has an adjustable stop made in the form of an adjustable screw 29 with a gasket 31. The gasket 31 overlaps the channel 26, made in the common rod 25, when interacting with the piston 22, the Channel. 26 connects the cavities 24 and 3. The cavities 23 and 24 are connected to the pneumatic system. Before gripping the parts, pistons 22 and 2 move to the right, the part is blown with compressed air. Then the tong is pressed against the part, and the pistons are moved, to the left. A vacuum is created in cavity 4, and the part is held by a suction cup. Pressure sensors give signals about the presence of parts under the suction cup and its subsequent capture. 1 hp ff, 2 ill.

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The invention relates to mechanical engineering and may be ashamed of used in manipulators and industrial robots to capture and transfer flat parts.

The purpose of the invention is the expansion of functionality.

Fig, 1 shows the gripper arm, a general view; in fig. 2 is a view A of FIG. one.

The grip of the manipulator includes a housing 1 in which two cylinders are located, the second cylinder is divided by piston 2 into two cavities — a rod 3 and a 15-rod 4. 4. Suction cup 5 is installed on the body by means of a sleeve 6 6, the cavities of the second cylinder are connected to the corresponding pressure sensors made in the form of membranes 7 and 8, 20

fixed locking rings 9 and 10. The diaphragms interact with the switches ¹ and 12 and 13 mounted on the bracket 11, the cavity 4 is connected by a check valve 14 to the atmosphere. The check valve 14 is installed in the housing 1 and contains a valve 15, spindle / kin 16 and a locking screw 17. The first and second cylinders are separated by a cover 18 with o-rings 19 and

thirty

20. The first cylinder 21 is divided by piston 22 into two cavities — rod 23 and rodless 24. In the common rod 25 a channel 26 is made, connecting cavities 24 and 3.

The first cylinder 21 is connected to the pneumatic system by fittings 27 and 28. An adjustable stop is installed at the end of cylinder 21, made in the form of an adjusting screw 29, which is fixed by a nut 30. A screw 31 is installed in the body of the screw 40 29, which overlaps the channel 26 when interacting with piston 22.

The grip of the manipulator works in the following way.

Before capturing parts into the cavity 24 and through the channel 26 into the cavity 3 serves compressed air. The membrane 8 is raised, the switch 13 is triggered, which sends a signal to the control system (not shown) to start work. Pistons 22 and 2 are moved to the right, connecting the cavity 3 with the suction cavity. Switch 13 is turned off, which means that piston 2 passes the bushings 6. The gripped part is blown out with a jet of compressed air and pressed against the clamping surface.

Next, the gripper is cut to the part, the switch 13 is again triggered - this indicates the presence of the part under the coverage.

The air from the cavity 4 is vented through the check valve 14 into the atmosphere, as indicated by the position of the switch 12. Then the cavity 24 is connected to the atmosphere, and compressed air is supplied to the cavity 23. The pistons move to the left, a vacuum is created in cavity 4, switch 12 is turned off, indicating that the part has been gripped. Next, the item is transferred to the unloading position, the cavity 23 is connected to the atmosphere, and compressed air is supplied to the cavity 24. Pistons move to the right, pressure increases in cavity 4, the part is disconnected from the gripper. If, when a part is gripped, air enters the suction cup, and the pressure in cavity 4 increases, the pistons move to the left, the gasket 31 closes channel 26, in this case the pressure 8 of cavity 3 increases, which triggers switch 13, at which time switch 12 is turned off. The control system issues an alarm and lowers the tong, preventing loss of detail.

Claims (2)

Claim 1. The grip of the manipulator, comprising a housing in which two cylinders coaxially arranged with corresponding pistons connected by a common rod are placed, while the cavities of the first cylinder can be connected to the pneumatic system, and the rodless cavity of the second cylinder is connected to the suction cavity, characterized in that the purpose of expanding the functionality, it is equipped with pressure sensors and a check valve, and in the common rod there is a channel connecting the rodless cavity of the first cylinder with the rod end of the second cylinder core, with each cavity of the second cylinder is connected to a corresponding pressure sensor mounted on the housing, and the rodless cavity of the second cylinder is connected by means of a check valve to the atmosphere. 2. The grip according to claim 1, which differs from the fact that the piston of the first 51484715 6 cylinder has the ability to interact with the additionally introduced adjustable stop installed in the housing, while the stop has the ability to overlap the channel, made in the common stem. view A CH ' ^to & Ί to ^ 7 ' './Г φυζ.Ζ