SU1491700A2 - Grip for manipulator - Google Patents

Abstract

The invention relates to mechanical engineering, namely to grippers, for example, for cutting parts. The purpose of the invention is to increase the reliability of fixing parts and expanding the technological capabilities of the grip by limiting the movement of the lower sponge with the grip closed. The grip is made in the form of a housing 1 with a driving sponge 6 hinged on it. On the driving sponge 6 there is a stop 11, spring loaded 12. The lower sponge is made in the form of a movable support 13 fixed on a slider 14 moving in a guide base 15 mounted on body 1. On the slider 14, a spring 17 is fixed to the finger 16 at one end, the other end of which is fixed to the guide base 15. The stop 11, which interacts with the inner end surface of the lower jaw, prevents it from moving when the grip is closed. Fixing the position of the lower jaw allows for setting the gripping of the workpiece to the bending die at the same time pushing the finished part out of the die with the outer end surface of the lower jaw. 4 il.

Description

25

go

/ 7/4

75 g J

fug

ISO

18.

in fig. 1-3 depicts the stamp, the clamp-rider. Cutter cut off from the.

The invention relates to mechanical engineering, in particular to grippers, for example for cutting parts, and is an improvement of gripping according to the authors. St. No. 1284829.

The purpose of the invention is to increase the reliability of fixing parts and expanding the technological capabilities of the grip by limiting the movement of the lower sponge with the grip closed, achieved by the fact that the grip is equipped with a spring-loaded stop mounted on the upper sponge.

FIG. 1 yes} grip, longitudinal section; in fig. 2 - the same, when grabbing the tape; in fig. 3 - the same, after moving the belt and cutting the workpiece; in fig. 4 - the intermediate position of the grip when installing the workpiece in the stamp and pushing is in the stamp of the finished part.

The manipulator grip consists of a housing 1 in which a piston 2 is mounted with a return spring 3 and a flow angle 4. The piston rod 5 of the piston 2 is connected to the upper jaw 6 by means of a finger 7, and the passage through the longitudinal laa in the rod 5 is part 2 and fixed to the upper jaw 6. A stop 8 is attached to the housing 1. The upper jaw 6 is pivotally mounted on the axis 9 on the stop 8 and there are bobs on its working surface 10. The upper jaw 6 also has a spring-loaded stop 11 pressed to the upper lip ke 6 spring 12. bottom sponge 13 is fixed to the slider 14, moving in the direction L yun1 she base 15 on armature ustanovleinog of sensor body 1. In the slider 14, the finger 16 at one end zakrplena spring whose other end is fixed to the base 15 yushey channeling.

On the bottom sponge 13 there is a chamfer. In addition, the base 19

20 of tape 21, cut from tape 21, billet 22, cutting knife 23, matrix 24 (ptamp and punch punches 25. 11 non-distribution, 1 driver (not shown). T he ha 26 is designed to interact with the gripper movement mechanism (not shown). Fig. 4 shows a bending punch 27 and the finished part 28.

Capture works as follows.

In the initial state, the pressure of the node in the rod cavity 4 of the housing 1 (Fig. 1), the piston 2 is in an extreme position. At that, 5 pistons 2 for the finger 7, the upper sponge 6 together with the y | Orom 11 is held in a raised position above the lower sponge 13. The upper surface of the sponge 13 is flush with the matrix of 24 strains. The bottom sponge 13 with the slider 14 holds in the extreme.: By the position of the spring 17 through the finger 16, which abuts against the base guide 15.

15

25

YU

20 so

50 55 35

40

45

When the upper between and lower

four

the movement of the capture sponge 6 comes matrix 24 and sponge

from right to left, into the space with punches 25, 13, resting on the base of the stamp, enters the guides, while the slider 14 stretches the spring 17.

After the termination of this gripping movement, the pressure relief from the rod end 4 of the housing 1 is cleared, after which the piston 2 moves to the left under the action of the spring 3. The piston rod 5, abutting against the upper jaw 6, rotates it in such a way that between the inner surface of the anvil 8 and the outer surface of the upper jaw 6 a variable profile guide is formed, along which the piston rod 5 of the piston 2 moves further and presses the upper jaw 6 to the belt 21. At the same time, the lugs 10 of the upper jaw 6 enter the technological holes on the tape 21 cut by the punches 25, and the stop 11 enters the space between the base 19 of the stamp and the chamfer 18 on the lower jaw 13 (Fig. 2). The piston rod 5 of the piston 2 passes further along the variable guideline and is wedged, which ensures a reliable closing of the gripper and excludes the possibility of its self-tearing.

In the closed position, the grip starts moving from left to right. The tape 21 of the bosses 10 of the upper jaw 6 is pulled out exactly for a given step from the space between the die 24 and the punches 25 onto the spring-loaded lower jaw 13. In this case, the stop 11 locates the chamfer 18 on the lower jaw 13, rises upwards and bends the spring 12 pressing it 12. Pass chamfer 18, the stop begins to slide on the working surface of the lower jaw 13 and at the end of the gripping stroke, reached the edge of the working surface of the lower jaw 13, comes down from it under the action of the spring 12, thereby limiting the movement of the lower jaw 13. Then the working stroke of the punches 25 follows, punch tooling holes on the belt 21, knife 23 and is cut from the strip 21, the blank 22. The clamp-rihtovatel 20 serves for holding and alignment belt 21 in the matrix 24 after completion of the working stroke of the punches 25.

After the cut, the blank 22 is transported to the place of the next operation — to the bending stamp 27 (Fig. 4). Simultaneously with the installation of the blank 22 in the bending die 27, the part 28 is pushed out in the die 27.

In this case, the ejection force of the finished part 28 acting on the lower jaw 13 is accommodated by the stop 11, which limits its movement.

After entering the grip on 1 working stamp 27, the opening of the grip follows, i.e. the rise

the upper jaw 6 by applying pressure to the rod end 4. Under pressure, the piston 2 moves to the right, compressing the spring 3. At the same time, the piston 2 piston 2 moves freely relative to the upper jaw 6 and pin 7, and then the piston 5 piston rod 5 7 rotates the upper jaw 6 around the axis 9 until the upper jaw 6 is fully raised.

Claims (1)

The invention of the invention Capture manipula tor by the author. St. , No. 1284829, characterized in that, in order to increase the reliability of gripping parts and expanding technological capabilities by limiting the movement of the lower jaw, it is equipped with a spring-loaded stop mounted on the upper jaw and After opening the gripper it is necessary to interact with it stamp, with the end face of the lower sponge. the blank 22 remains in the die due to friction against its walls. The invention of the invention Capture manipula tor by the author. St. No. 1284829, characterized in that, in order to improve the reliability of gripping parts and expanding technological capabilities by limiting the movement of the lower jaw, it is provided with a spring-loaded stop mounted on the upper jaw and having the ability to interact with the face of the lower jaw. Zj 20 nineteen 13 Ik P Ws 28 22 12 wh g 7 “/ If