SU1526988A1 - 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 the expansion of technological capabilities by ensuring the capture of products located with an error of positioning relative to the product and capture. The gripping device consists of a housing 1, a rotary element 3, rotary bushings 4 and 5 installed concentrically with a movable element, and an elastic flexible tape 6. One end of the tape is fixed to the case, the other end is fixed to the rotating element, and at several intermediate points the tape is fixed on rotary bushings. The rotary element through the lever is connected to the drive, made in the form of a translational engine, and the body is fixed on the arm of the manipulator. 3 il.

Description

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And i i; i-i iiii refers to machi Vlj:; l: l:, i) i. Southwind to be USED

and npo.iMi: i; i 4Hbix robots and manipulated tori.

The purpose of the invention is to increase the entrapment and retention of a fixed-surface ectop (predominantly fragile, cylindrical), installed in pus for x or cells,

In this case, a significantly greater discrepancy between the axes of the objects being captured and the gripping device is allowed than in the known device. In addition, the proposed design of the lyiH device ensures the preservation of the position of the objects of the relative7 (1o of the loose device which they take before

On the flg, 1 image; 1, a capture device was captured before capturing a cylindrical glass object; FIG. 2 is a view of L in FIG. 1; in fig. 3 gripping device after grabbing ofiijCKTa,

The gripping device consists of a body fixed by the tail part on the arm of the manipulator 2, the rotary element 3, the rotary bushings 4 and 5, the mounted concentrator with a rotary element, and the elastic flexible tape 6 the other end is on the tab 8 of the rotary element 3, In addition, the tape 6 is attached to the tabs 9 and 10, respectively, of the sleeves of the sleeves 4 and 5, the Turning element 3 through the lever 11 is connected to the drive 12, made in the forward propulsion engine

The gripping device works as follows.

The hand of MaHHnyjTHTOpa 2 places a gripping device over the object to be gripped 13, which may be a glass cylindrical vessel installed in the recess of the table. In this case, the vertical axis of the gripping device inevitably will not coincide with the vessel axis, since any manipulator is characterized by a certain positioning error of its working body. Then the manipulator moves the gripping device to the position of the vessel, from which the gripping is performed (Fig. O, The mutual arrangement of the legs 8 and 9, 9 and 10, W and 7

characterized by a maximum distance of one relative to another; elastic tape 6 is stretched out in the form of an open ring (FIG. 2), and the engine stem 12 is in the retracted state. To seize the object, a command is given to extend the engine stem 12. As a result, the rotatable element 3 makes a rotational movement (counter-clockwise ) at some angle. As the paws 8 rotate, the paws 9 and 10 begin to move and, accordingly, the elastic tape 6 begins to bend in the sections between paws 7 and 10, 10 and 9, 9 and I. The bending of the tape in any area stops as soon as it abuts the object surface. 13, The clamping of the object stops when the tape rests on all three sections (FIG. 3). In this case, the force from the side of the tape to the vessel wall at all points of contact will be the same, and the legs 8, 9 and 10 will shift to a new position. After removing the vessel from the recess of the table, its axis will maintain that position relative to the gripping device (e.g., its vertical axis), which is at the time of the capture.

The lowering of the object occurs as a result of the command being given to the two stroke of the engine 12, due to

the rotary element 3 and the sleeves 4 and 5 take the initial position.

Claims (1)

Invention Formula A gripping device comprising a housing, a pivoting element moved by the actuator, and an elastic element in tapes fixed at one end on the casing and the other on the rotating element, so that, in order to expand technological capabilities due to the provision of the grip of products located with the positioning error relative to the product and the grip, the device is equipped with at least one rotary sleeve mounted concentrically with the rotary element, and the elastic flexible element is fixed in-between points on the said sleeves.