SU1537523A1 - Manipulator grip - Google Patents

Abstract

The invention relates to mechanical engineering, in particular to gripping devices of manipulators, and is intended for gripping and moving a workpiece such as shafts. The purpose of the invention is the expansion of technological capabilities by increasing the range of captured parts such as shafts and the reliability of capturing parts when turning them in a vertical plane. The grip includes a housing, clamping levers 2, an emphasis made of two parts in contact with the surface 4, having a two-sided uniform inclination to the axis of the grip, one part of the emphasis is made in the form of a prism 5 and has the ability to install itself relative to the gripped part, the other part 6 contacts with the generator the middle cam 7, and the cam mechanism 8, made of three bulat-extreme 9 and middle 7-, mounted on a common axis 10. When the rudder 17 rotates on a common axis 10, the cam mechanism 8 rotates and imnye levers 2 focusing uniformly approximated to, item 18. The grip 4 yl.

Description

The invention relates to mechanical engineering, in particular to gripping devices of manipulators, and is intended to capture and move workpieces such as shafts.

The purpose of the invention is the expansion of technological capabilities by increasing the range of captured parts such as shafts and the reliability of capturing parts when turning in a vertical plane.

FIG. 1 shows the capture of the manipulator, general view; in fig. 2 is a section through the section H – A in FIG. one; in fig. 3 is a cut B-b in FIG. 2; in fig. k is a section bb In FIG. 1

The manipulator grip contains a cusp 1, on which clamping levers 2 are hinged, located between them an abutment 3 is made of two parts with a contacting surface having a two-sided uniform inclination to the grip axis, with one part of the abutment 3 made in the form of a prism 5 and has the ability to self-install relative to the captured part, the other part 6 is in contact with the forming surface of the middle cam / and the cam mechanism 8, made of three cams - extreme E and middle 7, mounted on a common axis Yu. Op 3 biased by springs 11 to the middle cam

1 $ 375234

using the handle 16 and the handwheel 17, the workpiece 18 is clamped above the center of mass. The rotation of the handwheel 17 allows the two clamping levers 2 and the stop 3 to come together and evenly, which ensures the centering of parts of different diameters.

To turn the part in a vertical plane with a rotation of 30 °, after a slight lift, turn the gripping body 1 in a vertical plane by the handle 16, while the arc grooves b roll around the manipulator rollers 15. The prism 5 of the anvil 3 is tightly pressed against the part 18 at the moment of clamping, in the course of turning, if necessary, the part 18 is wedged from axial movement.

The release of part 18 after installation in a vertical position is carried out by rotating the handwheel 17 in the opposite direction. After processing the part, the grip and moving it to the horizontal position are carried out in the reverse order.

thirty

Claims (2)

Invention Formula Handle grip, contents housing, on which clamping levers are pivotally mounted, located To turn the part in a vertical plane with a rotation of 30 °, after a slight lift, turn the gripping body 1 in a vertical plane by the handle 16, while the arc grooves b roll around the manipulator rollers 15. The prism 5 of the anvil 3 is tightly pressed against the part 18 at the moment of clamping, in the course of turning, if necessary, the part 18 is wedged from axial movement. The release of part 18 after installation in a vertical position is carried out by rotating the handwheel 17 in the opposite direction. After processing the part, the grip and moving it to the horizontal position are carried out in the reverse order. Invention Formula Handle grip, contents housing, on which clamping levers are pivotally mounted, located 7. Clamping levers 2 constant contact-35 between them an emphasis having interaction with the outer to the waist, and the cam mechanism of clocking with clamping tied with the end surfaces of the outer cams 9 by means of the rollers 12 by means of springs 13. Rigidly attached to the body 1 on both sides cheeks 14 with arc grooves b, connecting-un-Zelk expanding technological carriers with the help of two rollers: a gripping body with a manipulator. To rotate body 1, a handle 16 is mounted on the rollers 15. A manual drive of the handwheel 17 type is fixed on the common axis 10 of the cam mechanism 8. Capture manipulator torus works as follows. In the initial position, the cam mechanism is rotated so that the rollers 12 of the clamping levers 2 are located in the depressions of the outer cams 9, and part 6 of the stop 3 enters the depression of the middle cam 7. This position corresponds to the greatest opening of the clamping levers 2. When lowering the grip to the horizontal part 18 and getting it into the grip area with assistiveness by increasing the range of captured parts such as shafts and reliability of the grip of parts when canting them in a vertical plane, the ku-5 tent mechanism is made in the form of three cams, installed on a common axis, and the emphasis is made of two parts. with a contacting surface having a two-sided uniform slope to the grip axis, with one part of the support for interacting with the part made in the form of a prism and has the ability to self-install, the other has the ability to contact The gg is formed by the surface of the middle cam, and the clamping levers have the possibility of contact with the end surfaces of the outer cams. 50 opportunity between them an emphasis having interacting with the outer end with the part, and a cam mechanism for contacting with the clamping arms, characterized in that The goal of expanding technological capabilities Moznostei by increasing the range of captured parts such as shafts and the reliability of gripping parts when turning them in a vertical plane, the cam mechanism is made in the form of three cams, mounted on a common axis, and the stop is made of two parts. with a contacting surface having a two-sided uniform slope to the grip axis, with one part of the support for interacting with the part made in the form of a prism and has the ability to self-install, the other has the ability to contact the forming surface of the middle cam, and the clamping levers have the possibility of contact with the end surfaces of the extreme cams. s B 1 VPF ezszssi Fcgl