SU1542796A1 - Adaptive grip - Google Patents

Abstract

The invention relates to gripping devices and can be used to equip manipulators and industrial robots. The purpose of the invention is the expansion of technological capabilities. On the body 1, two shoulder arms 4, 5 are hinged. A clamping sponge 12 is mounted on one shoulder of each lever, and the other shoulder of one lever is connected by means of a connecting rod 9 to the stem 10 of the power cylinder, and the other arm - to the body 7 of the power cylinder. The stroke of the levers 4, 5 is limited by adjustable stops 22, 23. In the slider 15 it is disposed with the possibility of reciprocating movement across the grip of the power cylinder. The slider 15 is mounted in the body guides 13, 14 at the grip base with the possibility of reciprocating movement along the grip axis. The housing 1 is equipped with a stop 21, limiting the stroke of the slide 15, while the slide is spring-loaded relative to the housing 1 and a third clamping jaw is mounted on it. 2 Il.

Description

FIG. 1 shows a kinematic) around the axes 2 and 3 When, for example, the lever k is rotated, its end (point A) moves to point A. Accordingly, the opposite end of lever k moves from point B1 to point B. Anah in FIG. 2 - the gripper with the clamped pre-rotates the lever 5, the underside of the adaptive gripper with the clamped object, the two-point dash-dotted line shows the position of the under-movable links with the gripper open;

In the nest, side view.

The adaptive gripper consists of the housing 1, on which the EY position is pivotally fixed, while the clamping jaws 12 abut against the object 28 (located, for example, in the nest 29), turning around the hinges and para.

and

on axes x 2 and 3 two shoulders levers k and 20 tons of spring sturgeon 25. After 5. The two shoulders lever k is hinged by one arm with a connecting rod 6 to the body 7 of the power cylinder 8, and the two shoulders 5 with one shoulder (adjacent

points B and E stop, points C D continue to move, while the connecting rods 6 and 9, turning around points B and E, move the cylinder 8,

with respect to the shoulder 4) pivotally sv - 25, and with it the crawler 15 until

until the clamping jaw 18 resists the object 28. The springs 2, creating resistance to the movement of the slide 15, ensure its movement after the levers k and 5 are stopped, which ensures reliable holding of the object of the configuration in question. After this, the hand of the manipulator of the torus moves the grip with the subject-28. To eliminate possible arbitrary movement of the clamp of the object 28 together with the moving parts relative to the housing 1 when moving the gripper due to inertial forces, the levers k and 5 can be spring-loaded relative to the housing 1, or adjustable friction in any of the kinematic pairs of the mechanism can be used.

"thirty

(by means of a connecting rod 9 with a movable (rod 10 connected to the piston 11 of the cylinder 8. The connecting rods 6 and 9 are located at an angle (more than 90 ° and less than 1806) to the axis of the power cylinder 8. In this particular device, the angle is 135

 On the free arms of the levers k and 5 are pivotally mounted; clamping jaws 12. On the case 1 there are guides, 13 and 14, in which the slider 15 is located with the possibility of reciprocating along the grip

 in which the cylinder 8 is located in the guides 16 and 17 with the possibility of reciprocating movement across the grip. On the slider 15 installed clamping sponge 18.

Internal housing is rigidly connected to housing. External stops 19 20 and stops 21. In the case 1, external stops 22 and 23 are mounted for adjustment. The slider 15 is spring-loaded relative to the case 1 by springs 2A. To fix the clamping jaws 12 against the levers 4 and 5, springs 25 are located on each of them, which clamp the clamping jaws to the stops 26, which are rigidly connected to the levers. The flange 27 is located on the housing 1 (FIG. 2) for fastening the gripper on the manipulator arm

40

45

50

until the clamping jaw 18 resists the object 28. The springs 2, creating a resistance to the movement of the slide 15, ensure its movement after the rest of the levers k and 5, which ensures reliable retention of the object of the considered configuration. After this, the hand of the manipulator of the torus moves the grip with the subject-28. To eliminate the possible arbitrary movement of the clamp of the object 28 together with the moving parts relative to the housing 1 when moving the gripper due to inertial forces, the levers k and 5 can be spring-loaded relative to the housing 1, or adjustable friction can be used in any of the kinematic pairs of the mechanism .

The process of releasing the object 28 during installation takes place when pressure is applied to the under-rod cavity of the cylinder 8, while the rod 10 with the piston 11 housing 7, cylinder 8, moving towards each other, decreases the distance CD. The connecting rods 6 and 9 rotate the levers k and 5 until they come into contact with the lugs 19 and 20, after which the booms turn around points B and E, moving the cylinder 8 and the slider 15 to the extreme left position. Slider 15 may move

Capture works as follows. 55 under the action of springs 24 faster than

Open grip (clamping jaws apart) occupies the position A1, B, C, U, E, and G. When davrych gi and 5, and reach the stops 21, but the final position of the capture in any case will be unambiguous, t, e. A, Bf, C, B, EЈF

This is the position of EY, with the clamping jaws 12 resting against the object 28 (located, for example, in the socket 29), turning around the hinges and the para. /

and

t viva spring 25. After

points B and E stop, points C D continue to move, while the connecting rods 6 and 9, turning around points B and E, move the cylinder 8,

25 and along with it the crawler 15 until

thirty

40

45

50

until the clamping jaw 18 resists the object 28. The springs 2, creating resistance to the movement of the slide 15, ensure its movement after the levers k and 5 are stopped, which ensures reliable holding of the object of the configuration in question. After this, the hand of the manipulator of the torus moves the grip with the subject-28. To eliminate the possible arbitrary movement of the clamped object 28 together with the moving parts relative to the housing 1 when moving the gripper due to inertial forces, the levers k and 5 can be spring-loaded relative to the housing 1, or adjustable friction can be used in any of the kinematic pairs of the mechanism.

The process of releasing the object 28 during installation takes place when pressure is applied to the under-rod cavity of the cylinder 8, while the rod 10 with the piston 11 and the housing 7, cylinder 8, moving towards each other, decreases the distance CD. The connecting rods 6 and 9 rotate the levers k and 5 until they come into contact with the lugs 19 and 20, after which the furts turn around points B and E, moving the cylinder 8 and the slider 15 to the extreme left position. Slider 15 may move

55 under the action of springs 24 faster than

under the action of springs 24 faster than

snaps and 5, and reach the stops 21, but the final position of the grip in any case will be unambiguous, t, e. A, Bf, C, B, EЈF

When working capture in the mode of fixation of the captured object relative to the housing 1, the external stops 22 and 23

a double-arm hinge mounted on it, the first lever being connected to the power case with its shoulder

are mounted so as to fix the cylinder e, and the second lever is connected with the rod of the power cylinder by an adjacent arm; besides, clamping jaws are mounted on the opposite arms of the levers, and the levers themselves interact

the position of the levers k and 5, and hence the jaws 12 relative to the housing 1

and and

strictly certain. Now the levers k 5 will stop by stops 22

Subject 28 (located, nap-yu with adjustable stops, about t l and h a23, and

The example, on the plane) will move with the jaws 12 towards the jaw 18 until the levers stop and 5 that move under the action of the power cylinder 8, then the slider 15 begins to move with the jaw 18 which presses the object 28 to the jaws 12, determined the position of the object 28 to the body 1 according to the installation of the stops 22 and 23. Otherwise, the grip works in the same manner as kick, as described above, the claims

Adaptive grip, comprising a housing fitted with guides, two

so that, in order to expand technological capabilities, the gripper is equipped with a slide with a third clamping sponge, which is spring-loaded

15 relative to the body of the grip and is located in guides made in the body at the base of the grip, with the possibility of reciprocating motion (along the grip axis) and on the body

20, lugs cooperating with the slider are made, with the power cylinder mounted in the slider with the possibility of reciprocating movement perpendicular to the axis of engagement.

so that, in order to expand technological capabilities, the gripper is equipped with a slide with a third clamping sponge, which is spring-loaded

relative to the body of the grip and is located in guides made in the body at the base of the grip, with the possibility of reciprocating movement (along the grip axis) and on the body

 there are stops interacting with the slider, and the power cylinder is mounted in the slider with the possibility of reciprocating movement perpendicular to the axis of engagement.

Claims (1)

1542796 When the capture is in the locking mode of the captured object relative to the housing 1, the outer supports 22 and 23 are set so as to fix <. the position of the levers 4 and 5, and therefore the jaws 12 relative to the housing 1 is strictly defined. Now the levers 4 and 5 will be stopped by the stops 22 and 23, and the object 28 (located, for example, on the plane) will be moved by the jaws 12 towards the jaw 18 until the levers 4 and 5, which move under the action of the power cylinder 8, stop the slider 15 begins to move with the sponge 18, which presses the object 28 to the jaws 12, determining the position of the object 28 to the housing 1 according to the installation of the stops 22 and 23. Otherwise, the grip works in the same way as described above, the formula of the invention Adaptive grip containing the body guided, two ¹ ball the two shoulders of the lever mounted on it numerically, while the first lever is connected by its shoulder to the housing of the power cylinder, and the second lever is connected by the adjacent shoulder to the rod of the power cylinder, in addition, clamping jaws are mounted on the opposite shoulders of the levers, and the levers themselves interact with adjustable stops, differing the fact that, in order to expand technological capabilities, the grip is equipped with a slider with a third clamping jaw, which is spring-loaded relative to the grip housing and is located in guides made in the housing Hovhan capture, with the possibility of reciprocating along dvi1zheniya grip axis and the housing 'are stops which interact with the slide, wherein the actuator is mounted to slide with reciprocating movement perpendicular to the axis of the capture.