SU1563977A1 - Gripping device - Google Patents

Abstract

The invention relates to robotics and can be used in the construction of industrial robots. The aim of the invention is the expansion of technological capabilities. The gripping device spans the part rotating in the machine chuck. Applying voltage to the rotational drive stator 3, causes the rotation of the bore 19 with the shaft 8 relative to the housing 1, equalizing the rotational speeds of the workpiece and the shaft 8. Then, applying the voltage to the linear actuator stator 2, the bark of which moves with the shaft 8 and sleeve 9, through the rods 15 are reduced clamping elements. 1 hp f-ly, 1 ill.

Description

The invention relates to robotics and can be applied to industrial robots for robotizing assembly and machining processes.

The aim of the invention is the expansion of technological capabilities by ensuring the capture of rotating parts and a quick change of the clamping elements during operation.

The drawing shows a gripping device with clamp clamping elements, general view.

The device consists of a base casing 1 with a linear actuator stator 2 fixed in it, for example a solenoid coil, and a rotation drive stator 3, for example an electric motor stator, and a removable case 4.

In the removable body 4, on the splines, a splined sleeve 5 is installed with the possibility of longitudinal movement, in which a shaft 8 is installed on bearings 6 and 7, the end of which is splined to the sleeve 9, which through bearings 10 and 11 is installed in removable case A without the possibility of longitudinal movement . In the sleeve 9 on the hinges 12 are mounted clamped clamping elements 13, which through the hinges 14 and the movable rods 15 are connected by a hinge 16 to the shaft 8.

Removable housing 4 is centered with base 1 conical mating surfaces 17 and locked with locking device 18 so that the rotary actuator measles 19 and linear actuator measles 20 mate with the stators 3 and 2.

The device is prepared for operation as follows.

A cassette with a set of identical., Removable bodies 4, differing only in the type and dimensions of the gripping elements, is supplied with a basic body 1 fixed to the arm of an industrial robot, then the basic body 1 is joined to the removable body 4, centered with the help of the mating cones 17 of both bodies , and fixes the removable case with the device 18, at the same time DC voltage is applied to

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linear actuator stator 2, which holds the bore 20 with the shaft 8 and the clamping elements 13 in the initial lower position.

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The device works as follows.

In order to grip the rotating part, the device is guided to the machine chuck, covering the part with clamping elements; the robot controller, applying voltage to the rotational drive stator 3, rotates the bark 19 with the shaft 8, which begins to rotate in bearings 6 and 7 and in bearings 10, 11 together with sleeve 9 and clamping elements 13; A robot controller connected to a machine control device, regulating the voltage on the stator 3 of the rotary drive, equalizes the number of revolutions of the core 19 ,. shaft 8 and gripping elements 13 with sleeve 9 and changes the polarity of the DC voltage on the linear actuator stator 2, the bore 20 of which moves with the shaft 8 and the bearings 6, 7 and sleeve 5 along the slots of the removable body 4, and the shaft 8 moves along slots inside sleeve 9 and pushes movable rods 15 through hinge 16, which, through hinges 14, press on the levers of clamping elements, which in turn, turning in hinges 12, capture the part, and the clamping force can be regulated by the amperage in the stator 2 drive lin one move.

After the part is clamped by the clamping elements 13, the machine chuck releases the part without ceasing to rotate, and the robot equipped with the proposed gripping device transfers the part to another position of the process, and braking and stopping the rotation of the clamping elements 13 with the part can be performed by a command a control device changing the commutation conditions on the rotational stator 3 during the transfer process.

The installation of the part in the rotating chuck of the machine is carried out in reverse order.

Claims (1)

1. A gripping device comprising a housing and a linear actuator mounted therein, the measles of which are kinematically connected with clamping elements, about 515639776 Of course, with purpose 2. The device according to claim 1, about tons of l and the expansion of technological possible that the body It is equipped with an electromagnetic module that is detachable, including a base drive of a subsidy of clamping elements, a new and removable parts, while in the meantime, the clamping elements of the rotary drive are fixed, is mounted on the same shaft as the gearbox, nematically connected to the shaft, on linear movement, and the stators with-which installed measles drives waters are consistently installed in rotation and linear movement, and in corpus-jq base part are placed the stators of these drives.