SU1593956A1 - Sensitized gripper for industrial robot - Google Patents

Abstract

The invention relates to mechanical engineering and can be used in the robotic assembly of products, as well as in the automation of other technological processes. The aim of the invention is to expand technological capabilities by expanding the gripper sensing area. When the gripper moves to the part 23 from above, the expanded jaws 17 abut against it and stop together with the housing 5, the piston 13 and the stem 14. With the further movement of the gripper, together with the rotation mechanism 1 and the sleeve 4, the position sensor 18 moves down, controlling the moment of contact with the part , to transfer information about the number of parts in the foot. To grip the part 23, the rod 14 moves upward, squeezing the sponge 17 and, acting on the position sensor 18, gives information about the diameter of the piece to be captured 23. When the gripper is rotated by the rotation mechanism 1 and lowered onto the process fingers, the part 23 is rotated to align its holes with the fingers . After this, the body 5 of the gripper stops and upon further rotation of the sleeve 4, the rotation sensor is triggered, giving a command about the angular orientation of the part 23. 1 Cp f-ly, 5 ill.

Description

The invention relates to mechanical engineering and can be used, for example, in the robotic assembly of products, as well as in the automation of other technological processes.

The aim of the invention is to expand technological capabilities by expanding the sensing zone.

FIG. 1 depicts the sensible gripper of an industrial robot; in fig. 2 is a view A of FIG. one; in fig. 3 shows a section BB in FIG. 2; in fig. 4 is a kinematic diagram of a gripper; in fig. 5 is a diagram of the assembly of two non-oriented relative to each other parts.

The sensible gripper of an industrial robot consists of a rotation mechanism 1 having a drive 2 and a shaft 3 on which the sleeve 4 is attached. In the sleeve 4, the gripper housing 5 is movably mounted.

On the housing 5, fingers 6 are fastened, which pass through axial guides in the form of movable lugs 7 installed in circumferential guides in the form of grooves 8 sleeves 4. In slots 8 of the sleeves 4 fixed stops 9 are mounted, on which springs 10 and sensors are fixed 11 rotation of the housing 5, interacting with the lugs 7. Springs 12 are mounted on the fingers 6. The power cylinder is located in the housing 5, having a piston 13 and a rod 14, which is connected to jaws 17 via lever linkages 15 and 16. Rotation mechanism 1 has a sensor 18 position inside the fixed element 19, which has its movable element 20 associated with the spring 21. An intermediate rod 22 is mounted between the brush 14 and the movable element 20 inside the shaft 3. The jaws 17 hold the component 23 to be assembled, in which there are, for example, two diametrically arranged holes 24. The part 23 is mounted by its openings 24 on the pin 25 of the part 26.

Sensible gripper works as follows.

The compressed air enters the retaining; a new cavity of the power cylinder, the piston 13 and the rod 14 of which go upwards. From the slider 14. through the arms 15 and 16, the movement is transmitted to the jaws 17, which clamp the part 23. The rod 14 through the intermediate rod 22 moves the movable element 20 of the sensor 18 relative to the fixed element 19. As soon as the jaws 17 clamp the part 23, the movement of the piston 13, the rod 14, the intermediate rod 22 and the movable element 20 will stop and a signal characterizing the distance between the fingers, which is equal to the diameter of the clamped part, can be removed from the position sensor 18. This signal can be compared with a signal characterizing the size of the diameter of the reference part, which is recorded in the memory of the control system of an industrial robot. In this way

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You can determine the deviation of the part size from the reference size. If, when transferring a part by an industrial robot, it is wiped off for some reason, the piston will take another position, which will be immediately fixed by the position sensor 18, and the control system (not shown) will issue the corresponding control signal.

When the gripper moves to the part 23, the jaws 17, which are in the decompressed state, stop at it and stop together with the housing 5, the piston 13 and the stem 14. With the further movement of the gripper together with the rotation mechanism 1 and the sleeve 4, the sensor 18 moves downwards, the locking contact moment and issuing the corresponding position signal, which is compared with the position coordinates of the part recorded in the memory of the control system.

Thus, if he takes parts from a foot in the store (not shown), he always knows which part of the foot count he takes and stops after selecting the entire foot. After the part 23 is taken by the jaws 17, the rod 14 and the movable element 20 are moved upwards, the signal on the part's taking and its size can be removed from the sensor 18. When the robot moves away from the foot or the base of the magazine, the gripper body 5 under the influence of the springs 12 and under the action of its own weight with the taken part goes down relative to the sleeve 4. The movable element 20 also goes down and takes a certain position corresponding to the distance between the fingers, depending. on whether they keep the parts or not.

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Parts 23 may be located in the magazine in an unoriented position with their openings 24 relative to the pins 25 of the part 26 located at the assembly site. Therefore, when the robot transfers the part 23 to the part 26 and lowers it onto the part 25 from above, it may not reach the holes 24 on the pins 25, but at the same time captures the moment of contact of the part 23 with the pins 25. At that, downward fixed by the sensor 18, by compressing the springs 12, it is always possible to obtain the required force to press the part 23 against the pins 25. After this, the rotation mechanism 1 rotates the part 23 in one direction or the other. When the part 23 is rotated relative to the part 26 fixed in place of the assembly, the g holes 24 are mounted above the pins 25. The springs 12 lower the body of the gripper with the part 23 relative to the sleeve 4. The pins 25 enter the holes 24 by the amount of preliminary pressing of the part 23 to the pins 25. This moment is detected by the sensor 18 and a command is given to stop the part 23. If an overrun of rotation has occurred, the fingers will be pressed into the wall of the hole 24 and the tong body will lock and the sleeve 4 will turn relative to

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body grip. In this case, the fingers 6 with the stops 7 are rotated in the slots 8 to one of the fixed stops 9, while compressing one of the springs 10. At the same time, the sensor 11 sends a signal characterizing the amount of overrun to one or the other side from the middle position. After that, the rotation mechanism rotates the gripper in the other direction, exposing the holes 24 concentrically with respect to the pins 25, if this is required according to the conditions of the assembly. Then, the part 23 is lowered down until it touches the part 26. Thus, the proposed sensitive gripper of an industrial robot makes it much easier to place the parts in the shops and simplify the process of robotic assembly

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Claims (2)

1. Sensible gripper industrial robot, comprising a housing placed in There are movable jaws, kinematically associated with a ram of a power cylinder, a drive for their compression, position sensors and a gripper rotation drive, characterized in that, in order to expand technological capabilities by expanding the sensing zone, it is equipped with a rotational drive sleeve having axial and circumferential guides, peripheral sleeves, in which the housing with the possibility of its axial and pivoting movements, and the position sensors are placed on the sleeve with the possibility of interaction of one of them with the power cylinder rod, and the other with the body. 2. The grip according to claim 1, characterized in that the sleeve is provided with return springs located on it with the possibility of their interaction with the body in axial and circumferential directions. p ± 5- -diE L -p-r -fn I 4.4  i e i i in . 6-et Ji j Brt-J i- J ri№ : znL .-, 4 I IM: I WadA Fig.Z 23