SU1613226A1 - Gripping device - Google Patents

Abstract

The invention relates to robotics and can be used to equip robot complexes for pressing plastic products. The purpose of the invention is to enhance the functionality and increase productivity by performing an additional function of orienting products during the gripping-and-dumping of blanks. The device comprises a housing on which the gripping elements of the workpiece are placed on parallel shafts and a displacement drive. On the housing on the swivel bases with grooves, gripping elements of the finished product are installed. The shafts are connected by crank-connecting rod mechanisms, the connecting rods of which have abutments inserted by the upper end into the grooves of the bases. When gripping-releasing the workpiece, the rods shift, and the stops, acting on the bases, turn them. Crank mechanism can be shifted along the shafts, change the angle. By moving the stop along the connecting rod, you can change the thrust angle of orientation. 3 il.

Description

(L

WITH

The invention relates to robotics, namely to the designs of gripping devices of manipulators and other load handling devices, and can be used for transporting blanks and finished products between accumulators, presses and processing devices.

The purpose of the invention is to enhance functionality and increase productivity.

FIG. 1 shows a gripping device, bottom and top views; in fig. 2 shows section A-A in FIG. one; in fig. 3 - section BB

in fig. 2

The gripping device comprises a housing 1, on the lower side of which, on shafts 2 and 3, there are mounted gripping elements 4 of the workpiece, made in the form of hooks curved around the circumference with the center, lying on the axis of rotation. The rotation on shafts 2 and 3 is transmitted from the pneumatic actuator 5 through the drive shaft 6. The shaft 3 is connected with the drive shaft 6 gears, and the shafts 2 through curvature-lever mechanisms consisting of cranks 7 connected by connecting rods 8. Cranks 7 are connected with shafts 2 and 6 using long keys 9, over which they can slide along the respective shafts 2 and 6 and fixed with screws 10 in a predetermined position. The shafts 2, 3 and 6 are assembled in the supports 11. On the upper side of the housing 1 on the axis 12 there is a pivoting base 13 mounted to the shoulder of the axis 12 cutting the spring 14 with a nut 15. The base 13 has a groove 16. On the base 13 there are fixed vacuum gripping elements the finished product 17, connected by pneumatic hoses 18 to the source 19 of the vacuum. On rods 8

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ON

stops 20 are fastened, the upper ends of which are inserted through the holes of the housing 1 into the grooves 16 of the base 13, the stops 20 can be moved along the rods 8 and fixed by the friction force created by tightening the bolt and nut 21.

The gripping device works as follows

In the initial position, the pneumatic actuator stem 5 is retracted, the connecting rods 8 are in the extreme left position, the gripping elements; the workpiece 4 are raised, the bases 13 I are rotated. When air is supplied to the left cavity of the pneumatic actuator 5, the rod extends - | s by turning the shafts 2, 3 and 6. The gripping elements 4 of the workpiece turn, protrude and seize the workpiece. At the same time, the connecting rods 8 connecting the cranks 7 are shifted to the right, and the fixed stops

20, moving, act on the opposite edges of the grooves 16, turning the bases 13. The lines connecting the centers of the gripping elements of the finished product 17, |: are parallel to each other. Next, the manipulator orients the pick-up device, the gripping billet upwards, and the gripping elements of the finished product, bottom, then moves the pick-up device (fTBo to the finished product, located and parallel cavities of the mold, through the pneumosc) 18, air is drawn off and the finished products are captured. Next, the manipulator is turning the gripping device.

 Orient it to the workpiece downwards, and ready products upwards. An air blow is fed into the right-hand cavity of the pneumatic actuator, the stem of which, retracted, turns the shafts 2, 3 and 6, the gripping elements 4 of the workpiece are raised, and the blank is released from the 4 ckaercp. In this case, the connecting rods 8 are shifted to the left, and the stops 20 rotate the bases 13

with - gripping elements 17, holding the finished product. The articles are then transferred to the processing device and placed one at a time in the sockets. In order to increase the angle of rotation, the screws 10 are loosened and the crank-lever mechanisms with the stop 20 are displaced in the direction of the axis of rotation 12 of the base. To reduce the angle of rotation, the mechanisms are shifted in the opposite direction. The initial orientation angle is set by shifting the lugs 20 along the connecting rods 8.

Claims (1)

Claims The gripping device comprising a housing on which the gripping elements for the workpiece are mounted, a drive for moving the gripping elements for the workpiece, and gripping elements for the finished product mounted relative to the gripping elements for the workpiece on the opposite side of the housing, in order to extend the functionality and increase productivity, it is equipped with shafts mounted on the body parallel to each other, crank mechanisms with stops, as well as base with grooves mounted on the housing rotatably relative to it, with the gripping elements for the finished product mounted on the base, gripping elements for the workpiece mounted on the shafts, the shafts are connected by crank-connecting rod mechanisms, the stops are mounted on the rods of the latter with the possibility of adjusting displacement and the possibility of interaction with the bases along their grooves: the crank-lever mechanisms are mounted with the possibility of adjusting displacement relative to the shafts. 1613226 208 FIG. one 13 P 7 d FIG. 2 / h N . XXX