SU1703454A1 - Sensitized gripper of manipulator - Google Patents

Abstract

This invention relates to mechanical engineering, in particular to sensitive grippers of manipulators. The aim of the invention is to improve the reliability of work, the expansion of functional and technical capabilities. For this, the pressure sensor 6 in the bellows 2 is connected through the control unit 12 to the working pressure source 11 and to the actuator 14 clamping levers 1. The pads 3 are fixed on the bellows 2. The pressure of the bellows 2 is adjusted by the pressure source 11. rises through the tube 5. At a certain level of the working medium column, which corresponds to a certain compressive force of the part 4, the control unit 12 issues a command to stop the drive 14 of the clamping levers 1. The gripper allows determining the compressive force of the children whether and to control it. 1 hp f-ly, 1 ill.

Description

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The invention relates to mechanical engineering, in particular to industrial robots and manipulators, and can be used for transporting, laying, assembling fragile, lightweight or explosive products.

The aim of the invention is to improve the reliability of work, the expansion of functional and technological capabilities.

The drawing shows the scheme of the proposed manipulator.

The sensitive gripper of the manipulator contains clamping levers 1 with elastic chambers fixed on them, made in the form of bellows 2 with rubber lining 3. The gripper works with part 4. The cavity of one of the bellows is connected by a translucent tube 5 to the working medium pressure sensor 6. Moreover, the working environment is opaque. The sensor 6 is made in the form of a fiber-optic converter and contains an emitter 7, a lens 8 and light-sensitive elements 9.

The sensor 6 is connected to the converter 10, and the tubes 5 are connected to an adjustable source 11 of the pressure of the working medium. The converter 10 of the signals is connected to the control unit 12, which by its outputs is connected respectively to the control element of the adjustable pressure source 11 and through the adjustable power converter 13 to the drive 14 of the clamping levers 1.

Capture works as follows.

Before starting work in the tubes 5, the source 11 sets a certain pressure of the working medium, i.e. Give the bellows 2 the necessary rigidity, depending on the fragility of the part, its weight, and dimensions .d. The part is then gripped, the working medium is squeezed out of the bellows 2,

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rises to tubes 5. The height of the working medium column in tube 5 corresponds to a certain compressive force of the part. Working medium, lifting through the tube 5, covers a part of the photosensitive elements 9. Change the signal at the output of the sensor 6.

The signal from sensor 6 is fed to control unit 12, where it is compared with a signal of a given amount of compression force. Upon reaching a certain level of force to compress the part 4, block 12 gives the command to stop the drive 14 of the clamping levers 1. Block 12 can be made programmable, which allows the part to determine the part, i.e. to sort, position the part in space (if the manipulator works with the same type of irregular shape), determine the size of the part and automatically set a certain stiffness to the bellows 2. To release the part, the levers 1 are diluted, the part is released, the working medium column . Then the cycle repeats.

Claims (2)

The claims of the invention 1. The branched gripper of the manipulator containing the jaws mounted on the clamping levers, while the jaws are made in the form of elastic chambers filled with wounds .ILrZri-i medium, wherein the cavity of at least one of the chambers is connected by means of a pressure sensor of the working medium with a clamping lever drive, which distinguishes so that, in order to increase reliability, expand functional and technological capabilities, it is equipped with an adjustable pressure source of the working medium and a control unit, and lining is additionally installed on the working surfaces of the jaws, while the pressure sensor of the working medium is connected to the control unit which are associated respectively with a clamping lever drive and an adjustable pressure source of the working medium, which in turn is associated with the cavities of the chambers. 2. The gripper according to claim 1, characterized in that the pressure sensor of the working medium is made in the form of a fiber-optic converter, in the working area of which a translucent tube is installed, one end of the tube connected to the cavities of the chambers and the other to the source of pressure of the working medium, wherein the cavities of the chambers and the tube are filled with an opaque working medium, and the pressure sensor of the working medium is connected to the control unit by means of a converter, the cameras are made in the form of bellows.