SU1756145A1 - Manipulator gripper - Google Patents

Abstract

The invention relates to mechanical manipulators. The purpose of the invention is to expand the technological capabilities of the manipulator gripper and simplify the design. The manipulator grip contains the lower 1 and upper 10 sponges. Sponge 1 is suspended on a cylindrical cap 2, and sponge 10 is mounted on a rod 9. The maximum and minimum diameters of the moving part 16 are set by adjusting elements 17. Sponges 1 and 10 are separated by a spring 15 for the maximum distance. The lower sponge 1 is fed under the part 16 and the fur is lifting the tong. Then the part is compressed between the jaws 1 and 10 and moves to the required position. 1 il.

Description

The invention relates to mechanical engineering, namely to manipulators.

The purpose of the invention is to expand the technological capabilities of the gripper arm and simplify the design.

The goal is achieved by the fact that the gripper arm, containing sponges, kinematically connected to each other, a mechanical arm, an elastic element, is provided with a lower sponge suspended on a cylindrical cap, inside of which a part of the reversible pneumatic chamber is mounted with a suspended upper sponge, and the place of the coupling parts pneumocameras attached to the mechanical arm of the manipulator.

The drawing schematically shows the gripper manipulator, general view.

The grip contains a lower gripping jaw 1 suspended on a cylindrical cap 2, inside of which is mounted a pneumatic chamber, which is flexible (hermetic, reversible), consisting of part 3 and its counterpart 4. Counter parts 3 and 4 are mounted on cylinder 5 mounted on arm 6 the manipulator, which enters the windows 7 and 8 of the cap 2. The pneumocamera part 4 on the rod 9 hangs the upper sponge 10, containing the guide 11. passing through the lower sponge 1 and fastened by the crosspiece 12 with the rod 9. Part 4 of the pneumocamera is clamped between the cylindrical glasses 13 14, Art-mentioned nuts forming a hermetic seal. The rod 9 is suspended from the cap 2 on the tension spring 15. The maximum and minimum diameters of the moving part 16 are installed by adjusting elements 17, the counter parts 3 and 4 are fixed (glued) on the cylinder 5 in the area 18.

The grab of the manipulator works as follows.

The sponges 1 and 10 are diluted with the spring 15 for the maximum distance and are suspended in a pneumatic chamber filled with air and supported on the cylinder 5 of the mechanical arm of the manipulator. To capture the part 16 located on a support, for example in a stack,

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Claims (2)

the lower jaw 1 is applied by the hand b of the manipulator to the part 16 and the mechanical arm lifts the gripper upwards. Under the action of the weight of the part 16, as well as the parts connected with it, the lower sponge 1 is lowered, moving down the cap 2. Inversion and compression of the pneumocamera (its part 3) takes place, and the air pressure in the Pneemoc Myera increases, the acjn $ of the pneumocamera is inverted and the rod 9 and upper sponge W move to “from. The part 16 is compressed between the jaws 11 and 10 and the part is moved to the required position by the manipulator. The release of part 16 of the gripper handle is as follows. When the part 16 is lowered onto the support, the sponge 10, which moves upwards, is applied through the part 16 to make the pneumatic chamber turn out (its parts 4} in the opposite direction. Sponges 1 and 10 are diluted, freeing the part 16Г which remains after removal from it 1 on a support, for example in a stack. Formula of the invention A grab of a manipulator, comprising a body, gripping jaws, kinematically interconnected by a mechanism regulating their mutual position, characterized in that, in order to expand its technological capabilities, the mechanism is pneumatic and consists of an outer cylinder with a deaf upper bottom, connected by an elastic levneelement with an intermediate hollow cylinder, which, in turn, is connected by an elastic pneumatic element to the inner cylinder, while the lower sponge is rigidly fixed on the outer cylinder, and on the inner cylinder - upper, the intermediate cylinder is fixed on the manipulator arm, and the outer cylinder is spring-loaded relative to the inner one. 0 five / 7 YU V 8