SU626947A1

SU626947A1 - Manipulator grip

Info

Publication number: SU626947A1
Application number: SU762367920A
Authority: SU
Inventors: Вадим Матвеевич Гуслиц
Original assignee: Guslits Vadim M
Priority date: 1976-06-01
Filing date: 1976-06-01
Publication date: 1978-10-05

Description

Иаобрегенйе относиге к маниаул горам и может быть использовано при соэдании захватных устройсгв.Iaobregenye is attributed to the maniaul mountains and can be used to create grippers.

Известно захватное устройсгво манипул тора , содержащее корпус, губки на упругого материала и средства подвода рабочей среды ij .A gripping device is known that comprises a body, sponges on an elastic material and means for supplying a working medium ij.

Недостатком известного захватного устройства вл етс то, что при схвагы-k вании изделий сложной формы оно не обе- спечивает точной и надежной их фиксацииA disadvantage of the known gripping device is that, when skvagy-k in complex articles, it does not ensure their accurate and reliable fixation.

Цель изобретени - повышение точности фиксации изделий.The purpose of the invention is to improve the accuracy of fixing products.

Эта цель достигаетс благодар тому, что кажда губка выполнена в виде поршн силового цилиндра, корпусом которого вл етс корпус схвата, а внутри поршн расположены стержни, торцовые поверхности которых направлены в сторону издели причем сечение стержн представл ет шес тиугольник и контакт стержней осуществл етс по боковым гран м.This goal is achieved due to the fact that each sponge is made in the form of a piston of a power cylinder, the body of which is a gripper body, and rods are located inside the piston, the end surfaces of which are directed toward the product, the cross section of the rod being a six-sided grandm

На фиг. 1 показан схваг манипул тора продольный разрез; на фиг. 2 - разрез А-А фиг. 1.FIG. 1 shows a longitudinal section of a manipulator; in fig. 2 - section A-A of FIG. one.

Стержни 1 схвата манипул тора имеют направл ющие дл поступательного перемещени в поршн х 2 силовых цилиндров, корпусами которых вл етс корпус 3 схвата . Между рабочей средой и стержн ми 1 на поршн х 2 смонтированы упругие деформируемые пластины 4, защемленные по периметру и выполненные, например, из реаинометаллической композиции. Между стержн ми 1 и зажимаемым изделием 5 на поршн х 2 смонтированы упругие деформируемые губки 6, защемленные-по периметру и выполненные, например, также из резиномегаллической композиции. Средства подвода рабочей среды обеспечивают подачу давлени в цилиндры 3. Стержни 1 в сечении могут представл ть щестиуголь- ник и контактировать по боковым гран м.The gripper bars 1 of the manipulator have guides for the translational movement in the pistons of the 2 power cylinders, the bodies of which are the gripper body 3. Elastic deformable plates 4, clamped along the perimeter and made, for example, from a re-metal composition, are mounted between the working medium and the rods 1 on the pistons x 2. Between the rods 1 and the clamped product 5, on the pistons x 2, elastic deformable sponges 6 are mounted, clamped along the perimeter and made, for example, also of a rubber-metallic composition. The means for supplying the working medium provide pressure to the cylinders 3. The rods 1 in cross section can be a brazier and contact along the side edges.

Claims

If it is necessary to grip the parts 5, the pistons 2 with the rods 1 mounted in them first move under the pressure of the working medium. Depending on the shape of the product 5, either the jaws 6 or the piston 2 can begin to contact with it. In the first case, the movement 2, parts rods 1 and sponge 6, with its simultaneous nei |) opMation, continues until the contact continues over the entire surface of the sponge 6. In the second, only rods 1 and the deforming sponge 6 1 also continue to move along the whole surface. contact with the product 5. The pathogins 4, deformed simultaneously with the jaws 6, also maintain contact with the end surfaces of the rods 1. If it is not necessary to release the product 5 in the working cavities of the hydraulic cylinders, the pressure of the working fluid decreases to atmospheric or provides vacuum after which, under the action of the unpyixi deformation force of the plates 4 and the sponges 6, as well as the atmospheric pressure, the rods 1 and the pistons 2 are displaced in direction from the product 5 The invention. 1. Grab manipulator .tor, comprising a housing, sponge of elastic-about material and means for supplying a working environment, from-. characterized in that, in order to improve the accuracy of fixing products, each sponge is made in the form of a piston of a power cylinder, the body of which is a body of coverage, and inside the piston there are rods whose end surfaces are directed toward the product.

2. The grip of claim 1, of which is that the cross section of each rod is a polygon. Z. Scrippopp. 1 and 2, characterized in that the rods are located relative to each other with contact along lateral faces. Sources of information taken into account during the examination: 1. USSR Author's certificate N 498156, cl. B 25 J 15 / OO, 1974.

ig. i ig. 2