SU662341A1 - Manipulator gripper - Google Patents

Description

(54) CAPTURE MANIPULATOR

I

The invention relates to mechanical engineering, namely, to manipulators for automatic protection of technological processes during the assembly of parts, their single loading and unloading. .

The well-known gripper for automation of technological processes includes a housing, moving jaws and a drive for moving them 1.

The disadvantage of this grab is that it works reliably only with sufficiently accurate orientation of objects relative to the jaws in the capture zone.

The closest technical solution to the invention is the gripper arm, comprising a housing with drive jaws 2.

Such a tongue is not reliable enough in operation and is complex in design.

The aim of the invention is to simplify the design and increase reliability.

For this, the housing is provided with a safety device made in the form of a prism, the top of which is located between the jaws, and spring-loaded legs covering this safety device and kinematically connected with the jaws.

FIG. Figure 1 shows a gripper with the upper lid removed and one pair of legs, a common fork; in fig. 2 is a view A of FIG. I; in fig. 3 - one of the sponges; in fig. 4 is a view B in FIG. 3; in fig. 5 - grip in work, front view; in fig. 6 - the same, top view; pas figs. 7 - the position of the object relative to the catcher and legs.

The grip consists of a body 1 with the top 2 and bottom 3 covers. The housing is equipped with a safety device made in the form of a prism with an angle a, the top of the prism is located between the drive jaws 4 and 5 mounted on the axis 6. Each of the jaws has a working surface 7 for clamping objects, a gear sector 8, an eye 9 and a through groove 10.

Claims (2)

On axes 11 and 12 installed in covers 2 and 3, 10 jaws 4 and 5 passed through the grooves can be rotated and treads 13 and 14 interlocked with toothed sectors 8 jaws 4 and 5 respectively. On axes 11 and 12, two pairs of legs were mounted: the top 15 and 16 and the bottom 17 and 18, 3tnTbiKTiiotifne catcher at its working stroke. The trajectories 19 of the movement of the ends of the legs together with the working surfaces of the Lap 15,16 and 17, 18 and the sides of the angle a and the prisms of bodies catching form a capture zone. Pads 15, 16,17 and 18 are installed with the possibility of rotation relative to the axes II and 12 within a predetermined backlash, bounded on both sides and chosen by springs, pressing the tabs to the object. By means of levers 20 and axes 21, the lugs 9 of the jaws 4 and 5 are connected to the lugs of the slider 22, which is screwed onto the rod 23 of the power cylinder (not shown in the figures) installed in the housing G and the driver is gripper. Turnkey flats on the rod 23 serve to adjust the animatedness of the gripping jaws 4 and 5 by setting the position of the slider 22 relative to the H1 current 23 as the latter rotates. The locknut 24 fixes the position of the slider 22. The grip works as follows. With the stroke of the manipulator, the gripper is moved by the locking bar forward to a position in which the grapple finds itself in the zone behind the grip bounded by the legs 15, 16, 17 and 18 and the sides of the angle. With a working stroke of an Itok 23, the paws grab the object and re-make it to the corner of the catcher, where it assumes a precisely fixed position and is clamped with the jaws 4 and 5. Due to the fact that the transfer ratio consisting of the toothed sector 8 and triboke 13 and 14 , is approximately equal to 1: 2.5 - 3, the movement of the paws contributes to the movement of the sponges, so that the Lanki have time to close, and the object - to occupy a fixed position in the corner of the catcher before the working surfaces of the sponges reached 1 minute of the capture zone. Upon further movement of the jaws (until the object is nicked), the legs remain motionless due to play in their joints with axes 11 and 12 and are pressed against the object by springs. Release (issue) of the part after transferring it by means of the manipulator to the zone of issue and installation of it with the butt-in. The performed part is realized as a result of the return stroke of the rod 23, in this case the jaws 4 and 5 are first diluted, and then the tabs 15, 16, 17 and 18. Claim of the invention The gripper of the manipulator, containing your body with driving jaws, THAT in order to simplify the construction and increase the reliability of operation, the casing is equipped with a safety device, made in the form of a prism, with a vertex, located between the jaws, and spring-loaded legs, covering this catcher and kinematically connected. with sponges. Sources of information taken into account during the examination 1. Author's certificate S ° 503714, cl. B 25 J 15/00, 1974. 2. Author's testimony, Mo 522051, cl. B 25 J 15/00, 1975. 15 D / 2.G Vida Figz View in  b FIG L 77 Fig 5 P Pig 7