SU737206A1 - Grab - Google Patents

Description

(54) CAPTURE

The invention relates to the field of machine construction, namely, for the wagons of the mats designed for automating the assembly work.

A gripper is known (a manipulator, which is important for automating various technological operations, in which it is possible to securely secure the part with elastic jaws i.

The disadvantage of capturing the I is the complexity of the design and the insignificant list of the details that this capture can take.

The closest solution (to the invention is a scoop.at.at, in which the ––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––––– box

The disadvantage of such a capture is 20 with IB that it is not O1: the furnaces are capable of capturing parts for both external and internal surfaces.

The aim of the invention is the expansion of technological capabilities and by introducing 25 gripping parts for both external and internal surfaces.

The goal is achieved by providing each finger with rigid rings attached to its outer surface, and 30

the plate is located inside the finger and forms with its internal surface (insulation is isolated: the cavities associated with the compressed air supply system and the fact that one of the rings has a through hole connecting the hollow of the finger to the atmosphere, and at the entrance compressed air in this cavity is installed controlled throttle.

FIG. 1 shows the capture, cut; in fig. 2 is a view along arrow L in FIG. one; in fig. 3-5 is a section along B-lE in FIG. 1 (options); in fig. 6 — capture operation in the phase of approaching the part; in fig. 7 - the same, when securing the part by the outer surface, clamp; on fi1g. 8 - the same, while holding the part of the inner surface, unclamp; in fig. 9 - working of the sensitive finger grip while holding the part.

The gripper consists of a single body J with two cavities — manifolds 2 and 3, communicating through channels in hand 4 and through appropriate distributors (not shown) with a compressed air supply system.

In the housing (1), 0; a central opening 5, which serves to place there an adjustable stop. Or a pusher passage (not shown).

The cover 6 is cut to the body / fingers 7, "ap.Imer mogoliyoto cross section (FIG. 1 and 2). Fingers; Vitol; Nvny from elastic material, for example rubber. Each nailec 7 has an internal longitudinal overcast 8, formed by an armor-black flexible 1nearing plate 9, for example, a natural one. Plate

91 can be made solid or perforated, and it can also be made of a number of flexible cables, chains, chains, etc., elements. The inner and inner fingers 7 formed. Isolation cavities 10 and // are reported to correspond with the collectors and 2 and compressed air systems.

On the outside of the pallets 7, rigid rings 12 are used, which serve to protect the shape of the pals three work of gripping. Number of IB seizures and number of cavities In each of the fingers may be different.

Capture works as follows.

In the initial position of the gripper, compressed air is supplied to the collectors 2 and 3, and therefore in the cavity 10 and // fingers 7, "e is supplied. Therefore, the fingers 7 in the initial position are straight. Clamping is subject to item 13.

4 algorithms are possible.

Gripping by clamping small parts, the outer dimensions of which are smaller than a / meter B (Fig. 2), and with which the fingers are worn. In this version of the work, the fingers are reduced.

Gripping from the inside of parts with cavities, the dimensions of which (cavities) are larger than the diameter G (Fig. 2), where the fingers are located. In this version of the work, the fingers are spread out.

Capturing the parts, the dimensions of which are more than the size B (Fig. 2), by spreading the fingers, bringing the piece closer to the part and subsequent release of the fingers.

The grips are 1 parts with cavities whose dimensions (cavities) are smaller than size G (Fig. 2), in 11th | BODY, of the fingers (insertion of the iB cavity and subsequent dilution.

The first two algorithms are the simplest. Therefore, the capture is considered to be an example of the third algorithm.

First, compressed air is supplied to the manifold 3, from where it enters the cavities / palms, ce 7, creating RP pressure in these cavities. At the same time, let the pressure of Ryu in the cavity of 10 fingers 7 be equal to the atmospheric pressure Ra. Therefore, the pressure Rc is the pressure of Ryu. This causes the elongation of the elastic cavities of the 11 fingers 7 IB in the longitudinal direction under the action of tensile force, where 11 and Kyu are respectively tensile forces in the cavities // and

10 (Fig. 6). With STOiM, blow up

14 SNYPKULPTI M.PZhPV, K. PLKTT, I: MI

Since the partitions 5 of the fingers 7 are reinforced by non-expanding plates 9, the ratio of the forces Rc and ig: is expressed by inequality and causes their fingers 7 to bend outwards. (This technique is not used to take hollow parts 13, for example parts like glasses, shown in Fig. 8). Then the gripper with the diluted fingers 7 is led to the part 13 (Fig. 6). After that the collector 3

(cavities 11) are connected to the atmosphere, and compressed air is supplied to the collector 2. The latter enters IB cavity 10 of fingers 7, therefore the ratio of forces is expressed by the inequality THAT leads to bending of fingers 7 inwards (in Fig. 4) and gripping part 13. The release of part 13 occurs when compressed air IB of cavity 1 is supplied}.

 If you need to feel the grip to the presence of the part 13 and to the force of its interaction with the part on one of the rings 12 of each finger 7 (on its side facing directly to the part 13} hole 15 is made and (the cavity // is connected to the atmosphere) (FIG. 4) In addition, at the compressed air inlet to the manifold 3, the throttle is poured in and the collector 3 itself is connected to a pressure sensor (not shown). If, when part 13 is charged, compressed air is supplied to both cavities 10 and 11, Drosel | Irovani at the entrance and leaks through the openings 15 to the atmosphere in the proto The pressure Rc is less than 4ieM IB in the deaf cavity .10, i.e., the ratio is effective. This will cause the finger to bend towards the cavity //, the part 13 will be grabbed and the surface 13 of the bulges 14 bordering the ring will gradually flatten 12, in which holes 15 are made (Fig. 9). At that, the distance h will decrease and cause a corresponding decrease in leakage of compressed air from chamber LI to the atmosphere, as well as some increase in pressure in the chamber //. Since the pressure Rc in the cavity // is roughly proportional to) distance to h and proportional to the force in the borrowing of finger 7 with part 13, it is possible to judge by the magnitude of the force Rn at the known value of force RIQ that part 13 is in the gripper and force of finger 7 on this part.

This force can be controlled by changing the choke sections at the inlet to the collector and in the flow sections. Pa.lec (Fig. 5), with four cavities 16, 17, 18, and 19, and a troika 20 serving as a non-expanding insert, has greater mobility than a two-cavity finger.

Claims (2)

1. The grip containing elastic hollow fingers mounted on the housing, | Ttya / yaga.tt.iktA. R. itTrf n Q pta.g.tlr a Tv TiTQTjncr plate,, and an airfoil system in their compressed air, characterized in that, in order to expand technological capabilities by ensuring the capture of parts, both outside and on top of each other, each finger is provided with rigid rings fixed: on its outer surface 1, and the plate located inside the lalets forms with its internal surface the insulation is insulated with a cavity that is connected by an ic system of compressed air. 2. The gripper according to claim 1, characterized in that i3 is made on one of the rings a through hole connecting the cavity of the finger with the atmosphere, l at the entrance of compressed air to this hollow is installed (controlled choke is inserted. Source1Information received in attention during examination: 1. USSR Author's Certificate No. 498156, cl. B 25 J 15/00, .1976. 2. “Machines and tools. No. 11, 1974, p. 9, fig. 14. 2 B-s .3