SU768635A1 - Gripper - Google Patents

Description

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The centric fingers 17 are transferred to the clamping jaws 18, the workpiece 19 is clamped. After that, at the command of the control system, the workpiece is transferred to the machine and the workpiece is transferred to the machine and the workpiece is mixed. In this case, the part with its base end surface enters into alignment with the base end surface of the machine clamping member (not shown in the drawings), for example, a cartridge or a collet, and stops. Due to the frictional force moment arising from the clamping force between the part 19 and the clamping jaws 18, the axles, together with the block 15, the strips And, and the lids 13 also stop. The rest of the grip, due to the low moment of friction, arises when transferring the clamping force in the junction 11 - the ball 12 - the prism 9, continues to make an installation movement and through the body 1, axis 2, gripping levers 6, grooves 7, prism 9 compresses the springs 14 and compensates for the error of positioning 25 of the movement of the industrial robot, and also reduces the dynamic loads on the clamping body of the machine and the arm of the robot. Upon receiving from the control system a command for unclamping a heel 3 30 under the action of the force of unclenching the drive, it goes down, moving down the yoke 4 of the link 5 and thereby turns the gripping levers 6 together with the fingers 8, the rolling guides 10, the eccentric 35

with their fingers 17 and clamping jaws 18 around the axis 2 of the housing 1, unfolding the part 19. As a consequence, the spring 14 returns to the initial position the clamping jaws 18 together with the covers 40

13, And with strips and pads 15.

After that, the industrial robot returns to its original position, etc.

Adjusting the clamping of the piece 19 along the length is carried out by installing the clamping jaws 18 on any of the docking planes 16 of the guide rollers 10 and moving the fingers 8 together with the roller guides 10 in the longitudinal grooves 7 of the gripping arms 6. If it is necessary to replace the clamping jaws 18, the machine sets the control sample and bring t grab to it. Then, by moving the clamping jaws 18 along the longitudinal groove, as well as by alternately rotating the eccentric fingers 17, high precision is achieved in aligning the axis of the part being gripped with the positioning point of the industrial robot.

Claims (2)

1. A grip comprising a body and clamping jaws pivotally connected to a hard drive through gripping levers, earrings and rocker arms, characterized in that, in order to increase reliability and enhance functionality, the gripping lever of each jaw is provided with a linear guide and is mounted on the body can be rotated in the longitudinal plane, and the sponge itself is rigidly fixed on this guide. 2. The grip according to claim 1, characterized in that the guide is provided with eccentric fingers associated with the sponge. Sources of information taken into account in the examination 1. Copyright certificate USSR № 592591, cl. B 25J 15/00, 1976.