SU889421A1

SU889421A1 - Manipulator gripper

Info

Publication number: SU889421A1
Application number: SU802895167A
Authority: SU
Inventors: Александр Семенович Григорьян
Original assignee: Московский Трижды Ордена Ленина И Ордена Трудового Красного Знамени Автомобильный Завод Им. И.А.Лихачева
Priority date: 1980-03-13
Filing date: 1980-03-13
Publication date: 1981-12-15

Description

(5) ЗАХВАТ МАНИПУЛЯТОРА(5) CAPTURE MANIPULATOR

II

Изобретение относитс к вспомогательному оборудованию кузнечноштамповочного производства, а именно к конструкци м манипул торов.The invention relates to auxiliary equipment for forging production, namely to the structures of manipulators.

Известен захват манипул тора, со держащий полый корпус, шарнирно смон тированные на корпусе средней своей частью рычаги, одни концы которых подпружинены между собой, а другие снабжены зажимными губками, а также механизм поворота рычагов, выполненный в виде размещённого в корпусе приводного подвижного штока с конической частью 1ХKnown gripper of the torus, containing a hollow body, pivotally mounted on the case of the middle part of the levers, one ends of which are spring-loaded among themselves, and others are equipped with clamping jaws, as well as a lever turning mechanism, made in the form of a driving movable rod with a conical part 1X

Недостатком известного захвата манипул тора вл етс невысока надежность его работы при захвате поковок с облоем.A disadvantage of the known gripping of a manipulator is the low reliability of its operation when gripping forgings with burr.

Цель изобретени - повьнление надежности работы.The purpose of the invention is to increase reliability.

Цель достигаетс тем, что в захвате манипул тора, содержащем полый корпус, шарнирно смонтированные на корпусе средней своей частью рычагиThe goal is achieved by the fact that in the gripper of the manipulator, which contains a hollow body, are pivotally mounted on the body with its middle part levers

одни концы которых подпружинены между собой, а другие зажимными губками, а также механизм поворота рычагов, выполненный в- виде размещенного в корпусе приводного подвижного штока с конической частью, механизм поворота рычагов снабжен толкател ми рычагов, установленными в корпусе с возможностью взаимодействи с конической частью приводного one ends of which are spring-loaded with each other, and the other with clamping jaws, as well as the mechanism for turning the levers, made in the form of a driving movable rod with a conical part housed in the housing, the mechanism for turning the levers is equipped with lever pushers installed in the case with the possibility of interacting with the conical part of the driving

10 подвижного штока, d нижней части корпуса выполнены профильные пазы, соответствующие Профилю поковки, а зажимные губки выполнены в виде подпружиненных относительно рычагов пальts цев с наклонными рабочими поверхност ми .10 of the movable rod, d of the lower part of the body, are made of profile grooves corresponding to the Profile of the forging, and the clamping jaws are made in the form of fingers springed relative to the levers with inclined working surfaces.

На фиг. 1 изображен захват манипул тора , общий вид; на фиг. 2 - разрез А-А на фиг. 1; на фиг. 3 - раз20 рез Б-Б на фиг. 1.FIG. 1 shows the capture of the manipulator, general view; in fig. 2 shows section A-A in FIG. one; in fig. 3 - 20 times cut BB in FIG. one.

Claims

The gripper includes a housing 1, in which guide bushings 2 are pressed in. To housing 1, cheeks 3 are fastened with screws 3, which are mounted on the arm of a manipulator (not shown) with screws 5. In case 1, there is a stem 6, which is connected through the shank 7 by a nut 8 with a drive (not shown) with the possibility of adjusting its stroke. On the rod 6, a cone 9 with a nut 10 is fastened to the thread with the possibility of adjustment along the stem. Cone 9 is housed in window 11, made in housing 1. Two arms 13 are hingedly attached to body 1 by means of axles 12 and fixed by means of cotter pins 14. Both levers 13 are connected to cone 9 by two pushers 15 housed in case 1. In addition , the levers 13 are interconnected by a spring 16 through the earrings 17. In the lower part, clamping fingers are placed in the guide grooves at the ends of the levers 13 perpendicular to the axis of the grip .18, fixed from the wires by the key 19 and spring loaded 20 is carried out with a screw 21 and a nut 22. It housing part 1 Longitudinal dowel grooves 23 corresponding to the stamped profile and clamped parts .naprimer rod 24. Capture manipulator operates as follows: f the example operation flash trimming rod; . When lowering the arm of the manipulator (not shown} together with the grip, the body 1 sits on the profile of the connecting rod 24 and is centered relative to the body by the centering grooves 23. Thus, an accurate combination of the longitudinal axis of the grip and the connecting rod is achieved. When the drive is turned on, the shank 7, the rod 6 and the cone 9 interleave into the right bed (the development along the gripping axis. In this case, the cone 9 interacts with the push rods 15 (As a result, the push rods 15 move in a direction perpendicular to the gripping axis, which reduces (rotates) the levers 1 3 around the axes 12 to a size determined by the cone stroke. At this time, the springs 20 are compressed and the clamping fingers 18 clamp the connecting rod 2 behind the billet with a force determining the spring force. Thus, the connecting rod is gripped behind the bent which is unevenly distributed in the direction perpendicular to its longitudinal axis, due to an independent linear stroke for 1. 4 clamp fingers. On the inner sides of the clamping fingers 18 there are inclined working surfaces. Thanks to the presence of inclined surfaces, as well as the movement of the clamping fingers towards each other, the connecting rod is seized and the connecting rod is reliably fitted to the body of the gripper. When the drive is turned back on, the grip is released under the action of the spring 16 through the earrings 17 connected to the levers 13 and the connecting rod 24 is installed in the treatment zone (cut die matrix, not shown). In order to reduce the idle stroke, the distance is adjusted to grip the connecting rod. between the clamping pins 18, which is carried out by means of a threaded connection of the cone 9 with the rod 6 and fixed by a nut 10. Due to the presence of the threaded connection of the shank 7 with the rod 6, the piston stroke is adjusted. The clamping force of the connecting rod with the clamping fingers 18 is adjusted by pressing the spring 20 with screws 21 and is fixed by the nut 2

2. The proposed gripper of the manipulator has a high reliability of operation when gripping forgings with burr. Claims of the invention. A manipulator grip comprising a hollow body, pivotally mounted on the body with its middle part levers, one ends of which are spring-loaded with each other, while others are provided with clamping jaws, as well as a lever rotation mechanism made in the form of a driving movable rod with a conical part , characterized in that, in order to increase the reliability of work during the seizure of forgings with a burr, the mechanism for turning the levers is provided with lever pushers installed in the housing with the possibility of interaction vi with a conical portion of the driving of the movable rod, the bottom of the housing formed profile grooves corresponding profile of the forging, and the jaws are designed as spring-loaded relative to the levers with fingers inclined working surfaces. Sources of information taken into account during the examination 1. USSR Author's Certificate No. 582175, cl. B 25 J 15/00, 30.11.70. And 22 iQ