SU905061A1 - Gripper - Google Patents

Description

one

The invention relates to gripping devices used in manipulators for gripping and moving various objects, in particular parts having the form of bodies of revolution.

A known gripper comprising three clamping elements with a drive for moving them, mounted on the housing and interconnected by a gear 1.

A disadvantage of the known device is the complexity of the design and the limited lengths of the clamped parts.

The purpose of the invention is to simplify the gripping design and increase the range of lengths of the clamped blanks.

The goal is achieved by the fact that the gripper is provided with a spring-loaded cross-beam freely located on the rod of the power cylinder and hinged to the clamping jaws through an additional link. In addition, the clamping elements bear on themselves rails. With adjustable jaws.

FIG. 1 shows the proposed grip, general view; in fig. 2 shows section A-A in FIG. one.

(54) CAPTURE

The gripper comprises a housing 1, clamping elements 2 and 3 with rails 4 arranged on them, connected by means of pairs of gear wheels 5 and 6 mounted on axles 7 and 8 with a driving rail 9 sitting 5 on rod 10 of actuator 11, for example pneumatic cylinder.

Stops 12 and 13 are fixed to the actuator stem 10, between which the crosspiece 14 is located, the ball is connected to the clamping 10 elements 2 and 3 via an additional link 15. The spring also has a spring 16 between the crosshead 14 and the stop 13. And the spring 17 for return stroke of the piston of the power cylinder. Screws 18 are mounted on the body of the clamp, limiting the rotation of the clamping elements. On the rails 4 and 9, the clamping jaws 19 are fixed with the possibility of adjustment. The screw 20 and the balls 21 are located in the bore of the rod 22, which has a slot at its end. 20 Capture works as follows.

Claims (2)

When the gripper operates with parts such as a flange (clamp with a grip from the end), screws 18 are screwed into the clamping elements 2 and 3 against the stop and exclude the possibility of their rotation. The rod 10 is rigidly connected to the bar 22 with the help of balls 21 and a screw 20 with a tapered end. When compressed air is fed into the upper cavity of the pneumatic cylinder, the piston together with the rod 10 moves downwards. The rail 9 mounted on the end of the stem 10, with the sponge 19 fixed on it, interacting with two pairs of wheels 5 and 6, moves the gear racks 4 in the radial direction, with the lips 19 towards the center of the part. The simultaneous movement of all three elements ensures the centering and clamping of the part. The amount of movement is determined by the compression of the spring 16. Then the air is fed into the second cavity of the pneumatic cylinder, the rod 10 with the rack 9 moves up and the gripping jaws are diverted. When the gripper is working with parts such as a shaft (with a rear center pressing), the screws 18 are reversed, making it possible to rotate the clamping elements 2 and 3 around the axis 8 by an amount larger than the transverse dimension of the part. Moreover, the axis 7 of the gear wheels 5 mounted on the levers. The gas ha 22 is wedged with the rod 10 by the screw 20, loosened by the balls 21. When air is supplied to the upper cavity of the pneumatic cylinder, the rod 10 moves down through the rail 9, the gears 5 and 6 and the rail 4 provide the same movement of the jaws 19 towards the center of the part . Simultaneously with the movement of the jaws 19, the abutment 13, through the spring 16, transmits the force to the yoke 14, and that, in turn, through the link 15 causes the clamping elements 2 and 3 to rotate. The turning of the clamping elements ends when the rails 14 and the links 15 are installed. As the piston moves further, the clamping elements 2 and 3 remain stationary, and the rails 4 and 9 with jaws 19 converge towards the center of the grip, clamping the shaft. When air is supplied to the lower cavity of the pneumatic cylinder, the piston with the rod 10 moves upward, opening the jaw and choosing the gap between the stop 12 and the crossmember 14. After this clearance is selected, the stop 12 transfers the force from the rod to the crosspiece 14, and through it the link 15 turns clamping elements 2 and 3 toward the center. Upon further movement of the piston with the rod 10 upwards, the ha 22 abuts against the gripping body 1 and stops, while the hollow rod piston continues to move upward, compressing the spring 17 until the clamping elements are opened by an amount larger than the transverse dimension of the part; the rotation of the clamping levers is adjusted by the restrictive screws 18. The gripping is adjusted to a predetermined size by rotating the rod 22 through the slot in the end of the rod. In comparison with the known gripping devices, the proposed gripper provides clamping of parts of unlimited length and has a simple structure, which allows clamping of parts both by gripping from the end face and when working with pressing the rear center; When working with such a gripper, there is no need to use replaceable grippers in a given range of diameters and different modes of gripping parts. The gripper provides easy adjustment of the jaws and ease of differential from one mode to another (clamp gripping from the end or clamp gripping when working with pressing the part to the rear center). In addition, the slats can be equipped with rotating rollers to grip the part on the move (with a rotating spindle). Claim 1. Grip, containing clamping elements with their movement, mounted on the housing and interconnected by gear, characterized in that, in order to simplify the gripping design and increase the range of lengths of the clamped blanks, it is provided freely located on the rod the power cylinder is spring-loaded traversing and pivotally connected, with clamping jaws through the additionally introduced link. 2. The grip according to claim 1, characterized in that the clamping elements bear on themselves rails with adjustable sponges. Sources of information taken into account during the examination 1. USSR Author's Certificate No. 566731, cl. B 25 J 15/00, 1977. 22 15 / J sixteen 12 9 nineteen