SU971648A2

SU971648A2 - Industrial robot gripper

Info

Publication number: SU971648A2
Application number: SU813292523A
Authority: SU
Inventors: Виктор Васильевич Точилкин; Сергей Александрович Торошин; Юрий Иванович Мелентьев; Николай Иванович Иващенко; Анатолий Михайлович Филатов
Original assignee: Магнитогорский горно-металлургический институт им.Г.И.Носова
Priority date: 1981-05-28
Filing date: 1981-05-28
Publication date: 1982-11-07

Description

(5t) ЗАХВАТ ПРОМЫШЛЕННОГО РОБОТА(5t) CAPTURE OF INDUSTRIAL ROBOT

1one

Изобретение относитс к общему машиностроению и может Пыть использовано в качестве захвата в манипул торах промышленных роботов.The invention relates to general engineering and may Pyt used as a grip in the manipulators of industrial robots.

По основному авт.св. К 571369 известен захват промышленного робота, содержащий упругую гибкую ленту, концы которой закреплены на неподвижном элементе приводного механизма, а подвижный элемент присоединен к среднему переги(5у ленты, причем два крайних перегиба ленты служат губками захвата 1 .According to the main auth. K 571369 known capture industrial robot, containing elastic flexible tape, the ends of which are fixed on the stationary element of the drive mechanism, and the movable element is attached to the middle bend (5y tape, and two extreme bend tape serve as jaws 1.

Недостатком известного захвата вл етс то, что он не обеспечить удержание деталей, имеющих сложную конфигурацию в поперечном сечении.A disadvantage of the known grip is that it does not ensure the retention of parts having a complex configuration in cross section.

Целью изобретени вл етс расширение технологических возможностей за счет обеспечени надежного удержани деталей сложной (Ьормы.The aim of the invention is the expansion of technological capabilities by ensuring reliable retention of parts of complex (Shoulder.

Это достигаетс за счет того, что упруга лента составлена из отдельныхThis is due to the fact that the elastic band is composed of separate

упругих.стержневых элементов,соединенных между собой гибкими св з ми, причем продольные оси упругих стержневых элементов Параллельны продольной оси упругой ленты.elastic rod elements interconnected by flexible connections, with the longitudinal axes of the elastic rod elements parallel to the longitudinal axis of the elastic tape.

5 Кроме того, гибкие св зи могут быть выполнены в виде установленных на упругих оперативных элементах втулок, соединенных между собой мембранами,5 In addition, flexible connections can be made in the form of sleeves mounted on elastic operational elements interconnected by membranes,

.причем втулки могут быть,в частности, 10 I выполнены из эластичного материала,Moreover, the sleeves can be, in particular, 10 I made of elastic material,

-например резины.- for example rubber.

На фиг. 1 показан захват промышленного робота; на фиг. 2 - разрез А-А на фиг. 1 в увеличенном масштабе; на FIG. 1 shows the capture of an industrial robot; in fig. 2 shows section A-A in FIG. 1 on an enlarged scale; on

15 фиг. 3 вид Б на фиг. 2,15 of FIG. 3 view B in FIG. 2,

Claims

The gripper mounted on the arm 1, (fig, 1) of an industrial robot has a drive mechanism 2, guides 3, sponges k composed of elastic elements 5 (figs 1, 2, 3) whose longitudinal axes are parallel to the longitudinal axis of the flexible tapes interconnected in a series of flexible connections 6. Flexible connections 6 are made of elastic sleeves 7 (Fig. 2) mounted on elastic elements 5 (Figs 2, 3) and interconnected by elastic membranes 8. Elastic elements 5 with an average bend 9 (Fig. 1) are connected to the rod 10 of the drive mechanism 2. Extreme bends 11 and 12 serving as gripping jaws. The gripping operation is carried out in the following manner, and the grasping detail is located between the gripping jaws 1 (Fig. 1) of the gripping device. Moving the actuator 2 in translation along the axis causes deformation of the jaws 4, which, with their extreme bends P and 12, touch the piece to be gripped during further movement of the movable e: Gupr7igH: le: ntT; G ° but the surfaces are grips tsGG :: i2n: G membrane 8 1 FIG. 1,2), which contributes to the more complete coverage of the gripped part in the jaws as the stem 10 of the arrival mechanism

2. Thus, as a result, what is captured; detail from the configuration, in the transverse and “ohm. The cross section of it, pCHnWrl, is covered by elastic elements of gripping jaws over a considerable surface, ensuring reliable gripping of industrial robots with various objects, which, Q turn, ensures reliable operation of the entire robotic complex, since the last human presence, and slipping, falling out, etc. From the part gripping sponge, the entire robotic complex can be stopped, and as a result of TOGO, which eliminates the need to install additional jaws, rollers, etc., the gripping mass, the robot's carrying capacity decrease, the robot's lifting capacity increases, which is especially important important for robots; . Load of the light and light types of which are less than 1 kg), for example MP-9C. Invention formula 1. Capture of an industrial robot according to auth. ff 571369, I differ ° - made in the form of a separate elastic,. connected between. ..,,, ij at ПС П ПО А РпСЖ are flexible, and the longitudinal axes of the elastic rod elements are parallel to the longitudinal axis of the elastic tape. ° 1, about tl and h ™ ™ Adopted on the elastic core elements of the sleeves, co - 1x-. 11S1 / H OlyJUJK interconnected membranes.

3. Capture on PP. 1 and 2, that is, in that the sleeves are made of an elastic material. Sources of information, rintye taken into account during the examination 1. USSR author's certificate 571369, cl. B 25 J 15/02, 1975. 1 /.

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