SU975391A1

SU975391A1 - Gripping device

Info

Publication number: SU975391A1
Application number: SU813292972A
Authority: SU
Inventors: Лева Эзриевич Ярошевский; Виктор Григорьевич Бескоровайный
Original assignee: Проектно-Конструкторское Технологическое Бюро По Вагонам
Priority date: 1981-06-01
Filing date: 1981-06-01
Publication date: 1982-11-23

Description

Изобретение относится к машиностроению, а именно к схватам автоматов или манипуляторов, предназначенных для проведения различных технологических операций с деталями, например с винтовыми пружинами. ⁵ The invention relates to mechanical engineering, namely to the grips of machines or manipulators designed for various technological operations with parts, for example with coil springs. ⁵

Известен схват,содержащий привод, расположенные в корпусе захватные рычаги, связанные шарнирно между собой [1 J. ₁₀ . Недостатком известного охвата является низкая надежность при удержании детали типа пружин, так как передаваемый крутящий момент и устойчивость детали в схвате ограничены ₁₅силами трения между губками захвата ^!и деталью.Known grip containing a drive located in the housing gripping levers pivotally interconnected [1 J. ₁₀ . A disadvantage of the known coverage is the low reliability when holding a part such as springs, since the transmitted torque and stability of the part in the grip are limited by ₁₅ frictional forces between the jaw jaws ^! and detail.

Цель изобретения - повышение надежности удержания пружины с наименьшей площадью контакта охвата и пружи-го ны при передаче ей крутящего момента.The purpose of the invention is to increase the reliability of holding the spring with the smallest contact area between the grip and the spring when transmitting torque to it.

Указанная цель достигается тем, что корпус охвата снабжен торцовыми упорами, а нижние плечи захватных •рычагов выполнены с уклонами, направленными от оси захвата.This goal is achieved by the fact that the coverage body is equipped with end stops, and the lower shoulders of the gripping • levers are made with slopes directed from the gripping axis.

Кроме того, по менывей мере в одном торцовом упоре выполнено продольное отверстие,в котором установлен дополнительно введенный подпружиненный палец.In addition, at least in one end stop, a longitudinal hole is made in which an additional spring-loaded pin is installed.

На фиг.1 изображен предлагаемый схват, общий вид; на фиг.2 - разрез А-А на фиг.1.'Figure 1 shows the proposed tong, General view; figure 2 is a section aa in figure 1. '

Схват содержит корпус, выполненный в виде пустотелого шпинделя 1, на торце которого закреплен по окружности ряд упоров 2, определяющих собой плоскость, к которой поджимается торцовая плоскость обрабатываемой пружины. На оси 3 шпинделя шарнирно закреплены двуплечие захватные рычаги 4.The grip comprises a housing made in the form of a hollow spindle 1, on the end of which a number of stops 2 are fixed around the circumference, defining a plane to which the end plane of the spring being machined is pressed. On the axis 3 of the spindle pivotally fixed two-arm gripping levers 4.

Верхние плечи рычагов 4 снабжены роликами 5, закрепленными с возможностью проворота на осях 6 и находящихся в контакте с клином 7, который смонтирован в направляющих шпинThe upper shoulders of the levers 4 are equipped with rollers 5, mounted with the possibility of rotation on the axles 6 and in contact with the wedge 7, which is mounted in the guide spins

975391 4 деля ί и связан с силовым приводом (клин может перемещаться по вертикали, например с помощью пневмоцилиндра ). Постоянный контакт клина с роликами рычагов обеспечивается стяж' ной пружиной 8.975391 4 dividing ί and connected to the power drive (the wedge can be moved vertically, for example using a pneumatic cylinder). The constant contact of the wedge with the rollers of the levers is ensured by a compression spring 8.

Нижние плечи рычагов 4 выполнены с уклонами под углом от оси охвата для создания сил, поджимающих пружину к шпинделю.The lower shoulders of the levers 4 are made with slopes at an angle from the axis of coverage to create forces that compress the spring to the spindle.

В одном или нескольких упорах смонтированы пальцы 9, которые могут выдвигаться из пят на определенную величину под действием пружин 10, Но не могут проворачиваться относительно оси упоров.Fingers 9 are mounted in one or several stops, which can be extended from the heels by a certain amount under the action of the springs 10, but cannot be rotated about the axis of the stops.

Нижние плечи рычаго'в 4 размещены · В промежутке между упорами 2 так,чтобы последние не препятствовали движению рычагов.The lower shoulders of the lever'v 4 are placed · In the interval between the stops 2 so that the latter do not interfere with the movement of the levers.

Схват работает следующим образом.The grapple works as follows.

В исходном положении клин 7 находится в верхнем положении, нижние плечи рычагов 4 сведены до определенного положения под действием пружины 8.In the initial position, the wedge 7 is in the upper position, the lower shoulders of the levers 4 are reduced to a certain position under the action of the spring 8.

Пружина 11, подлежащая захвату и последующей очистке, автоматически подается специальным механизмом (не показан )в зону схвата и предварительно поджимается вверх к упорам, нижние плечи захватных рычагов 4 таким образом вводятся внутрь пружины. Затем клин 7 под действием привода подается вниз, разжимая верхние плечи захватных рычагов 4. Нижние плечи рычагов расходятся, центрируя и фиксируя верхний виток пружины относительно вертикальной оси шпинделя и его торцовой поверхности. После этого механизм, подавший пружину в зону схвата, отходит в сторону. Затем включается вращение шпинделя, схват погружает пружину в абразивную среду, которая оказывает.большое сопротивление как вводу, так и прокручиванию пружины.The spring 11 to be gripped and subsequently cleaned is automatically fed by a special mechanism (not shown) to the gripping zone and preliminarily pushed up to the stops, the lower shoulders of the gripping arms 4 are thus introduced into the spring. Then the wedge 7 under the action of the drive moves downward, unclenching the upper shoulders of the gripping levers 4. The lower shoulders of the levers diverge, centering and fixing the upper coil of the spring relative to the vertical axis of the spindle and its end surface. After that, the mechanism that feeds the spring into the grip zone moves to the side. Then the spindle rotation is turned on, the gripper immerses the spring in the abrasive medium, which exerts great resistance to both the input and the rotation of the spring.

Центрирование пружины и придание ей устойчивости от опрокидывания осуществляется за счет уклонов нижних плечей рычагов схвата, которые .после срабатывания постоянно поджимают пружину к торцовым упорам плоскости шпинделя. Для предотвращения проскальзывания пружины в рычагах схвата 5 при передаче ей крутящего момента шпиндель снабжается подпружиненным пальцем, обеспечивающим передачу усилия пружине путем зацепления за торец верхнего конца пружины.The spring is centered and stabilized against tipping due to the bias of the lower arms of the gripping arms, which, after operation, constantly press the spring against the end stops of the spindle plane. To prevent slipping of the spring in the gripper arms 5 when transmitting torque to it, the spindle is equipped with a spring-loaded finger, which transfers the force to the spring by engaging the end of the upper end of the spring.

«о Через некоторое время по окончании очистки схват выводит пружину из абразивной массы. Вращение шпинделя прекращают. При подъеме клина 7 вверх нижние плечи захватных рычагов“O After some time, after cleaning, the tong removes the spring from the abrasive mass. Spindle rotation is stopped. When lifting the wedge 7 up the lower shoulders of the gripping levers

4 сжимаются, освобождают пружину, а она под действием силы тяжести падает, удаляясь в контейнер. Схват готов к приему следующей пружины. Конструкция схвата работает в авто20 матическом режиме. ,4 are compressed, release the spring, and it falls under the action of gravity, moving away into the container. The gripper is ready to receive the next spring. The grip design works in automatic mode. ,

Предлагаемая конструкция схвата позволяет устранить ручную работу, улучшить условия труда и автоматизировать технологические процессы 25 обработки винтовых пружин рессорного подвешивания железнодорожных вагонов, например качественной очистки их от грязи при ремонте вагонов.The proposed design of the grip allows you to eliminate manual work, improve working conditions and automate technological processes 25 of processing coil springs for spring suspension of railway cars, for example, their high-quality cleaning of dirt from car repair.

Claims

The invention relates to mechanical engineering, namely to the grips of automats or manipulators intended for carrying out various technological operations with parts, for example with coil springs. A gripper is known that includes a drive located in the housing of the gripping levers that are articulated between each other. . A disadvantage of the known gripper is low reliability in holding the part such as springs, since the transmitted torque and stability of the detail in the gripper are limited by the friction forces between the gripping jaws AND the part. The purpose of the invention is to increase the reliability of spring retention with the smallest neck contact area of the gripper and spring when it transmits torque. This goal is achieved by the fact that the tong body is provided with end caps and the lower arms of the gripping levers are made with inclines directed from the axis of the gripper. In addition, nt in at least one end stop there is a longitudinal hole in which an additionally inserted spring-loaded pin is installed. Figure 1 shows the proposed gripper, General view; figure 2 - section aa in figure 1. The grip includes a body made in the form of a hollow spindle 1, on the end of which a circle of stops 2 is fixed around the circumference, defining a plane to which the end plane of the spring being pressed is pressed. On the axis 3 of the spindle are hinged two shoulders gripping levers k. The upper arms of the levers are provided with rollers 5, which are rotatably mounted on axles 6 and are in contact with a wedge 7, which is mounted in guide spins 39 of business 1 and connected with a power drive (the wedge can be moved vertically, for example, by means of an air cylinder ). The constant contact of the wedge with the rollers of the levers is provided by a tension spring I. The lower arms of the levers are made with inclines at an angle from the axis of the gripper to create forces that force the spring against the spindle. The fingers 9 are mounted in one or several stops, which can be pushed out of the n by a certain amount under the action of the springs 10, But cannot turn about the axis of the stops. The lower shoulders of the eyebears k are placed in the gap between the stops 2 so that the latter would not impede the movement of the levers. The grip works as follows. . In the initial position, the wedge 7 is in the upper position, the lower arms of the levers k are reduced to a certain position under the action of the spring 8. The spring 11, which is to be captured and subsequently cleaned, is automatically fed by a special mechanism (not shown) into the gripper zone and presses up to the stops The lower arms of the gripping arms are thus inserted inside the spring. Then, the wedge 7 is driven down by the actuator action, uncoupling the arms of the gripping arms k. The lower arms of the arms are diverted to the centering and fixing the upper coil of the spring relative to the vertical axis of the spindle and its end surface. After this, the mechanism that supplied the spring to the gripper zone moves to the side. Then the spindle rotation is turned on, the gripper immerses the spring in the abrasive medium, which exerts great resistance to both the insertion and the scrolling of the spring. The centering of the spring and imparting tilting stability to it is carried out due to the slopes of the lower arms of the gripper levers, which, after actuation, constantly press the spring to the end stops of the spindle plane. To prevent the spring from slipping in the gripper arms when the torque is transmitted to it, the spindle is provided with a spring-loaded finger, which ensures the transmission of force to the spring by hooking onto the end of the upper end of the spring. After some time at the end of the cleaning, the gripper removes the spring from the abrasive mass. Spindle rotation is stopped. When the wedge 7 is raised upward, the lower shoulders of the gripping arms C are compressed, releasing the spring, and it falls under the action of gravity and is removed into the container. The grab is ready to receive the next spring. The design of the gripper works in automatic mode. The proposed design of the gripper eliminates manual work, improves working conditions and automates technological processes for treating spring coil springs for hanging railway cars, for example, cleaning them of quality from dirt during car repairs. Claims. 1. The grip is mainly for parts such as springs that contain a drive located in the housing gripping levers pivotally connected to each other, characterized in that MTOi in order to increase reliability, the gripper housing is provided with end stops, and the lower arms of the gripping levers are made with slopes directed from the axis gripper.

2. Grab according to claim 1, about tl and ch yusch and with the fact that at least in one end stop there is a longitudinal hole in which an additionally inserted spring-loaded pin is inserted. Sources of information taken into account in the examination i. USSR author's certificate W 58596A, cl. (3 25 J 15/00, 197Г.

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