SU975392A1 - Clamping device - Google Patents

Description

The invention relates to machine-building, in particular to industrial robots. And manipulators, and can be used for various technological and material handling operations. - 5

An elastic finger is known comprising a block of sections with a flexible non-stretching element inside and transverse partitions [1].

Also known is the gripper of a ^1C torus containing a compressed air supply system, a housing, hollow elastic fingers with a flexible non-stretching element inside and insulated cavities of £ 2J. . ..

The disadvantage of these devices is the limited technological capabilities, this is due to the fact that each finger does not have the ability to perform movements that are excellent and independent of the movements of other fingers.

The purpose of the invention is the expansion of technological capabilities of capture.

This goal is achieved by the fact that each section of the finger is equipped with an individual means of connecting to the supply system of the working medium, made of an electromagnet and a spring-loaded valve connected to the armature of the electromagnet, and the connecting means is located inside a rigid transverse partition.

In FIG. 1 · shows the proposed capture, General view; in FIG. 2 - node 1 in FIG. 1; in FIG. 3 “section AA in FIG. 1; in FIG. 4 - the same with a corrugated tube; in FIG. 5 “An example of a gripper with a part.

The capture includes a housing 1 with channels 2 for supplying a working medium under pressure, such as compressed air, and elastic fingers 3, consisting of several sections - phalanx 4. Each section 4 is divided by elastic longitudinal partitions 5 into insulated cavities 6 and has a rigid transverse partition 7 · Each cavity 6 using an individual means. Connection 8 can be connected either to the compressed air supply system through channel 9, or to the atmosphere (for oil - with a drain). Between the cavities along the entire length of the finger there is a flexible pulled together member 10, for example a rope. To _ eliminate the possibility of lengthening one section by compressing the others, the 50 cable 10 is fixedly mounted on each partition 7. The fixing means 11 do not impede the passage of air through the channel 9 · The number of fingers, sections and cavities in them 15 can be different. The cavity can be formed by smooth or corrugated tubes-12 (figure 4). In this case, channel 9 is also formed by tube 13 = Tubes 12 and 13 are connected?

The device for connecting the cavity to the working medium supply system 8 is made in the form of a valve 15 with a drive from an electromagnet 16, which are located inside the transverse partition. 7 ”The valve 15 is spring-loaded 17 so that in the initial state the cavity .6 is connected to atmosphere, zo

Capture works as follows.

In the initial state, all the cavities of sections 4 are disconnected from the compressed air supply system, fingers 3 are straight. When one cavity 6 is connected, section 4 will bend in the direction opposite to this cavity. When two adjacent cavities are connected (with their total number more than two), the section will bend in the direction opposite to the partition between them. Thus, with the number of cavities greater than two, the section has the number of possible bending directions, twice the number of cavities. When three adjacent cavities are connected (with their total number more than three), the section will bend to the side opposite to the middle cavity, as when connecting one, however, in this case the bend will be less and the finger will be harder. Each motor section has such motor capabilities.

3. Thus, by combining the cavities 6 of each section 4 filled with compressed air and the sequence of their connection (disconnection), it is possible to give fingers 3 the configuration and movement required to capture the object. Directly in the grip after clamping the item, you can manipulate it. So, for example, you can use two fingers of the gripper to hold the pipe 5 to 18 by the ends, and the other two to rotate it around its axis (Fig. 5). Using the proposed gripper in comparison with the known one provides an increase in the technological capabilities and universality of the gripper . So, one, four-finger grip can reliably capture sheet objects by plane approaching fingers beyond planes or lengthy types of rods and shafts. When drawing fingers together at one point, you can capture spherical, non-dimensional objects or a pinch of small ones. To capture objects of complex shape, each finger is given its own required configuration and direction of movement. By adding or removing sections, you can change the length of the fingers and thereby change the grip to a different size of the captured objects. The proposed device can perform not only the function of capturing the object, but also its subsequent manipulation.

Claims (2)

. (St) CAPTURE 1 i: The invention relates to a machine - / - Building, namely industrial robots, and manipulators, and can be used for various technological and loading and unloading operations. An elastic finger is known that contains a block of sections with a flexible non-expanding element inside and transverse partitions P. Also known is a gripper of a manipulator containing a compressed Air supply system, a body, hollow elastic fingers with a flexible non-insulating element inside and isolating C2 cavities. .... The disadvantage of these devices is the limited technological capabilities, this is due to the fact that each finger does not have the ability to perform movements that are different and dependent on other fingers. The purpose of the invention is to expand the technological capabilities of the grip. This goal is achieved in that each section of the finger is provided with an individual means for connecting to the supply system a working medium made in the form of an аг electromagnet and a subroutine / reed valve connected to the core of the electromagnet, the connection means being located inside the rigid transverse partition. FIG. 1- shows the proposed capture, the general view; in fig. 2 - node 1 on. FIG. one; in fig. 3 is a section A-A in FIG. one; in fig. 4 - the same, with a corrugated tube; in fig. 5 - an example of the work of capture with detail The gripper comprises a housing 1 with channels 2 for supplying a working medium under pressure, for example compressed air, and elastic fingers 3 consisting of several sections — phalanxes. Each section k is divided by elastic longitudinal partitions 5 into isolated cavities 6 and has a rigid transverse partition 7. Each cavity 6 can be connected either by means of an individual connection 8 to the compressed air supply system through channel 9 or by atmosphere (for oil to drain) Between the cavities along the entire length of the finger there is a flexible non-extensible element 10, for example a cable. In order to exclude the possibility of extending one section at the expense of others, the cable 10 is not rigid (but is fixed on each partition 7. The means of securing the 11 do not prevent the passage of air through channel 9. The number of fingers, sections and cavities in them may be different. Cavities may be are formed by smooth or corrugated tubes 12 (Fig.). In this case, the channel 9 is also formed by the tube 13 The tubes 12 and 13 are connected by means of fasteners or glue. The device for connecting the cavity to the working medium supply system 8 is made in The valve 15 is driven from the electromagnet S16, which are located inside the transverse partition I. 7. The valve 15 is compressed by the spring 17 so that in the initial state the cavity .6 is connected to the atmosphere. The gripper works as follows. compressed air, fingers 3 are straight. When connecting one cavity, section 6 bends to the opposite side of this room. If two adjacent cavities are connected (with a total number more than two), the section bends in the direction opposite to false septum between them. Thus, when the number of cavities is more than two, the section has a number of possible directions of bending, twice the number of cavities. When three adjacent cavities are connected (with their total number being more than three), the section will be bent in the direction opposite to the middle cavity, as when connecting it to one, however, in this case, the bend will be smaller, and the flange stiffer. Each section of the finger 3 has such mobility capabilities. Thus, a combination of cavities 6 filled with compressed air, each section 4 and their connection (disconnection) sequence can give the fingers 3 the configuration required for gripping the object and moving 97; 4 neither. Directly in the grip after clamping the object can be manipulated. For example, you can use two gripping fingers to hold the pipe 18 at the ends, and the other two to rotate it around its axis (Fig. 5). The use of the proposed capture in comparison with the known provides an increase in the technological capabilities and versatility of the capture. So, one, four-finger grip can securely grip leaf objects by plane or lengthy type of rods and shafts by parallel drawing together of fingers. With the approach of the fingers at one point, it is possible to capture spherical non-length objects or a pinch of small ones. To capture objects of complex shape, each finger is given its desired configuration and direction of movement. By adding or removing sections, one can change the length of the fingers and thereby transfer the grip to a different size of the objects being gripped. The proposed device can perform not only the functions of grabbing the object, but also the subsequent manipulation with it. Claims of the invention: A gripping device comprising a body, a working medium supply system and elastic hollow fingers, and within it a flexible non-expanding element and isolated cavities, as well as rigid transverse partitions dividing the cavities into sections. Enhance technological capabilities, each section of the finger is siab: {by an individual means of conjugation to the working medium supply system, made in the form of an electromagnet and a spring-loaded valve connected to the electromagnet core, and The key is located inside the transverse partition. i Sources of information taken into account in the examination. 1. USSR author's certificate N ° 625079, cl. F16 H (3/00, 1977. - 2. USSR author's certificate W 737206, cl. B25 J 15/00, 198P. Ji 16 P 15 6, f2 Phi. ,