UA32431U - Gripping device - Google Patents

Abstract

A gripping device contains a housing, a pneumatic cylinder fastened on it and gripping jaw, in this case pneumatic cylinder is equipped with a piston with stock, and gripping jaws are made in the form of elastic balloons and are located from the stock part of the pneumatic cylinder. The elastic balloons are made in the form of a set of rings of toroidal shape coaxially located relative to the pneumatic cylinder.

Description

The useful model belongs to the field of mechanical engineering and can be used in manipulators of industrial robots.

Known gripping devices for a similar purpose (1), containing clamping jaws with elastic chambers for gripping parts on the outer and inner surfaces, which have the form of a shell, for example, rubber in the form of a glass, or corrugated with one-sided hollow fingers. These devices work under the influence of air or liquid pressure and allow you to compensate for positioning errors or, on the contrary, practically lose this possibility, which is their disadvantage.

There are also known gripping devices (21), which are made in the form of a Bourdon tube, the cavity of which has the ability to communicate with the power source of the working environment thanks to multi-channel distributors. The disadvantage of such gripping devices is limited technological capabilities - gripping only on the outer surface of the part and on a limited contact surface , as well as the displacement of the axis of the part relative to the axis of the tube, which reduces the accuracy of centering.

The listed disadvantages are absent in the adaptive grip of the |Z manipulator, which is additionally equipped with a one-way valve located on the end of the rodless cavity of the pneumatic cylinder, and the piston is spring-loaded relative to the mentioned end and is made in the form of an empty, open from the side of the end located in the rodless cavity of the pneumatic cylinder with additional cavities.

However, there is another drawback - the complexity of the control system and the need to introduce additional communication channels with the cavities. In addition, in order to grasp the parts on the inner surface, it requires significant changes outside the rod part, which also complicates the design.

The closest analogue, accepted as a prototype, is a gripping device |4), which contains a body, a pneumatic cylinder and clamping jaws fixed on it, while the pneumatic cylinder is equipped with a piston with a rod, and the clamping jaws are made in the form of elastic balloons and are located on the side of the rod part of the pneumatic cylinder.

The significant shortcomings of the prototype remain: first, limited technological capabilities when capturing parts of different shapes, lengths and diameters; secondly, a decrease in the accuracy of the centering of parts; thirdly, the need to complicate the design due to the implementation of other shapes and sizes of elastic balloons; fourth, the impossibility of adjusting the force of the contact interaction of the clamping jaws depending on the weight of the part - the object of manipulation.

The useful model is based on the task of improving the gripping device by the fact that the elastic balloons are made in the form of a set of toroidal rings, coaxially located relative to the pneumatic cylinder, which allows to achieve the technical result - to increase the technological capabilities and accuracy of positioning.

The solution to the task is achieved by the fact that in the gripping device containing the body, a pneumatic cylinder and clamping jaws are fixed on it, while the pneumatic cylinder is equipped with a piston with a rod, and the clamping jaws are made in the form of elastic balloons and are located on the side of the rod part of the pneumatic cylinder, a new is that elastic balloons are made in the form of one or more toroidal rings. Thanks to this, with a different number of rings in the set depending on the weight, shape and size of the part, it is possible to simplify the design, adjust the clamping force and ensure grip on the outer and inner surfaces of the parts.

The coaxial arrangement of a set of rings relative to the pneumatic cylinder allows to increase the accuracy of centering or positioning.

The essence of the useful model is explained by the drawings, where Fig. 1 shows a cross-section of a gripping device with one elastic toroidal ring for gripping short ring parts on the inner surface; Fig. 2 is a cross-section of a gripping device with a set of elastic toroidal rings for gripping long pipe parts on the inner surface; Fig. 3 - cross-section of a gripping device with a set of elastic toroidal rings for gripping cylindrical (or faceted) parts on the outer surface.

The gripping device includes a body 1 (Fig. 1), a pneumatic cylinder 2 fixed on it and clamping jaws 3, which are made in the form of elastic ring balloons of toroidal shape. The pneumatic cylinder 2 is equipped with a piston 4 with sealing rings 5 and a rod 6, on the end of which a thrust disk 7 is attached. The elastic toroidal rings C (Fig. 1, 2) are coaxially located due to the rod b relative to the pneumatic cylinder 2. The pressure P of the supplied air is used to clamp the part 8 into hole 9 of pneumatic cylinder 2 (Fig. 1-3). Coaxiality of the set of elastic rings Z is provided by the nozzle 10 (Fig. 3), which in turn is centered relative to the pneumatic cylinder 2. The rod outlet 6 provides the elastic force of the elastic rings Z with the air enclosed in them, or additionally (for the reliability of compression) the spring 11 (Fig. 1-3).

When manipulating long-dimensional parts, between elastic toroidal rings C, it is possible to use an intermediate sleeve 12 (Fig. 2).

The exciting device works as follows. The rod 6 with the ring Z freely enters the hole of the part 8 (Fig. 1) or freely covers the part 8 from the outside (Fig. 3). Air under pressure P is supplied through the opening 9 to the outside of the rod cavity of the pneumatic cylinder, moving the piston 4 and the rod b so that the elastic toroidal rings 3 are compressed (flattened). normal (radial) force, which reliably keeps the part 8 from falling out, or breaking out, under the forces of friction between the surfaces of the rings and the part. To release the part 8 after loading into the working position, the air pressure is removed (P-0), and the rod 6 with the piston 4 under the action of the spring 11 moves to the initial position.

Adjusting the gripping device for the shape, size and clamping force of the part is carried out by the number of elastic toroidal rings 3, their dimensions, as well as the air pressure P in the pneumatic drive control system.

Sources. 1. Yu.V. Khmelnytskyi Calculation and design of gripping devices of industrial robots - K.: UMK VO, 1990. - 7vs. (fig. 15 Ha, b, d) p. 8) 2. As. USSR Moe1815222. Device for gripping the part. IPC B259U15/12, B25.)15/00, publ. 15.09.93 Гг.

Bul.Me18. 3. French application Me2601612. Capture device MPK 825 11/00, 1988. 4. Patent of the Russian Federation Mo2021099. Adaptive grip of the manipulator. IPC B25U15/12, publ. 15.10.94 Bul. Me19.

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Claims (1)

A gripping device containing a body, a pneumatic cylinder and clamping jaws are fixed on it, while the pneumatic cylinder is equipped with a piston with a rod, and the clamping jaws are made in the form of elastic balloons and are located on the side of the rod part of the pneumatic cylinder, which is characterized by the fact that the elastic balloons are made in the form of a set rings of toroidal shape, coaxially located relative to the pneumatic cylinder.