SU1288048A1 - Gripping device - Google Patents

Description

The invention relates to mechanical engineering and can be used for manipulators and robotic devices.

The aim of the invention is to increase the speed by quickly bringing the jaws of the gripping device to the object and improving the reliability of holding the object by increasing the clamping force.

The drawing shows a kinematic scheme of a gripping device.

The gripping device comprises a housing 1 with a flange 2 and a cover 3. Inside the housing 1, a drive shaft 4 is mounted on which the central gear 5 of the planetary mechanism is rigidly fixed, which includes the carrier 6, the satellite 7 and the central gear wheel 8, which is freely seated on the drive shaft 4. The satellite 7 consists of a block of gears 9 and 10. The central wheel 8 is rigidly connected to the bevel gear 11, which is in engagement with the current of the bevel gears 12 and 13 rigidly fixed on the axis 14 mounted in the cover 3. Tooth The conical wheel 13 is in engagement with the toothed conical wheel 15 movably mounted on the lid 3. The lever 16 is rigidly connected to the lever 16. To the lid 3 there is a lever 17 attached to the levers 16 and 17. The lever 18 on which the sponge 19 is fixed is pivotally attached. The system of levers-16-18 and cover 3 form a hinged-parallelogram.

A fixed half coupling 20 is attached to the flange 2, at the end of which there are small teeth 21. A movable half coupling 22 with a key 23 is installed on the drive shaft 4, instead of the key you can make a spline or any other connection allowing for longitudinal movement of the coupling half with small teeth on the end 24. The finger 25, which is a pusher, is fixed on the drive shaft 4 and enters a groove with a bevel, which is a cam profile of the movable coupling half 22. The spring 26, mounted on the drive shaft 4, abuts with one end into the fixed flange 2 , and others - in movable coupling half 22.

A key 28 is movably mounted on a key 27 fastened to the drive shaft 4. A spring 29 mounted on the drive shaft 4 abuts one end on the central gear 5 and the other on the cone 28.

The gripping device operates as follows.

When torque is applied to the drive shaft 4, central gear 5, carrier 6 with movable coupling 22, satellite 7, central gear 8 with a cone 28 and conical gear 11 rotate with the shaft as one piece. Spring 26 provides a power closure of the PFRI Order Order 7756/15 Arbitrary-polygraph, pre-c

five

0

five

22 and fingers 25. Wuxi, one of the spring should be such that there is no relative movement between the movable coupling half 22 and the finger 25 when they rotate together. The spring 29 provides compression of the cone 28 to the central gear wheel 8, with the result that the cone with the drive shaft 4 and the gear wheel 8 rotate at the same speed.

The rotation from the bevel gear 11 is transmitted to the block of bevel gears 12 and 13. From the wheel 13, the movement is transmitted to the bevel gear 15, which rotates around its axis together with the lever 16. The latter transmits the MOTION to the levers 18 and 17, and the lever 18 performs plane-parallel motion. Sponges 19 tystro convergence vehicle and capture the object.

In moment T of the object's gripping by the jaws, the lever 18 is jammed, as a result of which the conical gears KOL1 ca 11 -13 and 15 and also the central tooth of the Sprocket 8 stop their movement. With further rotation i of the drive shaft 4 a planetary gear is formed, consisting of drove 6, central X of gear wheels 5 and 8 and satellite 7, n which the cone 28 begins to slip relative to the gear 8. Divergence from the central and pinion 5 is transmitted to the carrier 6 with a fade ratio

0

0

five

0

. (6) where 158 - P

% Is

Zs, Zio

Ratio ratio from the wheel to the wheel 8 when the wheel 6 is stationary; ZB, ZB, / h, Zio - the number of teeth of the wheels 5.8.9

 ten.

Transmission about G110shen); e isc depends on the numbers tooth jCB wheels 5,8,9 and 10. and i.is 1, therefore, i56 0. Thus, the carrier 6 starts to rotate in the direction opposite to the drive shaft 4, at a speed of 156 times mepymi than the drive shaft 4. As soon as the carrier 6 with the movable coupling half 22 begins to move in the direction opposite to that of the drive shaft, the finger 25 starts; skewing the groove of the movable coupling half 22, thereby shifting it towards the non-movable coupling half 20. Coupling of coupling halves occurs and the carrier halts. 6. LATEST moment on water | 1. 6, equal to; Vff, Mc 15n, is transmitted to housing 1. Moment, P (transmitted from the drive shaft 4 to the decelerated central gear wheel 8, p. Veins MS MKI SK, correspondingly, connected to the jaws 19, increases in iss times. The magnitude of the moment Mi .. depends on the selection of the values of the number of teeth of the wheels 5,8,9 and 10.

Ty rage 976Subscribe

Uzhgorod, st. Project, 4

Claims (1)

A gripping device comprising a housing, a drive with an engine and a drive shaft, and clamping jaws connected to the housing by articulated links connected kinematically to the drive, characterized in that, in order to increase speed and reliability, it is equipped with a gear coupling, one of whose coupling halves is rigidly connected to the housing, and the other is spring-loaded relative to the latter and mounted on the drive shaft with the possibility of axial movement, a cam mechanism with an end cam mounted on the second coupling half, and t a pusher mounted on the drive shaft, a planetary mechanism with two central wheels, the first of which is mounted on the drive shaft, as well as a friction clutch, one of the coupling halves of which is rigidly connected to the second central wheel of the planetary mechanism, and the other is mounted on the drive shaft with the possibility of its axial movement without relative rotation with this shaft and is spring-loaded relative to it, moreover, the planetary gear carrier is connected to the second gear coupling half with the possibility of its axial movement without rotation eniya. to 1288048 A1