SU1423372A1 - Manipulator arm wrist - Google Patents

Abstract

The invention relates to the field of robotics and can be used in industrial robots and manipulators used to load metal-cutting equipment. The purpose of the invention is the expansion of technological capabilities. The clamping of the part is carried out by pushing the push rod. At the same time, the elastic element expands and moves the traverse and the traverse associated with it, which with fingers through the crackers acts on the drive ends of the clamping levers 11, and those turned on the axes {2, are reduced, clamping the part 15 of the ysi. the elastic element. The change of the gripping bodies is carried out by turning the rotary body. Here, the part 15, clamped by the clamping levers, is moved to the non-operating position. 5 il. ie

Description

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The invention relates to robotics Yike and can be used in industrial robots and manipulators used for loading the metal section of its equipment. .

The aim of the invention is to expand the technological possibilities. j Figure 1 shows the device, a general view; figure 2 - view A in figure 1 pas fig.Z - section BB in figure 2; na) ig.4 - section bb in fig.Z; in figure 5 Iiaspes GG in figure 4,

The manipulator brush includes a pair of parallel cheeks 1 rigidly connected to the base of the hand 2 of the manipulator arm on which the power CYLINDER 3 is mounted. The power cylinder rod 3 is connected to the rail 4, which is in engagement with gear 5 mounted on the shaft 6 having the possibility of rotation and located perpendicular to the axis of the arm of the manipulator. Two rods 7 are passed through the shaft 6 perpendicularly to its longitudinal axis, with the possibility of reciprocating movement, with the ends of each, and 1 and 7, having an L-shaped form and hingedly to the corresponding t) 8 avers, through the axes 9. Drute the ends of t g 7 are T-shaped. The shaft 6 is rigidly connected with the levers K), forming a rotary body, on each of the arms of the body levers gripping bodies are installed, consisting I51 of two pairs of clamping levers 11, seated on axis 12 rotatably relative to each other. The clamping levers tt are connected to the traverse 8 by means of pins 13 and a dry p4th 14, placed in the drive sockets of the clamping levers 11 and which are capable of reciprocating movement. In places sop

p | traverse 8 and pivot through clearances that allow

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Neither of the parts 15 are equipped with levers 11 and 7, elastic elements 19, which are located in the interval between the T-ends of the tube and along the surface of the shaft 6 of the rotary body.

During operation, the clamping levers 11 are opened by moving the pusher 16 in the direction of the base 2 of the brush. In this case, the T-shaped end 7 is captured by one of the places formed by the C-shaped bracket 17 and the T-shaped bar 18. Th 7, moving perpendicularly to the shaft 6, with its L-shaped end beyond the axis 9 carries the traverse 8, which in turn, the fingers 13 through ri 14 act on the drive ends of the clamping levers 11, and they are separated by turning them. axis x 12. When breeding the clamping levers 11, the elastic element 19 is compressed. The workpiece is clamped by extending the pusher 16. At the same time, the elastic element 19 expands and moves the throat 7 and the traverse 8 associated with it, which with fingers 13 through the crackers 14 acts on the driving tips of the clamping levers 11, , are reduced, this detail 15 by the force of the elastic element 19.

The gripping bodies are changed by turning the rotary body when the power cylinder 3 is activated, which rotates the shaft 6 by the gear 5 with the rack 4, while the part 15 is clamped by the clamp levers 11, moves to the non-working position, and opens and closes second pair of gripping organs. I -.

The ability to capture parts in a stepped configuration is achieved in

H through the gaps that give the opportunity

nyjca in vertical planes. There are gaps. In the drive socket of the clamping levers 11 fingers 13J are placed with a gap. Part 15 is grasped by two pairs of clamping levers 11. Due to the presence of gaps, the torso 8 can be rotated by the angle required to clamp the part 15 | if the part has a stepped configuration. On the pusher 16, the brush is mounted on a C-clip 17, which. together with the T-shaped rod 18. forms two places for the approach of T-0fractive ends of the grades 7. To hold

The traverse 8, when gripping the stepped part, turns at some angle with respect to the axis of the part to be captured, which, in turn, allows one of the pairs of clamping levers 11 to clamp both the larger and smaller dimensions of the part 13.

Claims (1)

Invention Formula Manipulator brush, including the base, on which the body is installed with the possibility of rotation with two pairs of gripping bodies, each. The pa is provided with a tie bar and spring-loaded with respect to the hull, each pair of gripping body located on opposite sides of the rod and made in the form of clamping levers, kinematically connected with the beam, with the yoke being accommodated. guides of the housing, connected to the crosshead, and its free end is designed to interact with the pusher, o t If and In order to expand the technological capabilities, the traverse is connected with the thrust by means of a hinge, the axis of which is perpendicular to the axis of the thrust and the axis of rotation of the body, in the body there are guides in which the traverse is displaced linearly and pivoting around the axis of the hinge linking it to the thrust. View i 61 5 i8il /; I - // .2 . fi s