SU812567A1 - Manipulator grripper - Google Patents

Description

(54) CAPTURE MANIPULATOR

one

The invention relates to process equipment used for the mechanization of technological processes, and can be used in the structures of loading machines and mechanical arms.

A gripping device comprising a stationary body, a slider and gripping levers of the CZD. The disadvantage of the known device is that it is capable of lifting the object of manipulation only from an intermediate support, since the gripping lever needs to be brought under the object of manipulation, which narrows the technological capabilities of this device.

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

The goal is achieved by the fact that the grip is equipped with hooks mounted on the body, kinematically connected with a slider rod with a tapered head and set with

i the ability to move on the rod with the bushing-release device, the gripper arms are kinematically fitted with a slide and with the rod, and Jfyuki is installed. alternate

5 g: interactions with the stem cone head and release sleeve.

FIG. 1 shows schematically the proposed pickup of the manipulator, general view; in fig. 2. - section A-A in FIG. one.

A capture handle consists of; i fixed case 1 carrying BBnkH 2, on the axis x 3 of which the hook is suspended. 4. In case 1, guides 5 are strengthened; along KOTqpbix, slider 6 can be moved with arms 7 clamped by grippers that have clamping jaws 8. Gripping levers 7 are kinematically connected to the rocker 1O fixed to the rod 9 by means of earrings 11. Rod 9 moving relative to the slider 6, ends with a tapered head 12. A probe 13 is screwed into the rod 9. The hub-p net 14. moves freely along the stem 9. The device operates as follows. In the initial position, the slider 6 under the action of its own weight is shifted all the way along the guides 5. The sleeve 14 unseats on the slider 6 and the rod 9, lowered under its own weight, presses the release sleeve at the top with a tapered head 12. Linked by earrings 11 with a corona b1 slum 1O rod 9, gripping levers 7 are released and sponges 8 are divorced. When lowering the grip, the probe 13 rests on the part, as a result of which the rod moves upwards relative to the slide 6, causes the sponges 8 which are kinematically connected with it to compress and clamp the part. After that, the gripping levers are zap1fakugs and further displacement of the heels of Zuia 6 and the rod 9 becomes impossible. The nap1s that are 5 that continue to lower the hull 1 slide along the slide 6, and the hooks 3 hingedly mounted on the hull 1 run into the tapered head 12, move apart and, having passed the die further up, pick it up LSD support plane A The part is clamped and can be transported with .

After i like onycKaeMiaH. the part touches the supporting surface, the locking arms 7, the shackles 11, the rod with the tapered head 12 and the slider 6, on which the sleeve 14, lies, are locked and unavailable for further movement. the housing 1 continues to move downwards, due to which the hooks 4 run into the upper kgaaus B of the hub 14, move apart and, moving even lower, pick up the hub of the underside B under the lower conical surface B. The lifting of the gripper begins. During the lifting of the housing 1 upward, the bushing of the distilling tool, picked up by the hooks, moves freely along the stem, while the slider b together with the lever clamped in the jaws 8) 7, and the rod 9 with the tapered head 12 remains at the sliding points along the guides five.

Claims (1)

Invention Formula A manipulator grip containing stationary karate, a slider and gripping levers, characterized in that in order to expand technological capabilities, it is equipped with hooks hingedly mounted on the body, kinematically connected with a slider rod with a conical head and a sleeve-sleeve mounted on the rod. , the gripping levers are kinematically connected with a slide block with a rod, and the hooks are mounted with the possibility of alternate interaction with the tapered head of the rod and the release sleeve. Sources of information taken into account in the examination 1, Japan Patent No. 52-11986, cl. 83 F 91, 1977. Upon further movement of the housing upward, the bushing-distributor rests on the cone head of the stem, as a result of which the force from the conical surface B of the bushing-rammer to hooks 4 increases, the hooks dissolve, and, displacing along the sleeve, the release, appear above the cone head .12, a. the sleeve 14 slides back and rests on the slider 6. The grips are unlocked. The housing 1 continues to lift upwards and, after the slider 6 presses against the stops, guides 5, lifts them up, pushing the gripping levers 7 and releasing the part. The application of the proposed device. in the structures of loading manipulators and mechanical arms, it allows | capturing parts of arbitrary shape directly from the plane without their preliminary installation to the intermediate support, as well as working with dividers, which are significantly improved by their linear dimensions, which expands the technological capabilities of the manipulators and mechanical arms, with the proposed grip. In addition, the name of this device is possible as a clamp-on self-clamping, - gripping in lifting machines. 812567 A W Bs M7 3- / P . /