CS269528B1

CS269528B1 - Gripper for gripping, especially bricks

Info

Publication number: CS269528B1
Application number: CS88558A
Authority: CS
Inventors: Martin Ing Zarnay
Original assignee: Zarnay Martin
Priority date: 1988-01-29
Filing date: 1988-01-29
Publication date: 1990-04-11
Also published as: CS55888A1

Abstract

chápadlo pozostáva z telesa, v ktorom so pohybujú konzoly telies čelustí vedené kladkami a synchronizované ozubenými tyčami a synchronizačným hriadelom. Celuste pozostávajú z radu pružných přítlačných líšt. Účelom vynálezu je docielenie nižšej stavebnej výšky čelustí, spolahlivejšieho uchopenia skupiny tehál a jednoduchá změna odlahlosti čelustí pre uchytávanie ríJzne velkých skupin tvaroviek.The gripper consists of a body in which the brackets of the jaw bodies move, guided by pulleys and synchronized by toothed racks and a synchronization shaft. The jaws consist of a series of flexible pressure strips. The purpose of the invention is to achieve a lower construction height of the jaws, more reliable gripping of a group of bricks and a simple change of the jaw spacing for gripping very large groups of fittings.

Description

Vynález sa týká chápadla pře uchopovanie a prenášanie, najma tehál uspořiadaných vo vodorovnej rovině v obdlžnikovej alebo štvorcovej skupině pri ich ukládání do sl6h na pecné vozy, na palety alebo na iné zariadenia.The invention relates to a gripper for gripping and transferring, in particular, bricks arranged in a horizontal plane in a rectangular or square group when placing them in stacks on kiln cars, on pallets or on other devices.

Doposial známe zariadenia pre uchopovanie a prenášanie tehál zvyčajne pozostávajú z protibežných čelustí zavěšených alebo posuvné uložených na základnom ráme, vzájomne synchronizovaných pákami, ozubenýipi segmentami alebo retazovými prevodmi, přičom priamočiary motor, ktorý přitahuje čeluste je umiestnený pod základným rámom. Čeluste sú obvykle opatřené přítlačnými doskami obloženými gumou pre sprostredkovanie styku medzi čelustami a tehlami. Tieto riešenia spravidla majú za následok, že chápadlo je náročné na priestor (vysoká stavebná výška) a tiež, že guma na přítlačných doškách sa opotřebuje a strhává, čím sa stráca rovnoměrné rozloženie uchopovacích sil a tehly vypadává jú.Previously known devices for gripping and transferring bricks usually consist of counter-rotating jaws suspended or slidably mounted on a base frame, synchronized with each other by levers, toothed segments or chain transmissions, the linear motor that attracts the jaws being located under the base frame. The jaws are usually provided with pressure plates covered with rubber to mediate contact between the jaws and the bricks. These solutions usually result in the gripper being space-consuming (high construction height) and also in the rubber on the pressure plates wearing out and tearing, whereby the uniform distribution of gripping forces is lost and the bricks fall out.

Tieto nedostatky sú odstránené podlá vynálezu, ktorého podstatou je teleso pozostávajúce z dvoch pozdlžnikov a priečok, v ktorom sú na konci priečok zboku upevněné otočné na Čapoch spolu štyry páry nosných kladiek a zhora štyry vodiace kladky, pričom nosné kladky zapadajú do drážok na konzolách a každá konzola je opatřená čapom pře uchytenie hrebeňov. V osi základného telesa je uložený hriadel, na ktorého koncoch sú upevněné pastorky, pričom do pastorkov zaberajú hřebene upevněné na konzolách a podoprené opierkami. Konzoly sú po dvojiciach upevněné na dvójicu telies čelustí, ktoré sú opatřené systémom otvorov pre skrutky na upevnenie čelustí a okami na uchytenie priamočarych motorov. Čeluste pozostávajú z tyče a z přítlačných líšt, ktoré sú spodnou častou prichytené k středu.These shortcomings are eliminated according to the invention, the essence of which is a body consisting of two longitudinal members and crossbars, in which four pairs of supporting rollers are mounted rotatably on pins at the ends of the crossbars on the sides and four guide rollers on top, while the supporting rollers fit into the grooves on the consoles and each console is provided with a pin for attaching the combs. A shaft is mounted in the axis of the basic body, at the ends of which pinions are mounted, while the combs mounted on the consoles and supported by supports engage the pinions. The consoles are mounted in pairs on a pair of jaw bodies, which are provided with a system of holes for screws for attaching the jaws and eyes for attaching linear motors. The jaws consist of a rod and pressure strips, which are attached to the center by their lower part.

Použitím chápadla podlá vynálezu sa v3aka kompaktnosti konštrukcie docieli nižšia stavebná výška čelustí, ale hlavně spolehlivéjšie uchopovanie skupiny tehál, pretože je zabezpečené přibližné rovnoměrné rozdelenie uchopovacích sil na každej prítlačnej lište vplyvom dostatočnej pružnosti líšt.By using the gripper according to the invention, due to the compactness of the structure, a lower construction height of the jaws is achieved, but mainly a more reliable gripping of a group of bricks, since an approximately uniform distribution of gripping forces on each pressure bar is ensured due to the sufficient elasticity of the bars.

Na přiložených obrázkoch je znázorněný příklad prevedenia chápadla podlá vynálezu, kde na obr. 1 je půdorys chápadla, na obr. 2 pohlad v smere P a na obr. 3 pohlad v smere S s čiastočným rezom v rovině súmernosti.The attached figures show an example of a gripper design according to the invention, where Fig. 1 is a plan view of the gripper, Fig. 2 is a view in the direction P, and Fig. 3 is a view in the direction S with a partial section in the plane of symmetry.

Nosnou častou chápadla je teleso 1^, ktoré sa přírubou 19 štyrmi skrutkami pripája na rameno alebo otočnú jednotku manipulátora. Teleso 1 je zvarenec pozostávajúci z dvoch pozdlžnikov 20 a dvoch priečnikov 21. Na pozdlžnikoch 20 sú z vonkajšiej strany otočné upevněné štyry páry nosných kladiek 3, na ktorých sa priamočiaro pohybujú telesá 2 čelustí 13 a to tak, že konzoly 5, ktoré sú súčastou telies 2 čelustí 13 sú tvaru U a nosné kladky 3 ich podopierajú z vnútornej strany. Proti bočnému posuvu sú telesá 2 čelustmi 13 vedené štyrmi vodiacimi kladkami 4 taktiež upevněnými na priečnikoch 21 opierajúcimi sa o vodiace lišty 6 na konzolách 5.The supporting part of the gripper is the body 1^, which is connected to the arm or the rotating unit of the manipulator by means of a flange 19 with four screws. The body 1 is a weldment consisting of two longitudinal members 20 and two cross members 21. On the longitudinal members 20, four pairs of supporting rollers 3 are rotatably mounted on the outer side, on which the bodies 2 of the jaws 13 move rectilinearly, in such a way that the brackets 5, which are part of the bodies 2 of the jaws 13, are U-shaped and the supporting rollers 3 support them from the inner side. Against lateral displacement, the bodies 2 of the jaws 13 are guided by four guide rollers 4 also mounted on the cross members 21 resting on the guide rails 6 on the brackets 5.

Na telesách 2 čelustí 13 sú priskrutkované čeluste 13, ku ktorým sú príložkami 15, 16 prostredníctvom skrutiek 7 prichytené pružné přítlačné lišty 14. Telesá 2 čelustí 13 sú opatřené viacerými radami dier pře skrutky 18 z důvodu univerzálnosti vzhladom k velkosti uchopovanej skupiny tehál. Pohyb čelustí 13 a zovieracia sila je odvodzovaná od priamočiarych motorov 12, ktoré sú prichytené k telesám 2 čelustí 13 okami 22. Synchnonizácia pohybu čelustí 13 navzájom je dosahovaná dvorná pármi hrebeňov 7,8a synchronizačným hriadelom 10 s pastorkami 9 uloženými v ložiskách 11 na základnom telese 1, Hřebene sú kyvné na čapoch 24 uchytené ku konzoláip 5 a k pastorkem 9 sú pritláčané príložkami 23. Na pozdlžnikoch z vnútornej strany sú výstupky 25 potřebné pre eventuálně zavesenie přídavných zariadení - medzidosiek.Jaws 13 are screwed onto the bodies 2 of the jaws 13, to which elastic pressure strips 14 are attached by means of plates 15, 16 and screws 7. The bodies 2 of the jaws 13 are provided with several rows of holes for screws 18 for the purpose of versatility with respect to the size of the gripped group of bricks. The movement of the jaws 13 and the clamping force are derived from linear motors 12, which are attached to the bodies 2 of the jaws 13 by means of eyes 22. Synchronization of the movement of the jaws 13 with each other is achieved by means of pairs of racks 7, 8 and a synchronization shaft 10 with pinions 9 mounted in bearings 11 on the base body 1. The racks are pivoted on pins 24 attached to the console 5 and are pressed against the pinions 9 by means of inserts 23. On the longitudinal members from the inside there are protrusions 25 necessary for the possible suspension of additional devices - intermediate plates.

Činnostou priamočiarych motorov 12 ,sa čeluste 13 približujú alebo oddialujú a prostredníctvom pružných přítlačných líšt 14 uchopujú uložené tehly.By the action of linear motors 12, the jaws 13 are brought closer or further apart and grip the placed bricks by means of flexible pressure strips 14.

CS 269528 BlCS 269528 Bl

Zariadenie podia vynálezu je použitelné pre uchytávanie bremien obdlžnikového tvaru, najma skupin tehál, ale i iných im podobným stavebným materiálom.The device according to the invention is applicable for holding rectangular-shaped loads, especially groups of bricks, but also other similar building materials.

Claims

The apparatus of the present invention is useful for gripping loads of rectangular, especially brick, but also other similar building materials. SUBJECT OF THE INVENTION

A gripper gripping, in particular, a laporiedaral brick in a rectangular or square group, characterized in that it is formed by a body (1) consisting of two longitudinal bars (20) and crossbars (21) in which the bars (21) are at the end. ) side-mounted rotatably on the pivot together with four pairs of support rollers (3) and at least four guide rollers (4), wherein the support rollers (3) engage the grooves in the brackets (5), and where the brackets (5) are each provided with a pin (24) ) for attachment of ridges (7, 8). 2. a gripper according to claim 1, characterized in that shafts (10) are mounted laterally in bearings (11) in the axle of the base body (i), at which ends pinion gears (9) are fixed, and from the upper side to the pinion (9) ) engage the upper ridges (7) mounted on the bolts (24) in the brackets (5) of one body (2) of the jaws (13) and from the lower side into the pastor, the lower ridge (8) mounted on the bolts (24) of the second body brackets (5) (2) a jaw (13), the ridges (7, 8) being supported by the supports (23).

3. A gripper according to claim 1, characterized in that the brackets (5) are pairs of pairs (2) of jaw bodies (13) which are provided with pairs of bolt fasteners (13) and lugs (22). for mounting straightforward motors (12).

The gripper according to claim 1, characterized in that the jaws (13) consist of a bar which has a top surface with holes for attachment to the body (2) of the jaw (13) and a lateral surface provided with openings for catching the pressure bars (14) by means of tabs (15, 16), screws (17) so that the pressing strips (14) are centered towards the bottom in the clamping direction.

The gripper according to claim 1, characterized in that projections (25) are attached to the lower parts of the base body (i) for supporting the gripping elements. 3 drawings