MANIPULATOR GRIPPER Russian patent published in 2003 - IPC

FIELD: gripping devices of industrial manipulators. SUBSTANCE: gripper includes housing, jaws with their motion drives, cover plates with their motion drive units arranged on surface of jaws with possibility of sliding on them. Gripper is provided with pickup for detecting part presence. Said pickup is placed between cover plates and it is mounted on housing with possibility of adjusting its position. Each jaw is provided with pickup for detecting opening; said pickup is in the form of sleeve in which spring-loaded stopper and limit switch are arranged with possibility of their engagement at axial motion of stopper. The last is mounted with possibility of motion in lengthwise groove of cover plate. Pickups for detecting opening are mounted on jaws and they are shifted one relative to another; stopper has fixing member in the form of screw. Motion drive of jaws is in the form of pneumatic chambers connected with pneumatic valve and arranged in housing along each jaw fastened to set of spring-loaded guiding rods placed in housing with possibility of axial motion. Motion drive unit of each cover plate is in the form of rod-free pneumatic cylinder with two cavities. To carriage of said pneumatic cylinder above mentioned cover plate is secured. First and second cavities of different pneumatic cylinders are connected one with another and with distributing device. EFFECT: enlarged manufacturing possibilities of gripper. 2 dwg