FIELD: robotics.
SUBSTANCE: invention relates to robotics. Gripper comprises an electric actuator, fixed by means of a bracket on the stationary body of the device, with a slotted spiral cam fixed to the electric drive shaft in the form of a spiral disk, with which sliders are kinematically connected that perform the function of pushers in cam pairs and move along the radial grooves of the body as a result of forced interaction with the slotted spiral cam, which drive the working elements attached to them in the form of fingers, which form a four-link rocker-slider swivel lever mechanisms that are kinematically connected with a grooved helical cam. Sliders perform the function of pushers in cam pairs with a slotted spiral cam and the function of sliders in four-link rocker-slider swivel lever mechanisms driving the connecting rod links of each of the attached lever mechanisms. One of the working elements is made with a larger contact surface in comparison with the other working elements, which are turned at an angle relative to the perpendicular to the trajectories of motion of the sliders.
EFFECT: invention provides an increase in the operating range, gripping of objects of various types, shapes and dimensions, while reducing the weight and dimensions of the device.
1 cl, 5 dwg
| Title | Year | Author | Number |
|---|---|---|---|
| DRIVE OF ROCKING TABLE OF BOOK-SEWING MACHINE | 0 |
|
SU1736746A1 |
| INTERMITTENT-MOTION DRIVE OF PACKAGING MACHINE ROTORS | 0 |
|
SU590186A1 |
| SHIPBOARD ARTILLERY MOUNT MAGAZINE | 2014 |
|
RU2607700C2 |
| DEVICE FOR GROUP STACKING OF ARTICLES | 2001 |
|
RU2220888C2 |
| INTEGRATED MECHANISM WITH COMPOUND MOTION OF EXTENDING LINKS | 2006 |
|
RU2331507C1 |
| 0 |
|
SU294416A1 | |
| PLATEN PRESS PRINTING UNIT | 0 |
|
SU821210A1 |
| UNIT FOR SLICING FRUITS AND CUTTING OUT CORES | 0 |
|
SU1722403A1 |
| DEVICE FOR STOWING ARTICLES IN CONTAINER LAYER-BY-LAYER | 1996 |
|
RU2130410C1 |
| APPARATUS FOR SHAPING ARTICLES "MUZLEE" | 0 |
|
SU816637A1 |
