| 摘要 |
The holding device on a manipulator (1) of parts (4) for machining is used on a vertical lathe (2,3), wherein the cylindrical parts (4) being transferred are held by two fingers (7) of the manipulator head (1) to align the axes (5) of the part and of the manipulator head. The mechanism (11, 15, 17, 18, 19, 20) for the displacement of the fingers (7) has a drive rod (11) which rotates around a fixed shaft (15) connected to a hydraulic cylinder (6). The sensor (10) which cooperates to regulate the radial movement (14) of the fingers (7) and to measure the part held (4), is of angular displacements (A) and is located at a position which is always fixed relative to the drive rod (11). <IMAGE> |
