Gripping effector with additional fixation

Abstract

The gripping effector with additional fixation comprises a central pneumatic cylinder (3) or solenoid, centrally attached to a connecting plate (2) from above by a screw connection and attached from below to a base plate (9), to which two pairs of fixation jaws (7) are attached from the sides. At least one gripping element is connected from the bottom of the base plate (9) for gripping a gripped part (6) in the process of its removal and placement. The effector further comprises two extreme pneumatic cylinders (1) / solenoids attached to the connecting plate (2) by a screw connection, with each of them having two pairs of upper levers (4) connected by pivot joints, and two pairs of lower levers (5) connected by pivot joints, which are connected by pivot joints to the base plate (9) and a pair of fixing jaws (7) for transmitting vertical movement, with the pistons / anchors of the extreme pneumatic cylinders (1) / solenoids controlling the pairs of fixing jaws (7) for transmitting their angular movement from the open state to the closed state and vice versa.