• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    An industrial robot, having a manipulative robot hand for mounted on a vertically movable portion thereof moved by a vertical drive means, provided with a load reducing means which includes a pneumatic cylinder means for applying a constant upward force to the vertically movable portion during the vertical movement of the portion and air storage tank or tanks directly connected to the pneumatic cylinder means for continuously supplying air under a desired fixed pressure. The upward force contributes to reducing a load applied to the vertical drive means. The air storage tank or tanks contributes to ensuring mechanical rigidity of the industrial robot.
    公开号:SU1087061A3
    申请号:SU823458445
    申请日:1982-06-28
    公开日:1984-04-15
    发明作者:Инаба Хадзиму；Накасима Сеиитиро；Инагаки Сигеми；Ито Сусуму
    申请人:Фудзицу Фанук Лимитед (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to mechanical engineering, in particular to industrial robots with an improved device for reducing the load applied to the drive. A known robot containing a base, a manipulating gripper, a housing mounted for movement and supported by gripping, means for carrying out vertical movement of the hull, the direction of which is provided by a vertical guide rod or rods, the means of vertical moving include a vertical feed motor, a source of compressed air (compressor), pressure regulator, pneumatic tubing @ d, pneumatic cylinder for applying directional force to vertically moving a housing, wherein the outer end of the moving reciprocatingly Single Piece pneumatic cylinder connected to the housing and is secured to base pnevmotsnlindr SRI fixedly lj. A disadvantage of the known industrial robot is that the pressure control at a constant level in the pneumatic cylinder, designed to maintain an upward force exerted on a vertically moving body, compressed to a high pressure in the pneumatic cylinder, while moving down a vertically moving body, is produced by releasing air to the atmosphere through the safety valve. Consequently, due to the release of compressed air into the atmosphere, energy is lost using an operating source of compressed air. In addition, the release of compressed air used once in a cylinder into the atmosphere leads to pollution of the environment due to its oil content, since air supplied to the cylinder is usually mixed with mineral oil. The purpose of the invention is noBbmjeHHe to save energy and prevent environmental pollution. To achieve this goal, an industrial robot containing a base, manipulating the 1st grip, a body mounted to move and support the grip, means for vertically moving 2 2 or the body along a vertical guide rod or rods, while means for vertical moving include a vertical feed motor, compressed air source (compressor), pressure regulator, air tubing, pneumatic cylinder for applying an upward force to a vertically moving body, The outer end of the reciprocating pneumatic cylinder rod is connected to the housing, and the pneumatic cylinder is fixed to the base stationary, equipped with a check valve and means for storing pressurized air located between the compressed air source (compressor) and the pneumatic cylinder, and the regulator, pressure and non-return valve are installed between the compressed air source (compressor) and the air storage means, with the air storage means containing one or two rigid tanks forming a rigid structure the robot. FIG. 1 shows schematically the proposed industrial robot, general view; in fig. 2 is a diagram of a pneumatic circuit of means for reducing the load of an industrial robot. The robot contains a base 1, on the basis of a vertical feed motor 2, a pulley-belt transmission mechanism 3, a lead screw 4 and a vertical guide rod 5. The vertical moving part 6 of the industrial robot contains a rotational drive 7, bearing a box 8, housing 9, arm 10, brush 11 and gripper 12. The housing 9 moves in a vertical direction to the shaft 5 and rotates around a vertical axis with the aid of the actuator 7. The primary cylinder 13 for applying an upward force to the vertically moving part 6 is fixedly fixed Len Base 1, which is the lowest element of the robot design. The pneumatic cylinder 13 has a rod 14, the outer end of which is connected to the body 9 of the vertically moving part 6. The structure can be made so that the outer end of the rod 14 is attached to the base 1, and the end of the pneumatic cylinder 13 is connected to the vertically moving part 6. Because the spindle 4 interacts with the element 15 attached to the body I of a vertically moving part 6, then, when the lead screw 4 is rotated, the vertically moving part 6 is vertically moved along the vertical guide rod 5. The body 9 is provided with lzushkoy 16 movably mounted on the vertical guide rod 5. Instead of one guide rod 5 may be used two guide rods. The compressed air generated by the compressed air source 17 (a compressor) is directed to the tank 18 through the pressure regulator 19 and the reverse valve 20. In this case, the hard tank 18 is made of two parts connected to each other and to the pneumatic cylinder 13 by means of pneumatic tubing 21. The operation of the device is as follows. The motor 2 of the vertical feed is turned on, the rotation of the spindle 4 is carried out through the mechanism 3 of the pulley-belt transmission. Since the lead screw 4 co-operates with the element 15 attached to the body 9 vertically by the moving part 6, as the lead screw 4 rotates, the vertical moving part 6 vertically moves along the vertical guide rod 5. The compressed air generated by the compressor 17 is then directed to the rigid tank 18 through the pressure regulator 19 and the non-return valve 20. The air in the rigid tank 18 is stored under the required fixed pressure. Then the air under this fixed pressure is supplied to the pneumatic cylinder 13 through line 21 As a result, the upward force, corresponding to the product of air pressure on the effective area of the pneumatic cylinder 13, is applied by the piston rod 14 of the cylinder 13 to the vertically moving part 6, and the rigid tank 18 has a sufficient capacitance Thus, according to the pneumatic chain (Fig. 2, compressed air is always supplied from the rigid tank 18 to the pneumatic cylinder 13 as soon as the tank is filled. Therefore, the compressor 17 may have a significantly lower capacity, i.e., the copressor must have sufficient capacity to supply air under pressure when the pressure in the rigid tank 18 falls below that established by the regulator 19 due to leaks in the rigid tank 18, the pneumatic cylinder 13 or the pneumatic pipes 21 between the compressor 17 and the pneumatic cylinder 13. An upward force created by the pneumatic cylinder ndrom 13 and applied to a vertically movable part 6 provided in the hard pressure air tank 18 ive air cylinder 13. Furthermore, in the hard pressure tank 18 is continuously maintained at the desired fixed level for a long period of time after the filling of the tank. It also allows the compressor to be used with significantly less power, which requires less power consumption for its operation. In accordance with the pneumatic circuit (Fig. 2), the upwardly directed force applied to the vertically moving part 6 can be kept constant. In accordance with the law of absolute pressure systems, the dependence V, (P + 1.03) (V + V2) (P + + 1, 03 + dR) takes place ..., the volume of the rigid tank is 18, where V, the pipeline 21, connecting the rigid tank 18 with the pneumatic cylinder 13, Vo — an increase in the volume of the pneumatic cylinder 13 as a result of lifting vertically. the common part 6, P is the required fixed pressure set by the regulator 19 of the pressure of compressed air in the rigid tank 18, iP is the increase in pressure of the pneumatic cylinder due to an increase in the volume of the pneumatic cylinder 13. The increase in pressure dP is not significant when V is significantly greater than V2, therefore the pressure in the pneumatic cylinder 13 maintained substantially constant despite the increase in the volume of this cylinder. When the volume of the chamber of the pneumatic cylinder 13 decreases due to the downward movement of the vertically moving part 6, the increase in
    权利要求:
    Claims (1)
    [1]
    INDUSTRIAL ROBOT, comprising a base that manipulates the gripper, a housing mounted to move and maintain the gripper ^ means for vertically moving the housing along the vertical guide rod or rods, the means for vertical movement include a vertical feed motor, a compressed air source (compressor), pressure regulator , pneumatic tubing, pneumatic cylinder for applying an upward force to a vertically moving body, the outer end of the moving return - the piston rod of the pneumatic cylinder is connected to the housing, and the pneumatic cylinder is fixed on the base motionless, characterized in that, in order to increase energy saving and prevent environmental pollution, it contains a check valve and means for storing air under pressure located between the source of compressed air ( § litter) and a pneumatic cylinder, and a pressure regulator and check valve are installed between the compressed air source (compressor) and the air storage means, while the air storage means atom, one or two hard tank, forming a rigid structure of the robot.
    SU <. „1087061
    1Q87061 '
    类似技术:
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    同族专利:
    公开号 | 公开日
    EP0068770A2|1983-01-05|
    JPS584375A|1983-01-11|
    KR840000334A|1984-02-18|
    EP0068770A3|1984-04-25|
    US4465424A|1984-08-14|
    KR850000549B1|1985-04-26|
    DE3274211D1|1987-01-02|
    EP0068770B1|1986-11-12|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    US3115086A|1962-11-27|1963-12-24|Square D Co|Automatic control for pneumatic counterbalance of mechanical press|
    US3327571A|1965-05-04|1967-06-27|Toshiba Machine Co Ltd|Apparatus for balancing the tool carriage of a machine tool|
    US3437223A|1966-06-03|1969-04-08|Harold A Haase|Work handling and transfer apparatus|
    DE2355971C3|1973-11-09|1985-05-09|Grüner, Horst, Dipl.-Ing. , 7347 Bad Überkingen|Program-controlled handling device with a gripper|
    JPS5847315B2|1975-12-24|1983-10-21|Daikin Kogyo Co Ltd|
    JPS5548598A|1978-09-29|1980-04-07|Fujitsu Fanuc Ltd|Load reducing device of industrial robot|
    EP0016921A1|1979-02-05|1980-10-15|Georg Fischer Aktiengesellschaft|Telescopic device|
    US4229136A|1979-03-19|1980-10-21|International Business Machines Corporation|Programmable air pressure counterbalance system for a manipulator|JPS58191987U|1982-06-16|1983-12-20|
    JPS6216308Y2|1983-09-16|1987-04-24|
    JPS6337189Y2|1983-10-04|1988-10-03|
    JPS6066482U|1983-10-07|1985-05-11|
    JPS60161092A|1984-01-31|1985-08-22|Nitto Seiko Kk|Working unit for industrial robot|
    AU553161B2|1984-03-09|1986-07-03|Cincinnati Milacron Inc.|Manipulator with counter balance|
    US4659072A|1984-04-09|1987-04-21|Rosa Roberto De|Knitting machine head extractor|
    US4664232A|1984-04-25|1987-05-12|Bridgestone Corporation|Brake device for robot arm|
    JPS6258189U|1985-09-30|1987-04-10|
    FR2606313B1|1986-11-12|1994-06-17|Gm Thierion Sa|ROBOT HANDLING DEVICE WITH FOUR OR FIVE AXES|
    JPH0699119B2|1987-05-07|1994-12-07|株式会社日立製作所|Balance adjuster|
    JPH01177986A|1987-12-30|1989-07-14|Honda Motor Co Ltd|Arm structure of multi-articulated mechanism|
    WO1992005922A1|1990-09-27|1992-04-16|Genmark Automation|Vacuum elevator|
    JP2551678Y2|1991-10-11|1997-10-27|豊田工機株式会社|Articulated robot with weight balance device|
    FR2725652B1|1994-10-12|1997-01-10|Soc Et Et Realisations En Prod|PARTS HANDLING ROBOT AND ASSOCIATED SHOCK ABSORBER DEVICE|
    JPH09201849A|1996-01-29|1997-08-05|Fanuc Ltd|Insert molding method|
    US5789890A|1996-03-22|1998-08-04|Genmark Automation|Robot having multiple degrees of freedom|
    US6121743A|1996-03-22|2000-09-19|Genmark Automation, Inc.|Dual robotic arm end effectors having independent yaw motion|
    US6489741B1|1998-08-25|2002-12-03|Genmark Automation, Inc.|Robot motion compensation system|
    DE10348724A1|2003-10-16|2005-05-19|Stefan Buntrock|Hand-guided manipulator for workpiece or tool has force transfer element movable to functional position in which second carrier arm is diverted|
    KR100834894B1|2007-01-16|2008-06-03|한양대학교 산학협력단|Robot joint driving system and joints robot having the same|
    CN101590642B|2009-06-05|2011-05-11|苏州工业职业技术学院|Pneumatic pole-climbing robot|
    JP6043070B2|2012-02-21|2016-12-14|本田技研工業株式会社|Transport device|
    CN102601256A|2012-03-21|2012-07-25|创美工艺有限公司|Automatic extracting device for formed workpieces|
    RU2484956C1|2012-03-29|2013-06-20|Закрытое акционерное общество "Завод экспериментального машиностроения Ракетно-космической корпорации "Энергия" имени С.П. Королева"|Method of making prepreg|
    USD841068S1|2016-05-03|2019-02-19|Robotis Co. Ltd.|Actuator for robots|
    WO2018120154A1|2016-12-30|2018-07-05|深圳配天智能技术研究院有限公司|Balancing system for use in industrial robot and industrial robot|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP56099739A|JPS584375A|1981-06-29|1981-06-29|Reducer for load of industrial robot|
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