前苏联专利SU1138010A3 Manipulator unit

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专利摘要:
A MANIPULATOR'S KNOT containing two grippers, each of which has at least a pair of fingers and drive devices for grippers, characterized in that, in order to reduce just the machines serviced by the manipulator, the grips are facing each other with non-working sides, bobs are filled with fingers on each fingers , and each drive unit contains a pneumatic power cylinder, a pair of parallel guide rods, on which the finger lugs are slidably mounted, and a lug connecting the lugs, one obyshka associated with the rod of the pneumatic cylinder siloi Vågå. sl with 00
公开号:SU1138010A3
申请号:SU823455499
申请日:1982-06-07
公开日:1985-01-30
发明作者:Инаба Хадзиму；Сакакибара Синсуке；Нихеи Рио
申请人:Фудзицу Фанук Лимитед (Фирма)；
IPC主号:

专利说明:

The invention relates to a manipulator device for industrial robots capable of mounting a workpiece on a machine and removing it from the machine tool, and more specifically to a manipulator assembly having two grippers. The known knot of the manipulator, containing two grippers, each of which has at least a pair of fingers and actuators for the gripper fingers ij. However, in the manipulator assembly, the grippers do not provide work without just serviced machines. The purpose of the invention is to simply reduce machine tools. The goal is achieved by the fact that in a manipulator node that contains two grips, each of which has at least a pair of fingers and finger drivers, the tongs face each other with non-working sides, bobshkhki are filled with fingers, and each drive device holds a pneumatic power cylinder, a pair of parallel guide rods, on which the finger bolts are mounted with the possibility of sliding, and a lining connecting the bob, one bob with the rod of the pneumatic power cylinder. FIG. Figure 1 shows a side-mounted manipulator assembly; in fig. 2 - the same, SPG drive devices for fingers grips; in fig. 3 - the same, top view. The manipulator assembly has an element for its installation at work, base 2, in which two grips with centers 3 and 4 are placed, each gripper having two fingers: the first gripper with center 3 have fingers 5 and 6, and the second gripper with center 4 - fingers and 8 (fig. 1 and 2). The drive of the fingers 5 and 6 of the first shaft and the drive of the fingers 7 and 8 of the second gripper are completely identical in design and are symmetrical relative to each other. The actuators contain solenoid valves 9, pneumatic ram cylinders 10, parallel guide rods 11 and 12, on which bob 13 and 14 pins are mounted with the possibility of sliding, connected with overlays 15 mounted on the axes 16, as well as boundary switches 17 and 18 and dogs 19. The knot is operated as follows. When, as a result of the operation of the solenoid valve 9, the piston rod of the power pneumatic cylinder 10, bob 13 of the first pushed to the piston rod moves to the right along the guide rod 11, while the connecting plate 15 rotates on the axis 16, causing the bob 14 of the second finger to move. moving to the left along the guide rod 12, as a result of which the fingers move to the fully closed position, which is detected by the limit switch 18. When the solenoid valve is activated in the opposite direction The direction of movement reversal takes place of these elements and the fingers are returned to the fully open position (FIG. 2). The action of the second arm is completely identical to the action of the first. The tongs are facing each other by non-working sides, and the opening sides of both tongs are located facing in opposite directions and are respectively turned up and down. Thus, the invention is a two-arm unit capable of quickly installing and removing the workpiece. In addition, the dimensions of the unit with two grips can be reduced due to the vertical positioning of the finger drive devices one above the other.
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权利要求:
Claims (1)
[1]
MANIPULATOR ASSEMBLY, containing two grippers, each of which has at least a pair of fingers and drive devices for the gripper fingers, characterized in that, in order to reduce the downtime of the machines served by the manipulator, the grippers face each other with non-working sides, bosses are made on the fingers, and each drive device contains a pneumatic power cylinder, a pair of parallel guide rods on which the bosses of the fingers are mounted with the possibility of sliding, and the lining connecting the bosses, moreover, one boss' Knit with the rod of the pneumatic cylinder. §
Figure 1
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类似技术:

公开号 | 公开日 | 专利标题

SU1138010A3|1985-01-30|Manipulator unit

US3759563A|1973-09-18|Manipulator device for use with industrial robots

US4042122A|1977-08-16|Reorientation device for an object manipulator

US4565400A|1986-01-21|Double hand for an industrial robot

EP0022332A1|1981-01-14|Industrial robots

SU631329A1|1978-11-05|Manipulator for mounting-assembling work

CN2915405Y|2007-06-27|Mechanical arm for renewing positioning of parts

EP0086238B1|1987-06-24|Hand for industrial robot

SU1073086A1|1984-02-15|Manipulator

SU1399116A1|1988-05-30|Work-performing member

SU770787A1|1980-10-15|Manipulator grip

KR101502082B1|2015-03-12|Device for transporting work pieces step by step through a working space of a shaping machine

US3645408A|1972-02-29|Article transfer mechanism

SU1400877A1|1988-06-07|Gripping device

SU1701516A1|1991-12-30|Gripping device

SU611773A1|1978-06-25|Manipulator

SU439126A1|1979-03-30|Power press

SU1465297A1|1989-03-15|Manipulator

SU1161372A1|1985-06-15|Manipulator

SU533483A1|1976-10-30|Drilling machine

RU1819177C|1993-05-30|Multiple forcing press

CN1039511C|1998-08-12|Pre-set positioning control system for robot

RU2022785C1|1994-11-15|Manipulator

SU1119842A1|1984-10-23|Gripper

SU1202866A1|1986-01-07|Manipulator gripping device

同族专利:

公开号 | 公开日

JPS5837590Y2|1983-08-24|

KR850000126Y1|1985-02-13|

US4484855A|1984-11-27|

JPS5768790U|1982-04-24|

KR830001494U|1983-10-17|

DE3174512D1|1986-06-05|

WO1982001153A1|1982-04-15|

EP0061502A4|1984-03-01|

EP0061502B1|1986-04-30|

EP0061502A1|1982-10-06|

引用文献:

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

DE1170597B|1962-02-12|1964-05-21|Miag Muehlenbau|Device for picking up loads placed on cross beams|

DE1958827A1|1969-11-22|1971-06-03|W & M Automation Karl Mueller|Gripper head|

JPS5117653Y2|1971-07-09|1976-05-12|

JPS5111385B2|1971-11-01|1976-04-10|

SE425951B|1978-11-13|1982-11-29|Smt Machine Co Ab|DETAIL EXCHANGE AT REPLY|

US4345866A|1980-02-22|1982-08-24|Acco Industries Inc.|Loader-unloader system for work pieces|

US4343590A|1980-09-17|1982-08-10|Litton Industrial Products, Inc.|Loader for a machine tool|JPH0443751B2|1982-03-12|1992-07-17|Yamaha Motor Co Ltd|

JPS6335395B2|1982-08-11|1988-07-14|Fanuc Ltd|

EP0114096A1|1983-01-13|1984-07-25|Western Electric Company, Incorporated|Robotic arm|

JPS6359815B2|1984-07-30|1988-11-21|

US4813732A|1985-03-07|1989-03-21|Epsilon Technology, Inc.|Apparatus and method for automated wafer handling|

JPH0435315B2|1986-07-09|1992-06-10|Hitachi Construction Machinery|

US4759108A|1987-06-01|1988-07-26|General Motors Corporation|Tooling apparatus and method for robotic or like mechanized installation of rocker arm assemblies|

FR2627418B1|1988-02-23|1990-09-14|Videocolor|AUTOMATIC OBJECT GRIPPING METHOD FOR KEEPING AT LEAST ONE GEOMETRIC REFERENCE ELEMENT WHICH IS BOUND TO IT, AND GRIPPING CLIP FOR ITS IMPLEMENTATION|

US5125709A|1991-07-22|1992-06-30|Ford Motor Company|Robotic gripper assembly|

US5237468A|1991-10-15|1993-08-17|International Business Machines Corporation|Camera and gripper assembly for an automated storage library|

DE102007021494B4|2007-05-08|2010-06-10|Grenzebach Maschinenbau Gmbh|Apparatus and method for detecting and storing impact sensitive panels|

CN102642766B|2012-02-28|2014-04-23|上海中技桩业股份有限公司|Dual-station lifting appliance with three-coordinate ranging|

法律状态:

优先权:

申请号 | 申请日 | 专利标题

JP1980142630U|JPS5837590Y2|1980-10-08|1980-10-08|

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