• 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 automated device comprising an arm, a supporting case mounted on the end of the arm, a rotary actuator mounted on the end of the supporting case and a wrist with a hand rotatably held by the rotary actuator, wherein the rotary actuator has a replaceable stopper on the shaft thereof, and the supporting case has a pair of static members for setting the rotational range of the stopper. In the device, the rotary actuator stops rotating at two positions, i.e., the hand stops rotating at two positions.
    公开号:SU1165227A3
    申请号:SU792721552
    申请日:1979-01-30
    公开日:1985-06-30
    发明作者:Инаба Хадзиму；Инагаки Сигеми
    申请人:Фудзицу Фанук Лимитед (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to an automatic mechanical system, namely robotics. An automatic device is known comprising a shoulder, a carrying body attached to one end of the shoulder, a swivel mechanism mounted on the end of the carrying case, a wrist mounted rotatably on the swivel mechanism, a hand attached to the wrist, a replaceable stopper connected to a rotary mechanism and located inside the bearing housing with the possibility of rotation together with a rotary mechanism, two static elements located inside the carrying case with the possibility of contact with the replaceable stopper m and static elements comprise screws mounted in threaded holes, vsholnennyh p1 in the carrier body. A disadvantage of the known automatic device is the complexity of the design. The purpose of the invention is to simplify the design. In the first embodiment of the invention, in order to achieve the above chain, the automatic device comprises a shock absorber attached to the main body to slow down the rotational speed of the rotary mechanism, the replaceable stopper having four working surfaces for an emphasis on two sides of the shock absorber and two static elements, of which the fourth surface, as well as the second and third - are parallel to each other, and the first and second (third and fourth) perpendicular to each other. According to the second embodiment of the invention, to achieve the above chain, the automatic device comprises an absorber attached to the non-main body to slow down the rotation speed of the rotary mechanism, the replaceable stopper having four parallel working surfaces. FIG. 1 given automatic device, perspective view; in fig. 2 - the first embodiment of the automatic alignment cross section; in fig. 3 shows a second embodiment of an automatic device, a cross section. The automatic device consists of a shoulder 1, a carrying case 2 mounted on the end of the shoulder 1, and a turning mechanism 3 fixedly attached to the carrying case 2. The turning mechanism 3 is a mechanism that is driven by air or fluid pressure. A stopper 5 and a trunnion 6 with a hand 7 are mounted on the shaft 4 of the rotary mechanism 3. Therefore, when the shaft 4 of the rotary mechanism 3 rotates, the hand 7 and the stopper 5 also rotate (see arrow A). As a result, when the shaft 4 rotates, the stopper 5 comes into contact with the finger 8 of the shock absorber 9, in which the finger 8 is connected to a disk in the fluid of the shock absorber 9. After that, the stopper 5 rests on one of the bolts 10 or 11 mounted in the housing 2. A shock absorber 9 is used to gradually reduce the rotational speed of the shaft 4. The embodiment of FIG. 2 is used to set the div of the rotation of the arm 7 to 90. Bearing housing 2 contains one pair of threaded holes 12 and 13 and a second pair of threaded holes 14 and 15, respectively, for bolts 10, 11, 16 and 17. Bolts 10 and 11 are equipped with nuts 18 and 19 for setting the stop position of stopper 5. Bearing housing 2 is equipped also a pair of bolts. Bolts 16 and 17 are designed to seal the threaded holes 14 and 15, respectively. Stopper 5 in the first embodiment has a mesh of surfaces 20 of which surfaces 20 and 21 are used to abut the bolts respectively 10 and 11, and surfaces 22 and 23 for abutment 8 shock absorbers 9. Surfaces 20 and 22 are parallel to each other and perpendicular to surfaces 21 and 23, which are parallel to each other. The stopper 5 operates as follows. When the shaft 4 of the rotary mechanism 3 (Fig. 1) rotates clockwise according to, then the surface 22 of the stopper 5 comes into contact with the finger 8 of the shock absorber 9 In this case, the finger moves to the right relatively chalk
    This is due to the viscosity of the fluid in the shock absorber 9. Consequently, the rotation speed of the stopper gradually decreases. The movement of the stopper stops when the surface 21 rests on the bolt 11. Similarly, when the shaft 4 rotates in the counterclockwise direction, the surface 23 of the stopper comes into contact with the finger 8. After the surface 20 rests on the bolt 10, the movement of the stopper is terminated. In this case, the stopper takes the position shown by the dotted line in FIG. 2. Therefore, the rotation range of the stop 5, i.e. rotation range of the hand 7 (fig. 1), 90 °.
    FIG. Figure 3 is a detailed cross-sectional view of the second version of the automatic device used to set the range of rotation of the arm by 180 °. In this embodiment, the stopper 5 (Fig. 2) is replaced by a stopper 24. In addition, the bolts 10 and 11 are moved from the threaded holes 12 and 13 into the threaded holes, respectively 14 and 15, while the bolts 16 and 17 are moved from the threaded holes 14 and 15 into the threaded holes, respectively, 12 and 13. The stopper 24 has four surfaces 25 to 28 that are parallel to each other. The stopper 24 operates as the stopper 5 (Fig. 2). For example, when the shaft 4 of the rotary mechanism 3 (Fig. 1) rotates clockwise,
    652274
    (FIG. 3), the surface 27 comes into contact with the finger 8 of the shock absorber 9, so that the rotation speed of the stopper 24 smoothly decreases. After 5 of this, when the surface 26 abuts against the bolt 10, the movement of the stopper 24 stops. Similarly, when the shaft 4 rotates in a counterclockwise direction, the surface
    10 28 comes into contact with the finger 8 of the shock absorber 9. After that, when the surface 25 rests on the bolt 11, the movement of the stopper is stopped. In this case, the stopper takes the position shown in FIG. 3 dotted lines. Therefore, the rotation range of the stopper 24, i.e. rotation range of the hand 7 (fig. 1), 180 °.
    20 The range of rotation of the hand 7 (Fig. 1) on or 180 can easily be selected by installing respectively a stopper 5 (Fig. 2) or a stopper 24 (Fig. 3) on the shaft 4 of the rotary mechanism 3 and replacing a pair of bolts 10 and 11 respectively on a pair of bolts 16 and 17. However, the range of rotation of the arm 7 can be adjusted arbitrarily by changing the fortiles 30 stoppers or changing the positions of the threaded holes 12 i-15.
    The automatic device has a simple design, changing dia-. Hand rotation is easy, because it can only be done by replacing the stopper or changing the position of the bolts.
    权利要求:
    Claims (2)
    [1]
    1. An automatic device comprising a shoulder, a bearing body attached to one end of the shoulder, a swivel mechanism mounted on the end of the bearing body, a wrist, 1 mounted for rotation on a swivel mechanism, a hand attached to the wrist, a replaceable stopper connected to a rotary mechanism and located inside the bearing housing with the possibility of rotation together with the turning mechanism, two static elements located inside the bearing housing with the possibility of contact with a replaceable stopper, and with tatic elements contain bolts installed in threaded holes; made in a bearing housing, distinguishing; with the fact that, in order to simplify the design, it contains a shock absorber attached to the carrier body su to slow down the rotation speed of the rotary mechanism, and the replaceable stopper has four working surfaces for abutment on two sides of the shock absorber and two static elements, of which the first and the fourth surface, as well as the second and third, are parallel to each other and the first and second (third and fourth) are 'perpendicular' to each other.
    [2]
    2. An automatic device comprising a shoulder, a bearing body attached to one end of the shoulder, a rotary mechanism mounted on the end of the bearing body, a wrist set Λ rotatably on a rotary mechanism, a hand attached to the wrist, replaceable stopper, connected to the rotary mechanism and located inside the bearing housing with the possibility of rotation together with the turning mechanism, two static elements located inside the bearing housing with the possibility of contact with a replaceable stopper, and static elements contain bolts mounted in threaded holes made in the bearing housing, characterized in that, 'in order to simplify the design, it contains a shock absorber attached to the bearing housing to slow down the rotation speed of the rotary mechanism, and the interchangeable stopper has four parallel to each other work surfaces.
    类似技术:
    公开号 | 公开日 | 专利标题
    SU1165227A3|1985-06-30|Automatic device |
    KR840003057A|1984-08-13|Automatic robot device
    US3421380A|1969-01-14|Intermittent motion apparatus
    KR890008457A|1989-07-10|Anti-rotation device
    GB920530A|1963-03-06|Improvements relating to collapsible reflector devices
    JPH04256593A|1992-09-11|Arm structure of industrial robot
    ES268304A1|1961-12-01|A universal joint for the transmission of rotational movement
    KR970005534A|1997-02-19|Screw rotary indentation device
    SE7408988L|1975-01-14|TRANSMISSION DEVICE.
    SE8201368L|1982-10-02|TREAXLY LINKING DEVICE FOR ROBOTAR, MANIPULATORS O DYL
    US3964428A|1976-06-22|Indicating device having a plurality of overturnable flaps
    SE8003779L|1980-11-30|CONTROL LEVER
    KR920008385A|1992-05-27|Two gears and their connecting arms and crank units
    GB798781A|1958-07-30|Improvements in or relating to a mechanical motion converting system
    US2858719A|1958-11-04|Intermittent motion mechanism
    US4347752A|1982-09-07|Apparatus for converting rotary motion to a rectilinear force
    JPS58193931A|1983-11-11|Flexible shaft coupling
    US3473417A|1969-10-21|Two-position intermittent movement
    CN215432515U|2022-01-07|Rotary position adjuster
    US3926012A|1975-12-16|Constant velocity universal joints
    SU853245A1|1981-08-07|Three-dimensinal maltese-cross mechanism
    ES8401406A1|1983-12-01|Turning device.
    SU1401208A1|1988-06-07|Rotary device
    US3538778A|1970-11-10|Apparatus for accurately aligning a device with a workpiece
    US2677286A|1954-05-04|Output shifting apparatus
    同族专利:
    公开号 | 公开日
    DE2903185C2|1983-10-13|
    GB2013113B|1982-06-03|
    FR2416096B1|1983-05-20|
    US4274802A|1981-06-23|
    GB2013113A|1979-08-08|
    JPS5746149Y2|1982-10-12|
    DE2903185A1|1979-08-02|
    FR2416096A1|1979-08-31|
    JPS54114276U|1979-08-10|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    GB1039225A|1962-07-25|1966-08-17|Hurth Masch Zahnrad Carl|Apparatus for transporting workpieces and loading and unloading machine tools|
    US3160077A|1963-01-03|1964-12-08|Jamesbury Corp|Valve operator|
    US3231255A|1963-10-02|1966-01-25|Dike O Seal Inc|Friction devices including shock absorbing dampers and the like|
    JPS4932826B1|1970-12-26|1974-09-03|
    SE355516B|1970-12-28|1973-04-30|Kaufeldt Ingenjors Ab R|
    US3848753A|1972-04-14|1974-11-19|Electrolux Ab|Turning movement device for material handling apparatus|
    SE416452B|1975-06-16|1981-01-05|Asea Ab|INDUSTRIAL ROBOT|
    JPS5921962B2|1976-07-19|1984-05-23|Unitika Ltd|JPS5837118B2|1980-06-04|1983-08-13|Fuanatsuku Kk|
    JPS605432B2|1980-09-30|1985-02-12|Fanuc Ltd|
    JPS6039518B2|1980-09-30|1985-09-06|Fanuc Ltd|
    US4498833A|1982-05-24|1985-02-12|Varian Associates, Inc.|Wafer orientation system|
    US4546533A|1982-09-07|1985-10-15|Cincinnati Milacron Inc.|Automatic toolchanger system for turning machine|
    DE3400719A1|1984-01-11|1985-07-18|Alkem Gmbh, 6450 Hanau|GLOVE BOX|
    US4555844A|1984-12-14|1985-12-03|Mcdonnell Douglas Corporation|Part turnover attachment for automatic machine tool|
    CH667232A5|1986-04-30|1988-09-30|Bobst Sa|DEVICE FOR PRESETTING TOOLS USED IN A PLATE PRESS.|
    US4769866A|1986-11-21|1988-09-13|International Shoe Machine Corporation|Multi-station system to act upon footwear upper assemblies with transfer between stations thereof|
    US4816730A|1986-12-22|1989-03-28|E. I. Du Pont De Nemours And Company|Autosampler|
    US4765011A|1987-01-28|1988-08-23|International Shoe Machine Corporation|Mechanism to transfer a footwear upper assembly between stations of a multi-station system|
    US4881863A|1987-12-17|1989-11-21|Primary Systems Corporation|Apparatus for inspecting wafers|
    US5333969A|1993-03-19|1994-08-02|Blaha James R|Automated pavement repair vehicle|
    DE20002530U1|2000-02-12|2000-04-13|Kuka Roboter Gmbh|Robot with holding strips that can be arranged on a gear housing for fixing control cams|
    US8708349B1|2007-03-12|2014-04-29|Mitchell Olin Setzer, SR.|Portable transfer apparatus for moving items|
    US20080297472A1|2007-05-28|2008-12-04|Marcin Adam Stegawski|Combined extreme concentricity capable camera-based pointing device and a method of using it|
    US20090020167A1|2007-07-20|2009-01-22|Koester David J|Rotary Actuator Lever with Locking Device|
    US8555926B2|2010-08-31|2013-10-15|Malcolm MacDuff|Supply manifold for hydronic system|
    CN103950040A|2014-04-29|2014-07-30|刘旭玲|Slot type shift control mechanical arm|
    CA2908193C|2015-10-06|2017-12-19|Malcolm Macduff|Supply manifold with rotatable slider|
    CN105269563A|2015-11-30|2016-01-27|宁波新芝华东环保科技有限公司|Environment-friendly three-freedom-degree fetching mechanical arm used under dangerous work conditions|
    US10845063B2|2017-02-06|2020-11-24|Malcolm MacDuff|Hydronic supply manifold|
    US10875184B2|2018-09-07|2020-12-29|Dish Network L.L.C.|Remote control battery compartment cover removal systems and methods|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP1978009661U|JPS5746149Y2|1978-01-31|1978-01-31|
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