前苏联专利SU1168090A3 Industrial robot wrist

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权利要求

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同族专利

引用文献

法律状态

优先权

专利摘要:
A hand (34) for an industrial robot for holding a workpiece or the like (14), which has a hand base plate member (36) connected to the wrist (32) of the robot, a plurality of sets of pairs of openable holding fingers (38a and 38b, 38c and 38d) disposed on the palm surface (36a) of the member (36), and actuators (48, 48') provided for the respective sets of fingers (38a and 38b, 38c and 38d) for operating the fingers (38a and 38b, 38c and 38d), thereby enabling it to effectively hold a heavy workpiece, even of a rectangular shape, stably.
公开号:SU1168090A3
申请号:SU823451222
申请日:1982-05-29
公开日:1985-07-15
发明作者:Инаба Хадзиму；Накадзима Сейитиро；Сакакибара Синсуке；Нихей Рио
申请人:Фудзицу Фанук Лимитед (Фирма)；
IPC主号:

专利说明:

Od cx). The invention relates to an industrial robot, specifically to the hand of an industrial robot to improve the exciting function of the hand. The known brush of an industrial robot, containing a base connected to a movable plug, a plate, has a palm surface two pairs of gripping fingers, movably mounted on the palmar surface of the plate, and the fingers of each pair are arranged symmetrically to each other relative to the center of the palm surface and with the possibility moving towards each other for closing when gripping the product or their dilution when releasing the product, and the direction of closing and diluting the fingers of one pair of perpendiculars a clamping direction and the other pair of fingers dilution lj, disadvantage of the known brush is the low reliability while keeping high product weight and irregular shape. The purpose of the invention is to increase reliability when holding a product of large mass and irregular shape. The goal is achieved by the fact that in a brush of an industrial robot containing a base connected to a movable wrist, plates having a palm surface, two pairs of grasping fingers movably mounted on the surface of the plate. the way that the gripping fingers to each of each pair are arranged symmetrically with each other relative to the center of the palmar surface and can move towards each other or each other. from each other, when fingers are clamping or spreading in mutually perpendicular directions, one and each gripping fingers are rigidly connected to the stem of an independent 1 cylinder, mounted parallel to the axis of movement of the gripping fingers in this pair, the other is connected to the first gripping finger through additional but introduced connecting rod. FIG. 1 shows an industrial robot (perspective view) provided with a robot arm having a brush in accordance with one embodiment of the invention; in fig. 2 is a perspective view of an industrial robot; FIG. 3 is a schematic of a device for actuating a brush; in fig. 4 shows an industrial robot brush, the embodiment of FIG. 5 is a timing diagram of the signals supplied by the regulator when the gripping fingers open and close. The pierced robot (Fig. 1) has a fixed support 1, a rotary plate 2 mounted on a fixed support so that it can rotate in the forward and backward directions, two vertical guide shafts 3 (Fig. 1 shows one shaft 3 ). The shafts 3 are mounted on a pivot plate 2 to provide mobility of the robot box 4 in the vertical direction. A vertical feed screw 5 is installed parallel to the vertical guide shafts 3 and inserted into a threaded connection with the robot box 4 so that the box vertically moves along the guide shafts 3 in accordance with the rotation of the vertical feed screw 5. The robot box 4 supports the levers 6 and 7 the robot so that they stretch and retract axially, and the arm 8 of the robot is attached to the ends. The arms 6 and 7 of the robot through the trunnion mechanism 9. The arm 8 has a plate 10 with a palmar surface 11, and the opposite surface of the plate 10 is called the back surface 12. The gripping fingers 13 are mounted so that they extend in the direction perpendicular to the palmar surface of the support plate 10 hands 8, form two pairs, installed symmetrically one another relative to the center of the palmar surface. These fingers move toward the center of the palmar surface synchronously with each other to perform the operation of closing the fingers when gripping the product or diluting one or the other to open the fingers when releasing the product. In this case, the fingers fit the workpiece. The second pair of fingers is arranged in the same way as the first one, except that their opening and closing directions intersect
3
the direction of opening and closing the first pair of fingers at a right angle. Pala) I 13 have an L-shaped profile. Inside the arm support plate 10, a mechanism is installed for closing and opening the fingers (FIG. 3), and the pressing device 14 is located in the central part of the palmar surface 11. The pressing device 14 includes a fixing part 15 and a pressing finger 16. Inside the fixing part 15, a drive, for example, a gas a cylinder (not shown in Fig. 2) is mounted in such a way that it is connected with a pressing finger 16 to set it in motion in the vertical direction. When the gripping fingers 13 grab the workpiece, the pressing finger 16 is driven to press the workpiece against the protrusions of the fingers 13.
The mounting bracket 17 is mounted on the dark surface 12 of the support plate 10 of the arm and is shaped so that it can be. attached to trunnion mechanism 9 (shown in FIG. 1).
The first pair of pins 13 are slidably mounted on the guide shafts 18 and -19 attached to the fixed bracket 20, while the gripping fingers 13 are supported by the brackets 21 and 22 respectively. The upper end portions of the support arms 21 and 22 are slidably attached and rotated to both ends of the independent link - the connecting rod 23 with the pins 24 and 25. The central part of the connecting rod 23 is supported on the fixed bracket 20 by means of the pin 26 so that the rod 23 can rotate. The rod 27 of the gas cylinder 28 is connected to the end portion of the bracket 29 attached to the lower end of one of the supporting brackets 21 or 22. As a result of this, when moving the piston 30 of the cylinder 28 back and forth, the gripping fingers 13 move parallel to each other along the guide shafts 31 and 32 with the aid of the aforementioned connecting rod element, so that these fingers oppose each other and perform an opening and closing operation.
68090 4
The second pair of gripping fingers is set so that the direction of their movement intersects the direction of movement of the first pair of fingers at a right angle. The gripping fingers 13 of the second pair are moved along the guide shafts 31 and 32 by the second gas cylinder 33 using a mechanism having 10 of the same design as the connecting rod mechanism for the first pair of gripping fingers, which is located on the opposite side of the fixed bracket 20 and co. , 5 holds guide shafts 31 and 32,
finger-gripping brackets 34 and 35, pins 36 actuating pins 37, 38 and 26 and connecting rod 39 (independent
link). FIG. 3 also denotes: a robot controlling device 40, lines 41-45 of electrical signals, a source 46 of compressed air medium, lines 47-54 of transmission (channels)
5, and multi-port solenoid check valves 55, 56, and 57 for controlling the direction of flow of the working fluid. These valves perform multi-input operations based on
0 electrical signals from the robot control device 40. In particular (FIG. 3), through the multi-input operation of the multi-pass solenoid valve 55, line 54 is connected to one of the lines 52 or 53. In this case, the working fluid flowing through line 52 passes through check valve 56 and flows through line 51 at the same pressure as in
0 air line at source 46, and
the air pressure in line 53 is reduced to a predetermined level with the help of pressure-reducing valve 58, and air passes through
S check valve 59 and flows into line 51. By the described air pressure control in two stages, the forces driving the gas cylinders 28 and 33 are regulated.
0 on two levels (one strong and one weak), so the gripping power of the fingers can also be adjusted on two levels (one strong and one weak), i.e. behind-
5, the grasping power of the fingers of the hand can be selected in accordance with the weight of the product to be processed and can be appropriately selected.
Barrel medium, e.g. air, high or low pressure, whereby its excessive consumption can be avoided and it can be used with high efficiency. In this embodiment, the pressure of the working environment of the air is regulated at two levels. However, if the number of relevant elements, such as pressure reducing air pressure valves, increases, an air pressure regulating device can be created that can multi-stage control this pressure. Multi-way valves 56 and 57 have the same device. For example, channel 51 is selectively associated with channel 47 or 48, with the result that air is injected alternately into chambers 60 and 61 of gas cylinder 28 to move piston 30 back and forth. A modification may be made according to which, when the solenoid valve is in the neutral position, the channel 51 is closed to stop the air flow to the channels 47 or 48. If both multi-pass solenoid valves 56 and 57 are simultaneously in neutral positions or if one or the other of these valves is in the neutral position, the first and second pair of gripping fingers 13 can be opened or closed synchronously or independently.
FIG. 4 shows the multi-way solenoid valve 62 for the pressing device 14 of FIG. 2
The preferred operation of the hand of an industrial robot is described further by reference to FIG. 3 and the time diagram shown in FIG. five.
When the workpiece is gripped by one pair of gripping fingers 13 (FIG. 3), in order to properly hold the item being machined (so that its center coincides with the center of the hand, it will also be gripped by the second pair of gripping fingers 13 with greater gripping force, while the gripping force is maintained in the first pair of gripping fingers, and then the gripping force of the first pair of fingers 13 is changed to a large gripping force.
0906
picking up the fingers work in this sequence, then reaching the center of the workpiece with the center, the hand is more confident, 4eNf in the case when two pairs of gripping fingers work simultaneously.
FIG. 5 shows a temporary
a circuit of electrical signals supplied from the robot controlling device 40 through the signal lines 41-45, respectively. When the workpiece is being held,
First, the sitnal on the signal line 45 (Fig. 3) is maintained at a high level in accordance with the command data specified and accumulated in advance in the control robot
the device 40, and then the signal. on the signal line 41 is maintained at a high level. As a result, the first pair of gripping fingers 13 first captures the workpiece with a weak gripping force, then from the control device 40 the signal on the signal line 45 is kept low and the signal on the signal line 43 is kept high ypojiHe, due to which the second pair of exciting fingers captures the workpiece with more exciting power. At this time (even if the center of the workpiece deviates from the direction of movement of the gripping fingers, since the gripping forces in each pair of gripping fingers are different) the center of the workpiece can be aligned with the center of the hand. In a position where the center of the product being machined coincides with the center of the Hand, the signal on the signal line 42 is maintained at a high level, with the result that the gripping force is changed to a large one. Then, a machining operation is performed.
the product at a predetermined position, and the signals on the signal lines 41 and 44 are maintained at a high level using a control device 40, as a result of which the fingers 13 simultaneously perform an opening operation at high air pressure in order to release the workpiece in a predetermined position.
12
ten
73
/four
four/
Fig 5
four/

FIG. five

权利要求:
Claims (1)
[1]
BRUSH OF INDUSTRIAL ROBOT for gripping an article, comprising a base connected to a movable wrist, a plate having a palm surface, two pairs of grasping fingers movably mounted on the palm surface of the plate so that the grasping fingers of each pair are located symmetrically to each other relative to the center of the palm surface and with the ability to move towards each other when snorkeling and spreading the fingers of one pair, characterized in that, * in order to increase reliability while holding the product is large th weight and irregular shape, one of the clutch fingers in each pair are rigidly connected with the rod nezavisimo- C L of the gas cylinder, installed parallel to the axis of movement of the clutch fingers in this pair, and the other is connected to a first grasping finger means rod is further introduced.
SI „1168090
1 168090

类似技术:

公开号 | 公开日 | 专利标题

SU1168090A3|1985-07-15|Industrial robot wrist

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同族专利:

公开号 | 公开日

EP0060896A1|1982-09-29|

WO1982001152A1|1982-04-15|

EP0060896A4|1984-03-27|

EP0060896B1|1986-02-19|

JPS5761487A|1982-04-13|

KR850000041B1|1985-02-14|

US4479673A|1984-10-30|

KR830007229A|1983-10-19|

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法律状态:

优先权:

申请号 | 申请日 | 专利标题

JP55135258A|JPS5761487A|1980-09-30|1980-09-30|Hand for industrial robot|

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