前苏联专利SU1186077A3 Industrial robot

专利PDF首页>>前苏联专利

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:
There is provided an indusrial robot having a hollow arm (42) rotatable in a plane perpendicular to the longitudinal axis of a spindle of a machine tool, a wrist mechanism (44) attached for rotation at one end of the arm (42), the wrist mechanism having a rotary shaft, and a gripper connected to the rotary shaft of the wrist mechanism for being rotated thereby. There are provided first and second air cylinders (51a, 51d) colinearly disposed within the arm (42), the first cylinder (51a) being fixed and the second cylinder (51d) being movable longitudinally of the arm (42). A piston rod (51f) interconnects the first and second of cylinders (51a, 51d) the piston rod (51f) having a piston (51g) at one end received in the first cylinder (51a) and a piston (51h) at the other end received in the second cylinder (51d). The piston rod (51f) is moved longitudinally of the arm (42) by introducing air selectively into the first and second air cylinders (51a, 51d). A pulley (51b) is affixed to the first cylinder (51a), and a tension member such as a wire (44e, 44e min ) or belt is connected between the rotary shaft (44d) of the wrist mechanism (44) and the pulley (51b). The second cylinder (51d) is connected to the tension member (44e, 44e min ). The tension member (44e, 44e min ) is pulled by driving the second cylinder (51d), thereby rotating the rotary shaft (44d), which is capable of being stopped at 0 DEG , +/-90 DEG , and 180 DEG positions.
公开号:SU1186077A3
申请号:SU823461549
申请日:1982-07-02
公开日:1985-10-15
发明作者:Инаба Хадзиму；Инагаки Сигеми
申请人:Фанук Лтд (Фирма)；
IPC主号:

专利说明:

This invention relates to mechanical engineering, namely industrial robots. The aim of the invention is to expand the technological capabilities of an industrial robot by ensuring the rotation of the axle shaft and installing it at various points O, 90 and 180 °. In FIG. 1 shows an industrial robot mounted on a cutting machine, general view; in fig. 2 of the structure of the lifting element ;, in FIG. 3 - the connection between the lever, pin and double hand; in fig. 4 pin, cross section; in fig. 5 the same, longitudinal section; in fig. 6 interconnection between the trunnion and the intermittent movement mechanism; in fig. 7 — intermittent motion mechanism, slit; in fig. 8 g rotary mechanism pin; in fig. 9 - second pneumatic cylinder, section; in fig. 10 four-position displacement operations; in fig. 11 and 12 - installation and removal operations of the workpiece, drums} by industrial robots (a, b, c, d, e); the metal cutting machine 1 has a cartridge 2 connected to the spindle to hold the workpiece brought to the cartridge by a rotary robot, and a door 3 (open position) that can be moved in the direction of the arrow to close the moving parts of the machine when the workpiece is being cut. Table 4 for workpieces being machined from a steel frame and having many feeder pallets 5 that can move around the table, each of which carries the workpiece 6. The pallets 5 under the workpieces 6 are moved essentially along an elliptical path along the surface of the table 4 by means of a driving device (not shown) . When moving the pallet to the position at which the pallet is located below the gripping device of the robot, the lifting element 7 lifts this pallet so that the robot can grab the workpiece. The lifting element 7 (Fig. 2) includes a base 8 for pushing the pallet 5 in an upward direction from the table 4. The base 8 has fingers 9 on its upper surface, which enter the fixing holes made in the pallet 5 and the guide rod 10 attached to the underside of the base, to each of the four corners of the latter. Each guide rod 10 passes through the top surface of the table 4. Pushing the rod 11 has a lower threaded end that interacts with the lifting screw 12. The latter is connected to the driving motor 13 through the belt 14 so that when the engine rotates, the screw 12 rotates, the most raising and lowering the pushing rod 11 ,. consequently, the pallet 5 through the base B. Position 14 indicates the brake. Industrial robot 15 includes a main body 16 mounted on the upper surface of the metal-cutting machine 1 and capable of moving in the direction of the spindle (i.e. along the X axis) using a pneumatic cylinder (not shown), a lever 17 attached pivotally to the main body 16 a swivel movement, a double arm 18, a trunnion 19 and a pneumatic cylinder 20 pivotally attached to the main body 16 with the possibility of performing a swinging movement. The double arm 18 comprises a first gripper 21 and a second gripper 22, one above the other and capable of performing synchronous rotation with the help of a rotating pin mechanism described below. The grippers 21 and 22 have corresponding fingers 23 and 24, which can independently move from one another into a closed and open position. The trunnion 19 is fastened to a fixing bracket (not shown) attached to the end of the lever 17. In FIG. 3 shows a simplified view of the trunnion and its surrounding parts, and FIG. 4 and 5 is given a more detailed view of this pin. The support bracket 25 has an arcuate guide slot 26, allowing the angle S to be adjusted between the lever 17 and the trunnion 19. After loosening the nut 27, set the required angle, which is fixed by tightening the aforementioned nut. The angle S is adjusted so that the gripping surfaces of the grippers 21 and 22 are parallel to the surface of the workpiece feeder when the gripping of the raw part with the feeder is captured. The pin 19 includes a housing (cylindrical body) 28, a rotating shaft 29 accommodated in the housing 28 so as to rotate, wires 30 and 31, spanning the rotating shaft, bearings 32 and four intermittent motion mechanisms 33 (only one is shown), providing suspension of the rotating shaft 29 in any one of the four positions corresponding to O, 80 . One end of the wire 30 is fastened to the rotating shaft 29 with a screw and covers the last one with several turns, while the other end is attached to the movable pneumatic cylinder through the pulley of the rotating mechanism inside the lever. One end of the wire 31 is analogously attached with a screw | To a rotating shaft 29 and covers the latter, and the other end of it is attached with a screw to a pneumoilline. Consequently, when the pneumatic cylinder (not shown in Fig. 4), when moving, does not have wire 30 to the right or left (Fig. 5), the rotating shaft 29 rotates either clockwise or counterclockwise, turning double arm 18 (see Fig 1 and 3), which is attached to the rotating shaft 29 so that it forms with it a whole body. The intermittent motion mechanisms 33 pre, prevent oscillations of the trunnion 19 and ensure the fixation of the latter in any of the positions corresponding to O, ± 90 and 180 °. Load torque fluctuations subject the wires 30 and 31 to elastic deformation, which leads to vibrations of the trunnion 19. To prevent such oscillations, the rotating shaft 29 includes four Y-shaped. locking cut-outs; One tube is positioned at each of the four positions on the rotating shaft. In addition, mechanisms for interrupting movement are also found on the body (cylindrical body) 28, where the days are 90 ° apart from each other for alignment with the notches 34 (see Figures 5 and 6). FIG. 7 shows a sectional view of the intermittent motion mechanism 34 having a hollow clamping nut 35 screwed on a thread made inside the body (cylindrical body) 28, a ball 36, a spring 37 mounted in the hollow part of the clamping nut 35 to push the ball 36 toward the center of the shaft of the shaft 29. Thus, the ball 36 under pressure comes into contact with the circumferential surface 38 of the rotating shaft 29 as the latter rotates. When the rotating shaft rotates in the positions O, 90 and 180, the ball 36 under the action of the force of the pressure of the spring 37 is pushed into one of the Y-shaped tips 39, thus keeping the rotating shaft 29 from oscillations. The pneumatic cylinder 20 rotates the lever 17, for this it includes a piston rod, one end of which is attached to the lever. Air supply lines (not shown) are supplied to the right and left of the pneumatic cylinder 20. When air is supplied from the pipeline at the right end of the pneumatic cylinder, the piston rod exits the cylinder by turning the lever 17 in the direction of arrow A. When air is supplied from the pipeline at the left end of the pneumatic cylinder, the piston rod enters the cylinder, turning the lever 17 in the direction of arrow B. For reliable modes Installing and removing workpieces, the angle of rotation of the lever 17 and the distance traveled by the body of the robot 16 longitudinally to the spindle, is limited by means of limit switches or stops, taking into account the position of the cartridge and the position of the tray 5 when it is lifted by the lift member 7. The rotating mehanizm- stud 19 (FIG. 8) soderzhit.pervy air cylinder 39, the second air cylinder 40 and the pulley 41, which is disposed inside the lever 17, imenschego hollow elongated shape. The lever 17 has a frame 42 to which the first pneumatic cylinder 39 is fixedly attached. The first pneumatic cylinder has a piston rod 43 and is adapted to move this piston rod at a distance corresponding to 180 trunnions. Air supply pipes 44 and 45 are connected to the corresponding ends of the pneumatic cylinder 39. Pulley 41 is mounted on the first pneumatic cylinder 39. Wire 30 and 31 are drawn between the second pneumatic cylinder 40 and trunnion 19. When these wires are pulled left or right (on fig. B), the rotating shaft rotates forward or backward. Integrally with the first pneumatic cylinder, a guide bar 46 is made, along which the second pneumatic cylinder 40 moves. The second pneumatic cylinder 40 (Fig. 10) has legs 47, bearings 48 (Fig. Included in the aforementioned legs, fastening element 49, to which it is fixed the wires 30, 31 are attached, the fastening element being rigidly attached to the frame 50 of the second cylinder by means of screws and pipes for supplying air 51 and 52 connected to the respective ends of the cylinder. The second pneumatic cylinder 40 is mounted on the guide bar 46 s free movement thereon by means of bearings 48. Wires 30 and 31, attached at one end to a rotating shaft 29 of the trunnion by means of screws, have BINTS 53 and 54 attached to each other ends corresponding to each other. These screws pass through holes made in fastener 49, and attached to the latter by tightening its nuts on both sides. To the second cylinder the wires are thus fixed. In Fig. 8, position 54 denotes a pair of rollers mounted on lever 17. Although the length of the wire when adjusting the angle 9 between y (fig. 3) Riag 17 and trunnion 1 of the rotary shaft 29 of the trunnion varies, such a change in length can be adjusted by turning the screws 53. and 54. Piston rod 43 is common to the first and second pneumatic cylinders 39 and 40. By the end of the piston rod 43 located in the first pneumatic cylinder 39, the piston 55 is attached and to the end of the piston rod located in the second pneumatic cylinder 40, the piston 56. Thus Two air chambers are formed in each air cylinder, and therefore there are a total of four air chambers. Position 57 denotes a limiter; by precisely adjusting the adjustment, the stroke length of the piston rod 43 is controlled. A four-posterior installation of the trunnion or grippers is set as follows. Pin 19 is installed in one of the positions 0 °, ± 90 and 180, depending on which, pressurized air is fed into the respective chambers of the four air chambers formed in the first and second pneumatic cylinders 39 and 40. The pin 19 is located at position 90 when the piston rod 43 and the second cylinder 40 have reciprocal positional positions shown in FIG. 8. When applying air to the cylinders from the intake ports 45 and 51, the second cylinder 40 moves to the left to take up the position shown in FIG. 10. As the cylinder 40 moves, the wires 30, 31 move the rotating shaft to the O position. On the other hand, when air is supplied only to the first pneumatic cylinder 39 from the inlet channel 44 (in Fig. 8), the piston rod 43 moves to the right by a distance corresponding to a 180 ° rotation. When moving for this distance, the piston 56 reaches the stop in the right wall of the second pneumatic cylinder 40, as soon as the first half of the piston stroke, corresponding to a turn of 90, is reached. After that, the second pneumatic cylinder 40 coincides with moving to the right by a distance corresponding to a turn of 90 , pass the second half of the stroke of the piston. The total distance covered by the second cylinder 40 corresponds to 90 and thus the trunnion 19 in this case occupies the position of 180 ° (see Fig. 10). Further, if air is supplied to the pneumatic cylinders from the intake ports 44 and 52, starting with the state shown in FIG. 10, which corresponds to position 180, the pneumatic cylinder 40 will move further to the right by a distance corresponding to the rotation 90, and pull the wires, turning the trunnion 19 by 270 (-90 °) (the trunnion takes position 90, which corresponds to view in Fig. 8). Move the workpiece 6 between the table 4 and. a metal cutting machine 1, or rather the installation and excavation of the machined part, is shown in FIG. 11 and 12. Let us take the longitudinal direction of the spindle of the cutting machine for the X axis, and the direction of the lever rotation for the A axis. Before the 4QM robot starts to perform its functions, it is necessary to perform a number of settings and adjustments. First, turn the lever in the opposite direction along the A axis, i.e. counterclockwise, then set the angle between pin 19 and snub 17 so that the gripping center of grip 21 held in front of cartridge 2 coincides with the center of cartridge. This state is shown by solid pins in fig. 11. After this adjustment, tighten the nut 27 (Fig. 3), fixing the angle established between the trunnion and the lever. Next, a limiter is installed (not indicated) for the axis A to limit the pivotal movement of the lever 17 in the opposite direction (counterclockwise) along said axis. In addition, limit the position of the limit. plate (not shown), set the limit of the stroke of the lever 17 in the opposite direction along the X axis. Next, the lever 17 is moved along the X axis in the forward direction along the X axis and rotated along the A axis in the forward direction (clockwise) thus so that the gripping gripping surfaces 21 are located parallel to the surface of the pallet of the workpiece feeder. (This state is shown by the dotted lines in Fig. 10). Thereafter, the position of the remaining limiter (not shown) is adjusted to limit the pivotal movement of the lever 17 in the forward direction along the axis A, and the position of the restriction plate (not shown) to limit the movement of the lever 17 in the forward direction along the axis X. This completes the restraining and other adjustment, whereby the robot is ready for servicing the cutting machine as described below. Suppose that the gripper 22 captures the not yet processed part 6 at the beginning of the succession of successive operations, and the gripper 21 is free. The installation and unloading of workpieces relative to the cartridge 2 (without the operation of placing the parts on the pallet) is performed in the following sequence, reflecting the work of the robot; according to the signal generated by the control unit 58 (Fig. 11) installed at the rear of the cutting machine, the door 3 is opened; trigger signal turn the lever 17 in the opposite direction along the axis A; the signal lever 17 is moved in the opposite direction along the X axis, after which the fingers 23 of the grip 21 of the machined part held by the chuck 2 are closed; cartridge 2 is opened, releasing part 6; by a signal, the lever 17 is moved a short distance in the forward direction along the X axis: the grippers 21 and 22 are rotated 180 relative to the trunnion, then the lever 17 is moved in the opposite direction along the X axis to offer the raw part 6 held by the gripper 22 to the cartridge 2; the cartridge 2 is closed to grip the raw part 6, after which the fingers 23 e} are released, releasing the part 6; by means of a signal, the lever 19 is moved in the forward direction along the X axis, after which the lever is turned in the forward direction along the axis A with the help of the start lever; the door 3 of the metal-cutting machine 1 jerks off; grippers 21 and 22 are rotated 90 ° with respect to the pin to a position in which the gripper 22 is lower than the gripper 21; the pallet 5 of the pre-feed feeder carrying the raw part 6 is raised as shown in FIG. 12, thus raising part 6 to grip 22; fingers 23 are closed to grip part 6, after which the pallet is lowered onto a part of the way; grippers 21, 22 are rotated 180 ° with respect to the pin t7, placing them in a position in which the gripper 21 is located below the gripper 22; pallet 5 lift; the fingers 23 of the grip 2t times put, putting the item 6 on the pallet 5; the pallet 5 is lowered to the table A (Fig. 1), and the grippers 21 and 22 are rotated 90 relative to the trunnion 17 to perform the next cycle

Ptf d. I
star
34
/ "
Rivl
t3

S6 Jf "74e" 07 Si
Я7 s 30 "a tto
“0
3t m ate n
I itll /
/
I
a to
(Piv. In
39
(56
I
I rfl

55
57 57
39 55
fl

55
39
I
at
57 3 57 56W
39
, / / V
Ij rf i
H
"J 57 57 4fO 56
L
55 0
“J 57 57
I
I i
V /
Phases. ten
iPue. eleven
21
ff 21
z
22
21

权利要求:
Claims (1)
[1]
INDUSTRIAL ROBOT mounted on the body of the cutting machine, comprising a mechanical arm mounted to move in a plane perpendicular to the longitudinal axis of the spindle of the cutting machine, a gripping body mounted on one end of the mechanical arm using a trunnion mechanism having a shaft and drives, characterized in that, in order to expand technological capabilities, the rotation drive of the gripping body is made in the form of two pneumatic cylinders having a common rod carrying adjustable limiters stroke, wherein the first air cylinder is fixedly located on the arm and is placed on its body pulley and the guide bar, which is movably mounted second pneumatic cylinder, and the tension elements interconnecting the trunnion shaft and a pulley mechanism are fixed to the housing of the second air cylinder.
SU ", 1186077
1 186077

类似技术:

公开号 | 公开日 | 专利标题

SU1186077A3|1985-10-15|Industrial robot

US4696503A|1987-09-29|Pneumatic actuated cam driven parallel gripper

JP2008073824A|2008-04-03|Hand device of industrial robot

CA2410333C|2011-04-26|A robotic device for loading laboratory instruments

JP2008073823A|2008-04-03|Hand device of industrial robot

JP3231671B2|2001-11-26|Billet feeder for forging press

US4479754A|1984-10-30|Industrial robot

US8057374B2|2011-11-15|Ergonomic tool lifting machine and method

JP2675336B2|1997-11-12|Plate material supply device

US4628778A|1986-12-16|Industrial robot

JP2001300880A|2001-10-30|Manipulator hand

JPH079367A|1995-01-13|Head structure for scalar type robot

CN211916252U|2020-11-13|A go up unloading robot for handle numerical control processing

CN114193485A|2022-03-18|Manipulator and column helping hand arm with helping hand function

JPH05293706A|1993-11-09|Automatic aligning remote controlled type drilling device

SU1440707A2|1988-11-30|Gripping device

SU1093537A1|1984-05-23|Manipulating apparatus

SU1692816A2|1991-11-23|Automated transporting-collecting system

JP2555267Y2|1997-11-19|Work transfer device for forging machine

JP2001259954A|2001-09-25|Flexible transfer device

JPH08229873A|1996-09-10|Industrial robot

JPH0744429Y2|1995-10-11|Work holding device

JP3640236B2|2005-04-20|Intermediate transfer device

JP3786296B2|2006-06-14|Workpiece reversing device in machining system

KR960002565Y1|1996-03-27|Device for adjusting the width of the head which is sucking works in order to position works

同族专利:

公开号 | 公开日

KR880000541B1|1988-04-13|

JPS5810480A|1983-01-21|

EP0069552A3|1983-09-14|

KR840000341A|1984-02-18|

US4462748A|1984-07-31|

DE3273556D1|1986-11-06|

EP0069552B1|1986-10-01|

EP0069552A2|1983-01-12|

引用文献:

公开号 | 申请日 | 公开日 | 申请人 | 专利标题

US2811267A|1952-02-14|1957-10-29|Magnaflux Corp|Feeding mechanism control system|

US2792953A|1953-12-08|1957-05-21|King Donald Mayer|Mechanical handling mechanisms or devices|

FR1158622A|1956-09-21|1958-06-17|Renault|Automatic parts feeder on machine tools|

FR2278457B1|1974-07-18|1979-05-25|Commissariat Energie Atomique|

JPS5227739U|1975-08-19|1977-02-26|

CH598910A5|1976-12-22|1978-05-12|Voumard Machines Co Sa|

IT1109055B|1978-02-17|1985-12-16|Comau Ind S P A|MANIPULATOR APPARATUS|

DE2844319C2|1978-10-11|1984-07-19|Friedrich Deckel AG, 8000 München|Tool change facility|

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

DE2915603C2|1979-04-18|1983-10-27|Zahnradfabrik Friedrichshafen Ag, 7990 Friedrichshafen|Handling device for load transfer maneuvers that take place perpendicular to the support base and around a swivel axis parallel to it, with the ability to be adjusted transversely|

US4259876A|1979-10-02|1981-04-07|Belyanin Petr N|Mechanical arm|

SU876414A1|1980-02-18|1981-10-30|Производственное Объединение Турбостроения "Ленинградский Металлический Завод"|Manipulator|SE438652B|1983-03-25|1985-04-29|Ibm Svenska Ab|Pallet for supply of tools and material for a robot or similar system and method for producing a proficient palette|

SE452428B|1983-07-11|1987-11-30|Asea Ab|ROBOT INSTALLATION FOR ASSEMBLY|

JPS6315028Y2|1984-07-16|1988-04-26|

AT387354B|1987-02-18|1989-01-10|Heid Ag Maschf|GRIPPERS FOR WORKPIECES, CLAMPING PALLETS, CLAMPING AGENTS OR THE LIKE.|

US5475797A|1993-10-22|1995-12-12|Xerox Corporation|Menu driven system for controlling automated assembly of palletized elements|

US5988960A|1998-06-09|1999-11-23|Hasler; James J.|Holder for plurality of workpieces|

CN102699513A|2012-05-31|2012-10-03|长城汽车股份有限公司|Automatic feeding device of resistance welding equipment|

CN105188561B|2013-02-14|2019-04-05|保罗·威博|The systems, devices and methods that biological tissue dissects|

US10045761B2|2012-12-31|2018-08-14|Tdm Surgitech, Inc.|Systems, apparatus and methods for tissue dissection|

US20140188107A1|2012-12-31|2014-07-03|Paul Joseph Weber|Methods and systems for tissue dissection and modification|

CN108098676B|2017-12-25|2020-09-15|金湖县农副产品营销协会|Manipulator for automatically assembling switch box|

法律状态:

优先权:

申请号 | 申请日 | 专利标题

JP56104776A|JPS5810480A|1981-07-04|1981-07-04|Industrial robot|

[返回顶部]