Line module of industrial manipulator for feeding and transferring components

专利摘要:

公开号:SU1207391A3
申请号:SU802907400
申请日:1980-04-09
公开日:1986-01-23
发明作者:Дрексель Петер；Майер Гернот；Ляйснер Эрнст
申请人:Роберт Бош Гмбх (Фирма)；
IPC主号:

专利说明:

The invention 1 does not refer to linear modules of an industrial manipulator for supplying and transferring parts between positions.
The aim of the invention is to increase the reliability and compactness of the linear module.
FIG. 1 shows the proposed model; ul, longitudinal section; in FIG. 2, section A-A in FIG. 1j in FIG. 3 shows a section BB in FIG. one; in fig. 4 shows a section B-B in FIG. one.
The linear module of an industrial manipulator for supplying and transmitting parts contains a prismatic body 1 with a cylindrical bore 2 for piston 3 connected through a mounting rod 4 protruding from the body 1 with working flanges 5 and 6 fixed to it, on which is fastened located in guide hole 7 the prismatic body 1 with the possibility of parallel movement with respect to the fixed rod, the guide rod 8.
The piston 3 is driven by supplying compressed air to the cylindrical bore 2 through the bore 9 in the end flange 10, the bore 11 in the prismatic case 1 and the external connection 13 in the end flange 14.
The pneumatic piston 3 is driven in the cylinder bore by loading the piston with compressed air through the hole 9 in the annular flange 10, the through hole 11 in the housing 1, the external connection 12 and the hole 13 in the end flange 14. The end flange (figure 4) contains the hole 13 coaxial with the hole 11 in the housing 1. In addition, the end flange 14 includes a hole 15, which with the external connection 16 provides a connection 17 for the hole 2. A hole 11 passing through the body 1, as well as holes 13, 15 and 17 in the flange 14 serve for input and about Water compressed air for driving a pneumatic piston 3. Pneumatic piston 3 .zhestko associated with mounting the rod 4, whereby the mounting bar can be moved back and forth in the hole 2. The hole 18 (orifice) of the flange 14 serves for the pneumatic damping piston upon reaching its
ten
20
25
073912
end position. For etsi between the flanges 10 and 14, there are other (shown shaded) damping flanges 19 and 20. Holes 9 and 17 can also be made in these flanges.
 Bearings 21 and 22 are provided in the end flanges 10 and 14, as well as procuration; 23 for mounting in the bearings and seals of the installation rod 4 and the guide rod 8. For the guide rod 8, this is true only for the end flange 10. Another bearing for the guide rod 8 is provided inside the recess 24 of the housing 1, since other devices for transmitting energy are located in the opening 7 for the guide rod 8. A cable 25 is spirally wound on the guide rod 8, serving as a connecting element for controlling the subsequent costruc- tor assembly as a node or for connecting the constructive components with each other in a RELATIONSHIP:
energy for control. The position of the recess 24 in the housing in accordance with this depends on the length of the block that is shifted in place of the spiral cable 25. In addition, the recess 24 has an elastic terminal box 26, in which the electrically fed supply wires to the external connection 27 are routed.
In case 1 of Bbinojnieiio there is a skylight 28 which serves for electric cables, and on the end flanges 10 and 14 can 6i, iTb there is a control switch, for example an inductive sonteno 1 ВЕ) 1 switch 29 interacting with the stop 30. Holes 31 located in the corners housing 1, serving; 5T for assembly.
The housing 1, on the surface of its shell, has flat recesses 32, which are necessary, since when the opening for the guide rod 4 is cabled, the housing can expand. Due to the recesses 50 32 in the surface of the shell of the housing 1, the other surfaces of the housing remain precisely defined in terms of their dimensions. The housing 1 is predominantly manufactured by extrusion.
The housing 1 contains on the surface of the shell in the area of angles longitudinal grooves 33, which extend along ncri t
thirty
35
40
45
3
body length. These longitudinal grooves serve as markings for the drillings to be produced, for example holes 31, which must be in a certain position.
The housing 1 contains T-shaped grooves 34, which can extend along its entire length and serve for fastening as well as assembling the transmission mechanisms.
When using a module in an aggregate system, t, e., For example, when several mechanisms are arranged one after the other, it is advisable to coordinate with each other the external dimensions of the various design values of the modules.
The body plate 35 serves to conduct compressed air from one structural unit to another. For this purpose, several longitudinal holes 36 are made in the housing plate 35, of which the telescopic tube 37 can be pulled out respectively. Thanks to the profile of the housing plate 35, the openings of which can also have a prismatic cross section, it becomes possible to provide favorable energy from one side of the working lines of the individual transmission mechanisms. In the openings 36 of the plate 35 there are placed telescopic tubes 37 that can be pulled out, the length of which should correspond to the stroke length of the mounting rod. Tubes 37 mouth10
15
07391Л
They are mounted on the working flange 5. The plates 35 are screwed onto the housing 1, if necessary. The plate 35 can also be attached to other working pneumatic or hydraulic modules, and telescopic tubes 37 are not always required.
The following structural modules are attached to flanges 5 and 6. In this case, an additional attachment 38 attached to the flange 5 can serve to power the next structural unit. Energy is supplied through the connection 39 on the plate 35.
To drive the installation rod 4 in the hole 2 can also be, in addition to pneumatic or hydraulic, an electric 2Q drive is provided. For this purpose, a mechanical transmission is attached to the housing 1 on the flange; In this case, the drive mechanism can operate through a servomotor and a hypoid gear through a gear wheel 25 with a gear rack on the rod 4.
Moreover, the module can be very easily converted into a reinforced design by connecting two structural components on the flanges, in particular in the area of the hole 40.
Rods 4 and 8 can be made in the form of a hollow shaft. At the expense of the aperture 40, better accessibility is obtained to the electrical wires passing through the opening 7 and
35
spiral cable 25.
/ 1- / I
6-5
Editor O. Bugir
Compiled by B.Tolchanov Tehred T.Tulik
Order 8743/61
Circulation 1030 Subscription
VNIIPI USSR State Committee
for inventions and discoveries G13035, Moscow, Zh-35, Raushsk nab. 4/5
Branch PPP Patent, Uzhgorod, st. Project, 4
Proofreader V. But ha

权利要求:
Claims (4)
[1]
1. LINEAR MODULE OF AN INDUSTRIAL MANIPULATOR FOR THE SUBMISSION AND TRANSFER OF PARTS, comprising a prismatic housing with a cylindrical bore for a piston connected through a mounting rod protruding from the housing with a working flange on which a prismatic housing located in the guide hole is fixed with a possibility of parallel movement with respect to the mounting rod guide rod, holes for power supply to the cylindrical hole, limit switches mounted on the end flanges, connected at the ends of the housing, and connected to the electrical terminal box by electric cables, external connections connected to the electric terminal box by a spiral cable, pressure medium lines and ποποπηητθπϊ connections, characterized in that, in order to increase the reliability and compactness of the linear module, the prismatic housing is made with at least two through holes, in one of which electrical cables are placed, and the other hole is connected to one of the holes for power supply a cylindrical hole, while the prismatic case has a recess located in the region of the guide hole, made with the possibility of placing an electric terminal box in it, and the spiral cable is placed on the guide rod.
[2]
2. The linear module according to claim 1, characterized in that the prismatic housing in the region of the guide hole is made with a longitudinal hole.
[3]
3. The linear module according to claim 1, characterized in that the prismatic housing has a body plate made with longitudinal holes connected at least from one side to the working fluid lines.
[4]
4. The linear module according to claim 1 and 3, characterized in that the working flange is provided with tubes connected by additional connections and placed with the possibility of movement in the longitudinal holes of the body plate.
1,120

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法律状态:

优先权:

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申请号 | 申请日 | 专利标题

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DE19792914650|DE2914650A1|1979-04-11|1979-04-11|TRANSFER DEVICE FOR FEEDING AND DISTRIBUTING SERIAL PARTS|

---