• 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:
    This invention relates to the field of robotics. The aim of the invention is to increase the compactness of the industrial robot while maintaining the service area. The industrial robot contains sequentially connected links with the corresponding kinematic pairs and the drives of their movements. The first three links are connected by two rotational kinematic pairs, the two subsequent links by translational kinematic pairs. The relative movement of the first and second links (base 29 and bracket 27) include a belt drive (with a belt 26), second and third links (bracket 27 and lever 4) a gearmotor (pos. 21-22), and a third and the fourth link (lever 4 and bracket 18) - two successively connected gears: a belt (with a belt 16) and a screw, the driven pulley of a belt drive is rigidly connected to the screw 17 of the screw gear, and the nut 20 of this gear is rigidly connected with the fourth link (bracket 18), which forms with the subsequent link ohm (arm 6), a second translational kinematic pair, which finite element is rigidly associated with the gripper (s finger mechanism 7). 2 Il. ko s
    公开号:SU1279521A3
    申请号:SU2938052
    申请日:1980-06-27
    公开日:1986-12-23
    发明作者:Инаба Хазими；Никаима Сенчиро；Инагаки Чигеми
    申请人:Фудзицу Фанук Лимитед (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to robotics and relates to such a robot that can work effectively in a strictly limited area.
    The purpose of the invention is to increase the compactness of the structure while maintaining the service area.
    FIG. 1 shows the appearance of the robot; in fig. 2 - internal structure of the robot arm mechanism.
    The industrial robot contains the first rotation mechanism 1, which is attached at one end to the base 2, the second rotation mechanism 3 connected to the lever 4. The configuration of the lever 4 is such that it projects slightly from the second rotation mechanism 3 in the positive X direction, then bends to a small the distance is in the positive direction of the Z axis, and its main length is in the positive direction of the Y axis, and this end of the lever is connected to the transversely movable element 5. Movable in the transverse direction e The element 5 is connected to the finger mechanism 7 by means of the lever 6. An elongated shaft 8 is disposed between the lever 6 and the transversely movable element 5, which allows the finger mechanism 7 to move along the lever 6. In addition, in FIG. designated metal-cutting machine 9, chuck 10 metal-cutting machine, the device 11 for feeding the workpiece and the workpiece 1 2.
    The robot works as follows. Initially, a transversely movable element 5 is activated, which brings the finger mechanism 7 closer to the cartridge 10 so that this mechanism can grip the machined part fixed in the cartridge. Then, the transversely movable element 5 is moved in the opposite direction to extract the treated part {1 from the cartridge. Thereafter, the second rotation mechanism 3 is actuated to rotate the finger mechanism 7 and set it in a plane parallel to the XZ plane and move the finger mechanism 7 to position 13. Thereafter, the first rotation mechanism 1 is activated to set the finger mechanism 7 in the plane parallel to the plane and the movement of the finger element and the position 14, after which the extension shaft 8 is activated to increase the length of the lever 6. Through this operation the finger mechanism 7, which is still holding A part is positioned above the part supply device 11, with the result that the part 12 can be placed in this device if the finger mechanism 7 releases the gripping force. Installing a raw part in the cartridge may
    be performed by the mechanism by repeating the specified operations in reverse order.
    The transversely movable element 5 comprises an engine 15,
    distribution belt 1b, ball bearing spindle 17, bracket 18 and ball bearing spline 19. The engine 15 drives in rotation. The spindle is driven through a timing belt 16. A bracket 18 that serves to accommodate the finger mechanism 7 is mounted on a ball bearing spline 19 and fixed to prevent rotation. A nut 20 is fixedly fixed to the bracket 18, which is screwed onto the lead screw 17. To move the bracket 18, it is rotated from the engine 15 through the timing belt 16 the lead screw 17. As the lead screw 17 rotates, the nut 20 moves along it, which leads to moving along the ball bearing slot 19 of the bracket 18.
    The second rotation mechanism 3 comprises an engine 21, a gearbox 22 and a shaft 23 connected to the gearbox. During operation of the engine 12, through the gearbox 22 is driven. In the rotation shaft 23i
    turning in the transverse direction of the element 5, which is connected to the shaft 23 by means of the lever 4.
    The first rotation mechanism 1 consists of an engine 24, a gearbox 25, a distribution belt 26, an arm 27 for holding in the axial direction of the second mechanism 3 a rotor
    and a rotary shaft 28 connected to the bracket 27. The engine 24 is fixedly mounted to the base 29. During operation of the engine 24 through the gear 25 and the valve
    权利要求:
    Claims (1)
    [1]
    Invention Formula
    An industrial robot containing sequentially connected by means of appropriate kinematic pairs of links and drives of their relative movements, the engines of which are installed on one of the adjacent links (the previous one), distinguishing 0
    five
    0
    five
    so that, in order to increase the compactness of the structure while maintaining the service area, the first three links are made L-shaped and kinematically connected to each other by means of two rotational kinema-7 pairs, and two subsequent links by means of translational kinematic pairs, the drive for the relative movement of the first and second links includes a belt drive, the drive for the relative movement of the second and third links includes a gearmotor, and the drive for the relative movement of the third gear and the fourth link includes sequentially connected gears - a belt and a screw, while the belt pulley is rigidly connected to the screw of the screw gear, and the nut of this gear is rigidly connected to the fourth link, which forms a second progressive kinematic link with the subsequent link. a pair, the final link of which is rigidly connected with the gripper.
    eleven
    1
    Editor A.Shishkin
    Compiled by Novik
    Tehred I. Popovich Proofreader V, But ha
    Order 6857/59 Circulation 1031 Subscription
    VNIIPI USSR State Committee
    for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5
    Production and printing company, Uzhgorod, Proektra St., 4
    类似技术:
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    SU1305009A1|1987-04-23|Device for transferring workpieces in machining curvilinear surfaces
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    RU1816564C|1993-05-23|Metal-cutting machine
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    同族专利:
    公开号 | 公开日
    EP0022332A1|1981-01-14|
    EP0022332B1|1984-03-21|
    SU1279521A1|1986-12-23|
    US4352620A|1982-10-05|
    JPS569184A|1981-01-30|
    EP0022332B2|1988-12-14|
    JPS5950474B2|1984-12-08|
    DE3067122D1|1984-04-26|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3406836A|1966-09-09|1968-10-22|Simplex Corp|Transfer device|
    US3451224A|1967-06-20|1969-06-24|Gen Dynamics Corp|Stowable underwater manipulator|
    US3850313A|1969-04-09|1974-11-26|Martin P|Palletizing apparatus|
    US3849668A|1973-10-04|1974-11-19|Nasa|Orthotic arm joint|
    US3841499A|1973-10-31|1974-10-15|Armflex Inc|Work transfer apparatus|
    US3954188A|1973-12-26|1976-05-04|Prab Conveyors, Inc.|Universal transfer device|
    US3884365A|1974-03-19|1975-05-20|Thomson Ind Inc|Workpiece manipulator|
    JPS5623030Y2|1974-11-26|1981-05-29|
    US3922930A|1974-12-23|1975-12-02|Nasa|Remotely operable articulated manipulator|
    US4042122A|1975-05-27|1977-08-16|The Bendix Corporation|Reorientation device for an object manipulator|
    US4062455A|1976-11-22|1977-12-13|Flatau Carl R|Remote manipulator|
    US4177002A|1977-06-08|1979-12-04|Motoda Denshi Kogyo Kabushiki Kaisha|Cooperative drive robot|
    FR2434685B1|1978-09-04|1981-11-06|Commissariat Energie Atomique|JPS5821665Y2|1980-10-08|1983-05-09|
    JPS57156180A|1981-03-18|1982-09-27|Ii Toroiyaa Ueido|Manipulator for processed good|
    JPS5959366A|1982-09-22|1984-04-05|Fanuc Ltd|Industrial robot|
    DE8310067U1|1983-04-06|1985-06-05|Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth|Robotic joint|
    DE3312377A1|1983-04-06|1984-10-18|Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth|ROBOT JOINT|
    JPS61260990A|1985-05-13|1986-11-19|Mizuno Tekko Kk|Industrial robot|
    US4766775A|1986-05-02|1988-08-30|Hodge Steven W|Modular robot manipulator|
    US4816730A|1986-12-22|1989-03-28|E. I. Du Pont De Nemours And Company|Autosampler|
    JP2652880B2|1988-08-31|1997-09-10|ファナック株式会社|Vertical articulated robot|
    CA2000818C|1988-10-19|1994-02-01|Akira Tsuchihashi|Master slave manipulator system|
    DE4242667C2|1992-12-17|1996-04-04|Paul Lingen|Multi-part manipulator that can be detachably attached to a mobile implement at the front|
    IT1290642B1|1997-01-17|1998-12-10|Gd Spa|MACHINE AND METHOD FOR THE COMPOSITION OF STACKS OF SHEETS, IN PARTICULAR BANKNOTES.|
    US6198247B1|1999-04-20|2001-03-06|Steven Barr|Servo-articulated modules and robotic assemblies incorporating them|
    US6356337B1|2000-03-08|2002-03-12|Anvik Corporation|Two-sided substrate imaging using single-approach projection optics|
    US7274463B2|2003-12-30|2007-09-25|Sensory Analytics|Anodizing system with a coating thickness monitor and an anodized product|
    US7365860B2|2000-12-21|2008-04-29|Sensory Analytics|System capable of determining applied and anodized coating thickness of a coated-anodized product|
    US6674533B2|2000-12-21|2004-01-06|Joseph K. Price|Anodizing system with a coating thickness monitor and an anodized product|
    ES2245900B1|2004-07-15|2007-07-16|Asea Brown Boveri, S.A.|DEVICE FOR THE HANDLING OF PARTS AND INDUSTRIAL MANIPULATOR PROVIDED WITH SUCH DEVICE.|
    US20070222460A1|2006-03-07|2007-09-27|Price Joseph K|Mobile apparatus capable of surface measurements|
    US20090088912A1|2007-09-28|2009-04-02|Anorad Corporation|Linear driven x-z robot|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP54082782A|JPS5950474B2|1979-06-30|1979-06-30|
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