• 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:
    ® A robot wrist of an industrial robot having a wrist housing supporting two orthogonally arranged rotating output shafts therein, each of the shafts being connected to a robot hand, and a built-in fluid conveying means provided for distributing pressurized air introduced from the outside of the robot wrist toward the robot hand attached to one of the rotating output shafts. An output end of each of the two rotating output shafts may either be plugged by a plug element or closed by a stop valve when the output end is not connected to the robot hand.
    公开号:SU1304742A3
    申请号:SU823457039
    申请日:1982-06-28
    公开日:1987-04-15
    发明作者:Инаба Хадзиму；Инагаки Сигеми；Ито Сусуму
    申请人:Фудзицу Фанук Лимитед (Фирма)；
    IPC主号:
    专利说明:

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    ) L);) G1use 1 ustaionleyy ort:; - roi ajj :. located at the same location with the corresponding flange of the toriot: l) 1-junction och) 1 flanges 6 and 7, which are used to fasten the gripping organ (not shown) "butt-end flanges 6 and 7, are located on the corresponding orthogonal-end face planes (connecting flanges) of housing 1 "Drive shafts 4 and 5 are rotated by means of an actuator including, for example, an electric motor 8.
    lUisoiuvixcH 1; p1pl :: d1 1. vlsp 4 and: TJ: expl1lt.p t (y ;; l lightly, but prikrag: - L) HB s atat;, ;;; or lt or ts rtsltk;) a plane and a cat of the flange 6. or to a tor1 of the O13 plane b of the connecting flange 7 "
    The supply system;:; a working environment, designed to supply the working medium from the source .. pit-a11i to the gripping organs, includes: a channel 14, received in the arm of the manipulator 3, providing the working environment
    into the body I of the manipulator brush through the supply pipe 9. The supply pipe 9 is connected at one end with the first sleeve (tube) 15 installed in the housing 1 by means of the corresponding pipe connection 16. At both ends of the first sleeve (tube) 15 flanges 17. Tube 15 is connected to a connecting element made in the form of a cross 18 with cylindrical pivots mounted on a drive shaft 4 of a conical wheel 11, while the inner flange 7 of the tube 15 sits in the hole of the cylindrical pivot of the cross 18. drilled inside the drive shaft 4 of the bevel wheel 11 along its axis to the outer end. The inner end of the axial channel 19 communicates with a radial channel 20, which is drilled inside the drive shaft 4 perpendicular to its axis, at the point where the cross 18 sits on the drive shaft 4. A circumferential channel 21 is provided on the periphery of the drive shaft 4, which communicates with the radial channel 20, i.e. the radial channel 20 has an exit to the annular channel 21.
    Fig. 3 more clearly shows the location of the axial and radial channels 19 and 20, respectively, and the annular channel 2 i, performed on the drive shaft 4 of the bevel wheel 1 1, as well as the seals 22 in the form of 0-shaped rings installed on opposite sides of the annular channel 2i, Cross 18 has cylindrical pins 23 and two orthogonal holes, one through hole 24, the diameter of which is equal to the diameter of the drive shaft 4 of the bevel wheel 11, the through hole 24 is drilled in the housing 25 of the cross 18 and serves not only to to the inlet channel soobschayuEtsiys with central openings 26 formed in the cylindrical trunnions 22, but also as a bearing hole, inside which the drive shaft 4 rotates the bevel gear 11.
    The flange 17 of the first sleeve (tube) 15 is installed in the upper cylindrical axle 23 of the cross 18. Seal 22 mounted on the tube 15 under the flange 17 prevents leakage of working medium, such as air, through the connecting part of the tube 15
    and the upper cylindrical pin 23 of the cross 18. The second sleeve (tube) 27 is installed in the upper cylindrical pin 23 of the chest 18, similar to the first one. The junction of the sleeve (tube) 27 and the lower cylindrical pin 23 of the crosspiece 18 is also sealed with a 0-ring 22 mounted on the tube 27, thereby preventing leakage of the working medium. The tube 27 is inserted into the central opening of the bevel gear 3, the opening of the tube 27 communicating with a channel formed in the bevel gear.
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    drilled siiyTpn drive / south i along its OCI-; ds drug conc. The connection of the tube 27 and the bevel wheel 13 is also sealed with the help of 0-ring 1 of the ring 22 mounted on the tube 27, thereby preventing leakage of the working medium.
    In the brush holder, one of the ends of the drive shafts 4 and 5, which is not connected to the gripper: the organ, is closed, for example, with a stopper to prevent leakage of the working medium. The plug can be threaded 1; It is screwed into the thread of the respective Koshsv vssdn1: 1x shafts 4 n 5.
    In another embodiment, check valves are used for the first and second driven shafts 4 and 5 of 1 st, which are designed to prevent leakage of working medium, such as air. ObrpdGG 1e valves provide air supply to the gripping organ when the last is attached to the end of the joint; -: o; yhpants 6 drive shaft 4 (Fig, 5). one
    The check valve includes a housing, a spring 29 and a ball valve 30 mounted at the junction of the drive shaft 4 of the bevel wheel 11 and the butt-joint docking flange 6. The ball valve 30 elastically extends toward the conical seat 31, which is made on the end of the body, under the action of pins 29. Thus, the opening 32 is closed by a ball valve 30. A hollow leg 34 is provided to fasten the gripping body 33, which cooperates with the opening 32 of the housing. The hollow protrusion 34 enters the housing through a hole 32. The 30 BiiyTps ball valve shifts to overcome


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    seizure body, comes to the end - Aviaua-gl. in the zone of the Tantalo connecting planes a and b, through the system-raibiioro zlemeita, the Kolkhshgudvdg vypolle. working pains, all the way around
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    Compiled by il. Blokkudia Editor I. Rybchenko Tehred V. Kadar Corrector M. Pojo
    Order 1325/58
    Circulation 954 Subscription
    VNIIPI USSR State Committee
    for inventions and discoveries 113035, Moscow, Zh-35 ,, Raushsk nab. D. 4/5
    Production and printing enterprise, Uzhgorod, st. Design
    权利要求:
    Claims (1)
    [1]
    Claim
    A manipulator arm with a docking device for connecting the gripping body with the manipulator arm, comprising a housing with two orthogonal shafts mounted therein intended for transmitting rotation to the gripping bodies and kinematically connected with the engines, the housing being provided with coupling flanges for mounting the gripping bodies coaxially corresponding drive shafts, as well as containing a system for supplying the working medium to the gripping organs from the power source, including the supply pipe the gadfly and the connecting element, which differs from me in that, in order to ensure safety of work by eliminating flexible pipelines, the working medium supply system is equipped with check valves for the number of drive shafts, and the motor shaft is rigidly connected to one of the drive shafts, the latter kinematically interconnected by means of a bevel gear, and in each drive shaft axial channels are made to supply the working medium to the gripping bodies, at the ends of which check valves are installed, and on the drive shaft a rigidly connected with the motor shaft, a connecting element is installed, made in the form of a cross with cylindrical trunnions, having two orthogonal openings, while in the free openings of cylindrical trunks on one side there is a first bushing rigidly connected to the supply pipe, and on the other side installed the second sleeve with the possibility of its rotation relative to the osd of this pin and rigidly connected with the second drive shaft, and on the drive shaft connected to the motor shaft, in the installation area with dinitelnogo member being annular and radial channels.
    1304742
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    类似技术:
    公开号 | 公开日 | 专利标题
    SU1304742A3|1987-04-15|Manipulator hand with butt-joining device
    US4219618A|1980-08-26|Dental hand tool holder
    US2510362A|1950-06-06|Seal
    US2653456A|1953-09-29|Universal joint
    US4809751A|1989-03-07|Pressure test cap
    US3414299A|1968-12-03|Pipe couplings
    US4381867A|1983-05-03|Automatically positionable mechanical shaft seal
    US4324423A|1982-04-13|Tubular fitment
    KR920012872A|1992-07-27|Rotating connector with axial compensation
    ES2196222T3|2003-12-16|ROTARY ACTUATOR.
    GB2168781A|1986-06-25|A combination of a shaft, a sleeve and sealing means
    US2937029A|1960-05-17|Tool chuck with fluid transfer
    US2497183A|1950-02-14|Swing joint
    KR20080033369A|2008-04-16|Device for subjecting an object to the action of a liquid
    SU559627A3|1977-05-25|Chuck for clamping cylindrical parts
    GB2008717A|1979-06-06|Flexible Shaft Couplings
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    SE8605022L|1987-05-28|QUICK CONNECTION FOR FIXING A PIECE IN A OPENING IN A BEARING BODY
    US3801142A|1974-04-02|Fluid coupling
    US3957294A|1976-05-18|Rotary gas joint
    KR960002975A|1996-01-26|Adapter for connecting the tube to the animal
    US2489545A|1949-11-29|Seal
    JP2014035010A|2014-02-24|Grease nipple check valve opening jig
    JP6821423B2|2021-01-27|Sliding constant velocity universal joint
    同族专利:
    公开号 | 公开日
    KR840000343A|1984-02-18|
    JPS584388A|1983-01-11|
    EP0068769A3|1984-04-25|
    EP0068769A2|1983-01-05|
    US4538639A|1985-09-03|
    EP0068769B1|1987-09-09|
    DE3277177D1|1987-10-15|
    KR850001395B1|1985-09-30|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    RU2762223C2|2019-11-18|2021-12-16|Никита Игоревич Чаленков|Docking device|US3229656A|1964-06-25|1966-01-18|North American Aviation Inc|Manipulator arm attachment|
    FR1566787A|1968-03-29|1969-05-09|
    US3908695A|1973-12-28|1975-09-30|Glenn G Dunbar|Hydraulic rotator mechanism|
    JPS5334268A|1976-09-10|1978-03-30|Nippon Denso Co Ltd|Wrists for industrial robot|
    JPS5337972A|1976-09-21|1978-04-07|Toyoda Mach Works Ltd|Tool shifting apparatus for use in automatic tool changer|
    US4114853A|1976-10-08|1978-09-19|Swagelok Company|Quick connect coupling|
    US4169404A|1978-03-30|1979-10-02|Hitachi, Ltd.|Fluid pressure actuator|
    FR2461556B1|1979-07-18|1984-10-26|Bretagne Atel Chantiers|
    US4364707A|1980-05-06|1982-12-21|Advanced Semiconductor Materials Die Bonding Inc.|Object transport apparatus|
    US4365928A|1981-05-04|1982-12-28|Cincinnati Milacron Inc.|Fluid power connector system for manipulator|
    US4372721A|1981-05-18|1983-02-08|Nordson Corporation|Apparatus for calibrating link position transducers of a teaching robot and a work robot|JPS6319315B2|1981-05-19|1988-04-22|Fanuc Ltd|
    DE3432262A1|1983-11-01|1985-05-09|Netstal-Maschinen AG, Näfels|Handling device on a plastics injection moulding machine|
    JPS646230Y2|1983-11-30|1989-02-16|
    US4635985A|1984-05-29|1987-01-13|International Business Machines Corporation|Self-pivoting robotic gripper tool|
    JPS6211591U|1985-07-04|1987-01-24|
    JPH02116492A|1988-10-24|1990-05-01|Fanuc Ltd|Wrist structure for industrial robot|
    US5035263A|1989-12-14|1991-07-30|Mark Vii Equipment, Inc.|Rotary bearing seal|
    US5425133A|1990-01-24|1995-06-13|Canon Kabushiki Kaisha|Robot apparatus with an electrical driver for controlling a detachable rotor hand|
    DE19721824A1|1997-05-26|1998-12-03|Isi Norgren Gmbh|Robot quick-change coupling with integrated media feedthrough|
    CN101850647B|2009-03-31|2014-12-10|海德堡印刷机械股份公司|Rotary transfer apparatus for transferring different media|
    US20160116919A1|2014-10-27|2016-04-28|Norgren Automation Solutions, Llc|Pneumatic detection of modular tooling connection|
    RU2603741C1|2015-05-08|2016-11-27|Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Владимирский государственный университет имени Александра Григорьевича и Николая Григорьевича Столетовых" |Method of manipulator grip operation and device for its implementation|
    CN106607883A|2015-10-26|2017-05-03|广西大学|Cylindrical coordinate type simple pneumatic manipulator|
    CN106607898A|2015-10-26|2017-05-03|广西大学|Cylindrical coordinate type simple hydraulic mechanical hand|
    CN105856266A|2016-05-16|2016-08-17|厦门思尔特机器人系统股份公司|Adaptor and sprinkling robot polishing gripper using same|
    CN109591002A|2018-12-26|2019-04-09|哈尔滨理工大学|A kind of clamp device for electronic device processing|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP56100502A|JPS584388A|1981-06-30|1981-06-30|Wrist mechanism of industrial robot|
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