![]() Industrial robot
专利摘要:
An industrial robot having a robot hand attached to a robot arm, a rotary motion unit supporting therein the robot arm, a vertical motion unit on which the rotary motion unit is disposed, and a vertical hollow structure extending through the vertical and rotary motion units and defining therein a vertically extending wiring and piping space. 公开号:SU1331420A3 申请号:SU823457041 申请日:1982-06-28 公开日:1987-08-15 发明作者:Инаба Хадзиму;Накадзима Сеиитиро;Инагаки Сигеми;Ито Сусуму 申请人:Фудзицу Фанук Лимитед (Фирма); IPC主号:
专利说明:
eleven The invention relates to industrial robots, in particular robots, in which a device for the rotational movement of a mechanical arm carrying a gripping brush is mounted on a vertical movement mechanism. The aim of the invention is to improve the dynamic characteristics and simplify installation during the assembly process. (repair) industrial robot. Fig, 1 shows an industrial robot, a general view; Fig 2 is a part of an industrial robot including a hollow frame. The industrial robot has bases 1, two vertical guides 2 symmetrically mounted on it, on which a mechanical arm 3 is mounted with the possibility of vertical movement, carrying a brush 4 with a gripper 5, In addition, the industrial robot includes a mechanical arm vertical movement mechanism 6 including a screw gear with the vertical screw, and the mechanism 7 of the rotational movement of the mechanical arm, the plate 8 is attached to the respective upper ends of the two vertical guides 2, the floor frame 9, is made as the moving part of the mechanism of vertical movement, installed so that its movement up and down is directed by two vertical guides 2, the vertical guides 2 move the guide sleeves 10 of the hollow frame 9, the latter has the shape of a box with a vertical cavity along its entire height . The cavity of the frame 9 serves to accommodate wires in it, for example, electrical wires and pipelines. The vertical movement mechanism comprises a motor 1J fixed to the base 1 by means of a bracket 12, the motor 11 through a mechanism 13 consisting of a belt and a pulley, actuates a vertical the lead screw 14 of the helical gear, which is rotationally mounted between the base 1 and the plate 8, the lead screw 14 rotates around its own vertical axis with the help of the motor 11, the latter being driven by the robot controller (not shown n), the vertical spindle screw 14 interacts with the mating element 15, provided with an internal thread (nagfimer, nut) and fixed on the ledge of one of 0 five 0 five 14 ,, 0 g 0 0 five 202 the sleeves 10 of the hollow frame 9, Thus, the floor of the frame 9 of the vertical movement mechanism moves up and down along the vertical guides 2 in the direction indicated by arrow A when the lead screw 14 rotates under the action of the motor 11, as the vertical feed action of the driving screw 14 is transmitted the nut 15, the Upper support plate 16 for supporting the rotational movement mechanism is attached to the upper end of the hollow frame 9, the Hollow cylindrical element 17 is rotationally mounted on the upper support plate 16 by means of a corresponding bearing to ensure rotation in the direction indicated by arrow B, the hollow cylindrical element 17 is mounted coaxially with the hollow frame 9 of the vertical-movement mechanism. Thus, the hollow cylindrical element 17 is provided with a through hole that communicates through the hole in the upper support plate 16 with a vertical plane hollow of the frame 9 and coaxially with it, on the lower part of the rotating hollow cylindrical element 17, the pinion gear 18 is attached, which engages with the intermediate gear wheel 19, which e, in turn, is in engagement with a gear wheel 20 mounted on the output shaft of the rotational movement mechanism, including the engine 21, and step-down gear wheel 22. It should be noted, however, that the intermediate gear wheel 19 is not an important element and be removed. The floor frame 9, a hollow cylindrical element 17 (FIG. 2), forms a vertical hollow structure in the industrial robot. The mechanism of lateral movement and retraction of the mechanical / second arm comprises the body of the mechanical arm, the hand and the grip and is located at the upper end of the rotating hollow cylindrical element 17 (not shown). Thus, the floor structure, the image -.-, bath, a hollow frame 9 of the vertical movement mechanism, mounted on the base 1, and a rotating hollow cylindrical element 17 of the rotational movement mechanism, placed on the vertical movement mechanism, provides a cavity of wires, for example, for electrical wires and pipelines . The arrangement of the electric wires 23 and the pipelines for supplying the working medium in this cavity eliminates all the wires and hoses from the outside of the robot, thereby eliminating the possibility of damage and improving the appearance of the robot. In those cases when the electrical wires 23 are connected to a mechanical arm, they differ with the electrical wires of the extension and pull-in mechanism with no-i. By the power of the plug-in connectors 2A in a position above the hollow cylindrical element 17, any twisting of the wires 23 during rotation of the rotational movement mechanism is maximally limited if the wires 23 are located along the axis of rotation of the hollow cylindrical element 17 inside this 20 outer surface of the latter and opposite element 17. Note also that the pipelines are not directly connected to the rotational movement mechanism, since they are located in the cavity for wires and pipelines for supplying the working medium ( compressed air) to capture. Therefore, pipelines are not subject to twisting. and with a screw drive nut rigidly mounted on a hollow frame, while the mechanism of the vertical movement of the mechanical arm is mounted on the base plate and kinematically connected with its hollow cylindrical element located coaxially with the longitudinal axis of the hollow frame, moreover.
权利要求:
Claims (1) [1] Invention Formula Industrial robot containing fixed bottom base, symmetrical but fixed vertical guides mounted on it, on which a horizontal mechanical arm is mounted, carrying a grip brush, a vertical movement mechanism of a mechanical arm, including a helical gear with a vertical screw, and a rotational movement mechanism In order to improve the dynamic characteristics and simplify installation during assembly (repair) of an industrial robot, it is equipped with a hollow frame, having a support plate with a hollow cylindrical element mounted on it, mounted on the upper end of the hollow frame, guiding bushings located on with vertical guides, and a screw gear nut rigidly mounted on a hollow frame, while the mechanism of vertical movement of the mechanical arm is mounted on the base plate and kinematically connected with its hollow cylindrical element placed coaxially with the longitudinal axis of the hollow frame, moreover. To supply the energy carrier to the drives, it is provided with additional wires passing through the cavities of the cylindrical element and the frame. Editor M. Tsitkina c a.1 Compiled by I. Bakulina Tehred M. Khodanych Order 3595/58 Circulation 952Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Project, 4 Proofreader. Cherni
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同族专利:
公开号 | 公开日 EP0069483A3|1984-05-09| EP0069483A2|1983-01-12| EP0069483B1|1987-03-25| KR850000550B1|1985-04-26| DE3275819D1|1987-04-30| JPS584376A|1983-01-11| KR840000335A|1984-02-18| US4466769A|1984-08-21| JPS6315114B2|1988-04-02|
引用文献:
公开号 | 申请日 | 公开日 | 申请人 | 专利标题 US3247978A|1962-12-12|1966-04-26|Programmed & Remote Syst Corp|Manipulator hand| US3543947A|1968-07-30|1970-12-01|George C Devol|Constant-aim work head| CA922331A|1970-02-20|1973-03-06|C. Devol George|Article transfer and orienting means and method| US3805629A|1972-06-01|1974-04-23|Usm Corp|Devices for linear and rotational movements| JPS5345986B2|1973-07-31|1978-12-11| US3935950A|1973-09-04|1976-02-03|Quality Steel Fabricators, Inc.|Industrial robot| DE7616495U1|1976-05-22|1976-11-25|Kupka, Dieter Helmut, 6570 Kirn|STIRRERS WITH LIFTING GEAR FOR LAUNCH TUBS| JPS5912419B2|1976-12-16|1984-03-23|Tokyo Shibaura Electric Co| JPS5623031U|1979-04-08|1981-03-02| FR2492304B1|1980-10-17|1984-04-06|Commissariat Energie Atomique| US4392776A|1981-05-15|1983-07-12|Westinghouse Electric Corp.|Robotic manipulator structure|JPS6335398B2|1982-04-21|1988-07-14|Fanuc Ltd| JPH0211393B2|1982-10-12|1990-03-14|Toyoda Machine Works Ltd| JPS59134690A|1983-01-24|1984-08-02|Mitsubishi Electric Corp|Multi-joint type arc welding robot| JPS60110605A|1983-10-18|1985-06-17|Shikoku Kakoki Co Ltd|Lateral sealing device in packaging machine| JPH0344467Y2|1984-03-12|1991-09-18| US4616713A|1984-11-29|1986-10-14|Shattuck Thomas G|Blade adjustment device for sod cutting machine| US4659279A|1984-12-24|1987-04-21|Gmf Robotics Corporation|Robot with improved cable routing and clamping| JPH0317630B2|1985-09-10|1991-03-08|Fanuc Ltd| FR2588129B1|1985-10-01|1990-06-01|Peugeot Cycles|MOTOR GEARBOX FOR THE SIMULTANEOUS DRIVE OF TWO ORGANS| US4696197A|1986-04-11|1987-09-29|Lockheed Corporation|System for counterbalancing tool mount loads in a machine tool| JPH02142915U|1989-05-02|1990-12-04| JP2576282B2|1990-11-15|1997-01-29|三菱電機株式会社|Industrial robot| US5178512A|1991-04-01|1993-01-12|Equipe Technologies|Precision robot apparatus| US5769184A|1996-09-27|1998-06-23|Brooks Automation, Inc.|Coaxial drive elevator| JP4971063B2|2007-07-27|2012-07-11|株式会社ダイヘン|Transport device| CN103921161A|2014-04-15|2014-07-16|江苏优创数控设备有限公司|Manipulator capable of horizontally moving and taking and placing workpieces by using double arms| CN104942794A|2015-07-01|2015-09-30|西北工业大学(张家港)智能装备技术产业化研究院有限公司|Feed robot|
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申请号 | 申请日 | 专利标题 JP56099740A|JPS6315114B2|1981-06-29|1981-06-29| 相关专利
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