CS218181B1 - Two-position lifting unit - Google Patents

Abstract

The invention relates to operational and inter-operational manipulation and solves the problem of eliminating the classic arrangement of a vertical unit with a replacement of a functionally identical but substantially lighter lifting unit, with smooth start-up and deceleration being directly determined by the kinematic properties of the lifting unit. The two-position lifting unit consists of a structural arrangement of a pneumatic cylinder, a body with a crank transmission and a transfer trolley. The fork and the piston rod of the pneumatic cylinder, in which the rotating drive wheel is inserted, are in contact with a toothed rod on one side and with the gearing of the carrier on the other side, the gear of which is rotatably mounted in the slide of the transverse groove of the transfer trolley via a crank.

Description

2

The present invention provides a two-position lift unit for vertically displacing an end member of industrial robots and actuators, with a pneumatic drive, with a stroke travel metering and a snap, pneumatic, or electronic control system.

Previously, the industrial robots and manipulators units form an intermediate member between the rotating unit and the horizontal arms of the robot. The vertical unit consists of a massive support tube, which is terminated from the underside by a flange to be fixed to the rotaon unit, and a pneumatic cylinder with a piston rod in the tube axis is fixed to its upper side, strokes for the stroke of the vertical unit, position sensor, damping. blocks with hydraulic dampers for defeating movement energy of moving masses, lubrication, most often wick lubrication system for lubrication of moving pairs, alm also all control pneumatic elements for vertical drive. The pneumatic cylinder piston is terminated by the housing for the lifting pin, perpendicular to the axis of the vertical unit. The outer movable tube of the vertical unit is slidably mounted on the tube housing and is connected to the piston rod of the pneumatic cylinder by a lift pin extending through the longitudinally grooved tube. To prevent mutual movement of the movable tube and the support tube, the support tube provided with the fine groove is movable, or the movable tube is provided on the inner side with tongues for which the longitudinal grooves for sliding bearing are on the jacket of the support tube. the movable tubes are mounted by two or more horizontal robot units on top of each other by clamping joints, ensuring the translational displacement of the ro-bot end members in a horizontal plane. The upper part of the vertical unit protruding above the horizontal units is covered by a cover band which is connected to the movable tube.

The disadvantage of the prior art solution of the two-position vertical unit is its high weight, high energy consumption for lifting the horizontal brackets by the end members, while the energy required must be damped down in the hydraulic energy absorbers, which are a very unreliable knot. -simply low durability. Another disadvantage is the relatively high complexity and demands of manufacturing precision, as each pole of the twin pair of the vertical unit exhibits about 20 times inaccuracy of the positioning member of the robot. In addition to the aforementioned drawbacks of the vertical, the units require frequent maintenance, have a relatively high consumption of liquid lubricants and can only be used in a vertical position.

The aforementioned drawbacks are eliminated by the two-position lifting unit according to the invention, the principle of which is that the piston rod fork, in which the sprocket-mounted drive gear, is in contact with the toothed taper on one side and the carrier toothing on the other , whose gear wheels are coupled to the pin-fitted crank, which is slidably supported in the transverse groove of the transfer beam. Advantages of the solution of the two-position lift unit according to the invention result from the complete removal of the robotas vertical unit by replacing a functionally identical but low-weight lifting unit operating autonomously and immediately at the end member with low power consumption to move the end member of the robot, the smooth run is determined directly by the kinematic property of the lifting unit. The two-stroke unit can operate in 1'-arbitrary position, requires minimal maintenance, while the inaccuracy and in-line in the two-position lift unit has little effect on the accuracy of positioning of the end member.

In the drawing, an example of a two-position lifting unit according to the invention is shown, wherein FIG. 1 is a schematic representation of a two-position stroke unit and a front view, and FIG.

The two-position lifting unit is composed of a body 1 with a pneumatic cylinder 2, which position 3 is terminated by a fork 4 in which the driving gear wheel 5 is mounted. The drive gear 5 is permanently engaged by a toothed rack 6 which is slidably mounted by the body 1 and suspended in both. the direction of movement of the springs 15 in conjunction with the tensioner 16. The drive gear 15 is at the same time a toothed rack 6 in permanent contact with the toothing 9 of the carrier 8. The carrier 8 is provided with a pair of toothed wheels 10 which are tapered in toothing 6, with the wheels 10 are rigidly connected to the shaft 21 on which the pin 11 is fastened to the pin 12, which is mounted in the slide 13 mounted in the transverse groove 14 of the carriage 17. The slide carriage 17 of the carriage 1 is inserted by means of inserts Positioning of the carriage 17 relative to the body 1 viewed by the position sensors 19 by means of the sensor sensor 20. Before starting by moving the carriage 17 from the upper position, the lower part of the pneumatic cylinder 23 is vented, thereby destabilizing the static balance of forces and one of the springs 15, which in the upper position of the carriage 17 is compressed by means of the rod 16, acts forcefully on the rack 6 and the entire locked system on the piston At the same time, the top of the cylinder 24 is filled with compressed air, compressing the second spring 15, which forces the upstream movement of the toothed rack 6, and thus also the driving gear 5. and, at the same time, by means of the driver 8 for rotating the gear 10 with the crank 11, which moves the carriage 17 into its bottom

Claims (1)

3 of the position, whereby the drive gear 5a and the gear 10 are brought together and inserted into one another. At full stroke of the transfer carriage 17, the gear 10 is rotated and a half turn. OBJECT Two-stroke lift unit, consisting of a pneumatic cylinder, a gearbox and a transfer carriage, characterized in that the fork (4) of the piston cylinder (3) of the pneumatic cylinder (2) in which it is rotating the loaded gearwheel (5) is in contact with one of the two-position lifting unit of the inventive stage can be used for its small size, low weight, work in any position, rampless start-up and overrun of the carriage as a lateral industrial and unit handling units. SUMMARY OF THE INVENTION The toothed rack sides (6) and the other side are toothed (9) of the carrier (8), the toothed wheel (10) of which is connected to a crank (11) provided with a pin (12) which is rotatably mounted in the slide ( 13) slidably mounted in the transverse groove (14) of the transfer carriage (17). 1 drawing