RU2785181C1 - Bellows curvilinear movement drive - Google Patents

Abstract

FIELD: mechanical engineering.

SUBSTANCE: apparatus relates to the field of mechanical engineering, robotics, and can be used in pneumatic and hydraulic equipment. Application thereof is most effective for the operation of curvilinear movement drives for moving links of industrial robots. The task set forth herein is achieved by the fact that, in the bellows curvilinear movement drive including a bellows secured on the body, with the ends of the bellows covered by two lids interconnected by a flexible rod forming a sealed chamber configured to be connected to a working medium pressure means, a drive control pin connected to the rod and configured to ensure axial and radial movement of the rod is installed along the axis of the bellows in the lid on the side of the body, and the lid is made in the form of a toroidal flexible non-stretching tightly sealed shell connected to the end surface of the bellows at one end and to the rod at the other end.

EFFECT: proposed technical solution expands the functional capabilities of bellows drives due to the provided control not only over the direction, but also the trajectory of curvilinear movement; a possibility of creating a new type of pumpless bellows curvilinear movement drives is also provided.

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Description

The proposed device relates to the field of mechanical engineering, robotics and can be used in pneumatic and hydraulic equipment.

Its most effective use is for the operation of drives for curvilinear movement of moving parts of industrial robots.

Bellows drives of curvilinear movement are known (see Pat. RF IPC F25J 15/06 No. 147155 "Gripping corrective module", Sysoev S.N., Litvinov I.S., Yongjie Cao, publ. 27.10.2014, Bull. No. 30; RF Pat. , in which the pressure of rarefaction of air is used as an energy carrier. They have a working sealed chamber formed by a bellows and end caps interconnected to limit the axial length of the chamber. As a limiter of the axial length of the chamber, a lever transmission mechanism connected to the plugs is used. In the initial position, the bellows occupies a position symmetrical about its axis. An external force action is used to pre-curve the bellows chamber, setting the required radial direction of movement. Then a vacuum supply pressure is created in the chamber, leading to the implementation of a curvilinear movement.

The execution of these bellows drives does not allow changing and controlling the trajectory of curvilinear movement, which limits its functionality. In addition, the use of a lever limiter of the axial length of the chamber reduces the reliability of the drive, and the use of air rarefaction pressure as an energy carrier limits its power characteristics.

A bellows drive of curvilinear movement is known (see Pat. RF IPC F25J 15/06 No. 2722200 "Drive of curvilinear movement", Sysoev S.N., Ovchinnikov V.A., Golubeva T.N., publ. 28.05.2019, Bull. No. 16), in which the excess pressure of the working medium is used as an energy carrier. The device includes a rotary mechanism consisting of an annular bellows, along the axis of which two plugs are fixed at the ends, forming a sealed cavity, made with the possibility of connection with a pressure means, and a flexible inextensible rod is fixed in the cavity on the plugs along the axis of the bellows. In the initial position, the cavity is connected to the atmosphere through a distributor. Due to the elasticity of the corrugations, the bellows occupies a position symmetrical with respect to the axis. The plugs are parallel to each other. The direction of curvilinear movement is preliminarily set by an external force action, by skew of one plug relative to the other. To carry out the movement, the curvilinear movement drive creates a pressure of the working medium in the cavity of the bellows. The force effect from excess pressure leads to a curvilinear movement of the working body.

This method improves the efficiency of the drive by increasing the power characteristics while maintaining its weight and size parameters, but does not allow you to control the trajectory of curvilinear movement.

The closest in technical essence is a bellows drive of curvilinear movement (see US Pat. .2020, Bull. No. 33), consisting of an annular bellows, along the axis of which two plugs are fixed at the ends, forming a sealed cavity, made with the possibility of connection with a pressure means, along the axis of the bellows, a limiter of the axial length of the chamber is fixed on the plugs, made in in the form of a flexible spring-loaded rod, and a limiter of their mutual axial movement, made in the form of a flexible inextensible shell, is fixed on the plugs along the perimeter. In the initial position, the bellows occupies a position symmetrical with respect to the axis due to the elasticity of the corrugations.

To carry out movement by the drive of curvilinear movement in the chamber of the bellows, the pressure of the working medium is increased. Force action from excess pressure leads to a curvature of the chamber. A further increase in the pressure in the chamber leads to an increase in the axial length of the chamber and straightening of the bellows.

This method expands the functionality of the drives, but it does not allow you to control the trajectory during their operation.

Thus, in this device and all known ones, there is no possibility of controlling the radial direction of the curvilinear movement, as well as the trajectory itself.

The objective of the invention is to expand the functionality by providing control of the trajectory of curvilinear movement.

This task is achieved by the fact that in a bellows drive of curvilinear movement, including a bellows fixed on the body, the ends of which are closed by two covers connected to each other by a flexible rod, forming a sealed chamber, made with the possibility of connection with a means of pressure of the working medium, along the axis of the bellows in the cover with On the side of the housing, a drive control rod is installed, connected to the rod and made with the possibility of axial and radial movement of the rod, and the cover is made in the form of a toroidal flexible inextensible hermetic shell connected at one end to the end surface of the bellows and the other end to the rod.

An example of the implementation of the proposed device is shown in the drawings, which shows the stages of operation of the bellows drive of curvilinear movement (Fig. 1) and general views of the various positions of the mechanism (Fig. 2) at a constant supply pressure in the bellows chamber.

In the bellows drive of curvilinear movement (Fig. 1, a), a bellows 2 is installed on the body 1, the end surfaces of which are closed with two covers, forming a sealed cavity A. The working body 4 is fixed on the cover 3. A flexible inextensible rod 5 is installed in the cavity of the bellows, with one end connected along the axis with cover 3, and the other with control rod 6, which covers a sealed flexible inextensible toroidal shell 7. One end of the shell is fixed on the rod 5, and the other - on the end surface of the bellows and implements the function of a cover covering the end surface of the bellows from the side corps. The sealed chamber A is made with the possibility of connection through the distributor 8 with the supply pressure of the working medium.

The device works as follows.

In the initial position (Fig. 1, a) the cavity A is connected through the distributor 8 with the atmosphere. Rod 5 does not exert force on the bellows chamber. Due to the elasticity of the corrugations, it occupies a position symmetrical about the axis.

Before starting work, the required direction of the radial movement of the working body and its trajectory are set.

For example, to move the working body counterclockwise (Fig. 1, b) turn the control rod, shifting the rod 5 in the radial direction to the right.

By turning on the distributor 8, the air supply line is connected to the cavity A (Fig. 1, c), creating a pressure p1, the value of which does not lead to the implementation of the curvilinear movement of the working body.

Axial movement of the control rod 6 upwards, reducing the axial length of the bellows, implement the curvilinear movement of the working body counterclockwise by the value α (Fig. 1d).

A further increase in the axial displacement of the control rod (Fig. 1, e) leads to an increase in the angle of rotation β of the working body.

If it is necessary to control the radial direction of the curvilinear movement of the working body, the radial displacement of the thrust is changed in accordance with the required direction, which leads to the rotation of the working body and the elimination of the mismatch of its position relative to the given direction of the radial displacement of the thrust.

Changing the limit value of the axial length of the bellows chamber allows you to control the trajectory of curvilinear movement.

In the inclined and extended position of the control rod, the bellows occupies a curved position (Fig. 2a). The axial movement of the control rod leads to a decrease in the curvature of the bellows and its straightening (Fig. 2, b, c, d).

Additional control of the pressure in the chamber expands the possibilities of control and significantly increases the possibility of obtaining a variety of trajectories of curvilinear movement.

In addition, this device opens up the possibility of creating a new type of non-pumping bellows drives of curvilinear movement.

Thus, the proposed technical solution expands the functionality of bellows drives by controlling not only the direction of curvilinear movement, but also the trajectory.

Prototyping, field studies of the proposed device confirmed its performance, efficiency and industrial applicability.

Claims (1)

Bellows drive of curvilinear movement, including a bellows fixed on the body, the ends of which are closed by two covers connected to each other by a flexible rod, forming a sealed chamber, made with the possibility of connection with the means of pressure of the working medium, characterized in that along the axis of the bellows in the cover from the side of the body is installed a drive control rod connected to a rod and configured to axially and radially move the rod, and the cover is made in the form of a toroidal flexible inextensible hermetic shell connected at one end to the end surface of the bellows, and at the other end to the rod.

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