SU1085812A1 - Manipulator - Google Patents

Abstract

MANIPULATOR, containing a rotation mechanism around a vertical axis, a mechanical arm with a vacuum tong, characterized in that, in order to simplify the design and increase reliability, the tong is made in the form of a hollow cylindrical segment hinged on the mechanical arm, the cavity of which is divided into chambers, and the cylindrical surface of the segment is made holes, and the axis of the joint coincides with the axis of the cylindrical forming segment. 5S (L

Description

The invention relates to mechanical engineering and can be used for the autolization and complex mechanization of the production processes of rubber footwear and other products from plastic materials, such as paper, leather, cloth, etc.

Known manipulator containing me; anism of rotation around a vertical axis; mechanical arm with a vacuum gripper 1

A disadvantage of the known manipulator is the complexity of the assembly and the low reliability of operation.

The aim of the invention is to forgive the design and improve the reliability of operation.

The goal is achieved by the fact that in a manipulator containing a pivot mechanism around a vertical axis, a mechanical arm with vacuum} the first grip, a bolt is forced; in the form of a hollow cylindrical segment fixed on a mechanical arm, whose likeness is divided into a chamber, and holes are made on the cylindrical surface of the segment, and the axis of the hinge coincides with the axis of the cylindrical forming segment.

FIG. a schematic representation of a pre ;;. loader arm with technological equipment, plan view; in fig. 2, view A in FIG. I; in fig. 3 vacuum gripper in section; on (|) 15 on

FIG. 3

The device contains the mechanism of the huvorot I around the vertical axis. soi.ai 101 -:. whose | y with mechanical p-ukoy 2, equipped with a vacuum gripper 3, which pr-and 1na) nira 4 soj. and; chen with r-ukoy 2. 3 (fi | -. 3) in the form of:; oh cylindrical segment, nojiOcTb which.) Jazzde. by a partition of 5 to 6 and the upper 7; indrific type (grip 3 holes 8, liiur-ieM fire: radius of base (K; to meter (d) holes 8 is ite more than 4 - 25 (determined heuristic; ki) K; camera 6 and 7 soy; 1inen with ejectors ;; 9. Hinge J ycraHOBjiCii crone (ype K). S -; and: -; ar: know with spring 1L On skvag 3 Rizmep1, viiofii, 12 and 13 interact: lie from Appendix 14 and 15 , use: .pas | vv ke 2. Work of all knots of wasps 1st natural bl (press of poma ram Oh) vnp, .peni 16. Technological equipment STANDING: 13 fiei pepbiB: o dvp /; ( ). 17 Tra C1 Ortera, which;;;;: the capture grip slides over the folding table 18, and i: 5 iakopi1 . 19. for kotoro.m,: s schopki Auger 20 of articles made of tonkolislOBOio; -} ..: astichnogo material, in this case rubber.

Manina; op works in the following way.

The non-7-oriented 20 1 are interrogated on the conveyor belt 17 in a grab. From the block. 16, a commanding mechanism of vertical displacement (not shown) of the hand of the 2nd gearbox is received. The hand 2 0 is bent between the hierarchy of products 20, while the time of 1 handle manipulator (lowering, gripping the product. Moving to the driver, returning to the starting position) is less than 1; Re: value the next item: to 20 to the capture zone. Omitted hand 2 g; the gripper 3 is positioned in the lower gauge (; al, 17 trans ortera at a distance of ia 0.1 mm of the thickness of the article 20,)), erasing on the tape 17 between the table 18 and the gripper 3, forces K) to; 1 around the axis due to the strength of friction between them. At the same time, as soon as the gripper 3 returns to the turn, the stop 12 moves away from the sensor 14, the signal from which O) enters the ia block of the program controls. 6, giving a command for iodach i and an ejector 9 of compressed air. At the same time () when the gripper 3 is open, the holes 8 | (.Ch1 are closed by the product 20, while in the lower chamber 6, the discharge and the edge are created and:) de. 20 SCHEDULES to holes 8 and "; and it turns on 1-bit by icpx iot: T j (c)) at 3. When" rewind "and; from; 20: i1crinds all of the holes 8 in the upper chamber 7 and in it (it creates a discharge, c) an electrode of the product 20 completely adj. to gripper.;. At this time, 13 interactions: - with dachy 15, si1;; p. K): it comes to the block 1 of the program of the first pitch; aw :) 16. At the signal of block 16 the arm 2 rises, 1 the spring 1 1 returns to gripper ii the final position (lower chamber 6) ms1; it is fitted), the mechanism 1 i OBOpola U) Kpyi- |) The vertical axis alternates 2 with a gripper 3 to the accumulator 19. Here) is: coding and disconnecting compressed air) ejectors 9 and incandescent products 20 (aksp:; stacks that are in eems 1 from the working area ma -: ipul torus. yak 2 ao: turn into a base; another male foot,: pi: ti ovoritsyaets.

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Claims (1)

MANIPULATOR containing a rotation mechanism around a vertical axis, a mechanical arm with a vacuum grip, characterized in that, in order to simplify the design and increase the reliability of operation, the grip is made in the form of a hollow cylindrical segment pivotally mounted on a mechanical arm, the cavity of which is divided into chambers, and Holes are made on the cylindrical surface of the segment, and the hinge axis coincides with the axis of the segment’s cylindrical generatrix. o qo si oo bc 085812