SU1229039A1 - Industrial robot arm - Google Patents

Description

"

The invention relates to machine building, in particular, to industrial robots with pneumatic actuators, and can be used in automatic lines and complexes for loading unit blanks into the working area of the process equipment, and for unloading them, as well as for automation and assembly operations.

The aim of the invention is to reduce the drive power and increase the durability of the hand by reducing frictional forces between the guide and the slider, as well as increasing the speed of the hand by bringing the law of moving the slider to a sinusoidal one by providing a more uniform load on the drive.

FIG. 1 shows a kinematic diagram of the arm of the industrialized robot} in FIG. 2 is the same top view; FIG. 3 diagram of the mechanism for varying the length of the adjustable link; in fig. 4 diagram of the mechanism for changing the length of the adjustable link controlled in the course of the slide movement; in fig. 5 Calculation diagram of the forces acting on the slider.

The hand of the industrial robot contains a rotary drive I with an angle of rotation 80 dp of the axial crank of the slider mechanism, placed on guide 2 by means of a shoulder-mounted arm 3 with the ability to adjust its position along guide 2, the guide 2 is fixed on the base 4 also with the possibility of adjusting movement along its Q axis. The shaft 5 of the drive 1 is connected to the crank 6j made with the possibility of changing the length by means of the terminal block 7, the crank 6 is pivotally connected to the connecting rod 8, which is connected to the adjustable link 10 via the hinge 9.

An adjustable link 10 is connected: with a slider 11, on which the lifting mechanism 12 is attached to the gripper 13, the Slider 1i is mounted on the guide 2 with the ability to move along its axis a.

The hinge 9 is offset relative to the axis of symmetry S of the slider 11 along a straight fe, parallel to the axis o. guide 2, towards shaft 5 of drive 1.

The lifting mechanism 12 is also offset from the axis of symmetry of E crawl290392.

Ki 1 towards the shaft 5 of the drive I,

The melody by the hinge 9 and the adjustable link 10 houses the mechanism 14 by changing the length of the adjustable link 10.

The mechanism 14 for changing the length can be made in the form of a nut 15 connected to a hinge 9 5 and a screw 16 mounted on the link 10 by means of (O thrust bearing 17,

The mechanism I4 changes the length also. can be made in the form of a pneumatic cylinder 18, the casing of which is connected to the hinge 9z and the piston rod 19-sv - In the hall with an adjustable link 10.

The cavities of the pneumatic cylinder 18. are connected via the distributor 20, the throttles 21 and 22 with the power supply system of the pro- tackaged robot, which includes the proposed industrial robot arm 20. The distributor 20 is controlled by a robot software control system (not shown). The exhaust valves of the distributor 20 are connected to 25 silencers 23 and 24.

The magnitude of the displacement m of the hinge 9 relative to the axis of symmetry $ of the slider 1 can be approximately determined from the expression

- About p- sinyJ

where h is the distance from the hinge to

guide axis; but. the distance from the center of gravity of i-mass mounted on the slider, on the axis of symmetry of the slider;

 bj is the distance from the center of the weight of 1 of the weight set on the slider to the axis of the guide;

L is the length of the slider; - G is the weight of the i-mass set

on the slider;

I - the dead, acting on the drive to the hinge;

if is the angle between the direction of the force P and the straight line parallel to the axis of the guide; ti number of masses established

on the slider.

This expression follows from the condition of equality of the forces of friction during the movement of the slider 1 1 along the direction of 2 in both directions and does not depend on whether the slider 11 is made

3

a guide 2, or a slider, And is enclosed by a guide 2.

The hand of an industrial robot is as follows.

In the initial position, the crank 6 and the connecting rod 8 lie on the straight b, the slider 11 is in the extreme position (in Fig. 1 right). On command from the software control system of the industrial robot, which includes a hand, the shaft 5 of the drive 1 rotates together with the crank 6. The drive force 1 transmitted through the connecting rod 8, the hinge 9 and the adjustable 5veno 10, moves the slider 11 with the lifting mechanism 12 and the tong 13 along the guideline 2. In this case, the angle If changes from O to the maximum value, and then again to O in the other extreme position of the crawl 11 (left

The move to the other extreme position (right) is carried out similarly.

The magnitude of the displacement m is chosen from the indicated expression, which ensures the equality of friction during the movement of the slider 11 along the guide 2 in both directions with the minimum amount of friction, or is chosen experimentally.

The change in the magnitude of the displacement by the mechanism 14 during adjustment is carried out by means of the screw 16 and the nut 15 and allows achieving an equalization of the frictional forces at the maximum angle. The magnitude of the displacement is determined by the formula

h + b,

-L - a. (

2b.

-one)

where r is the length of the crank; L is the length of the connecting rod; M moment developed by the rotary drive.

The change in the magnitude of the displacement by the mechanism 14 in the process of moving the crawl 290, 39

By means of a pneumatic cylinder 18 with a piston rod 1 9, it is possible to equalize the friction forces in the range of variation of the angle ji in the direction of decreasing from its maximum value. At the maximum angle of the piston rod I9 is in the position shown in FIG. 4. When reducing the value of the angle when moving

10 slider 11 in any direction on command from the control system, the distributor 20 switches and compressed air is supplied to the piston cavity of the pneumatic cylinder 18. The air is vented from

15, the rod cavity is made through the choke 21, the distributor 20 and the silencer 23. The magnitude of the displacement m is increased. The slider AND comes to its extreme position at a maximum value of 20 for a given module. During the return stroke of the slider 11, the distributor 20 switches on command from the control system, the compressed air is fed into the rod cavity of the pneumatic valve.

25 of the cylinder 18, air is blown out of the piston cavity through the throttle 22, the distributor 20 and the silencer 24. The displacement amount m takes the minimum value at max.

2Q minimum angle f and with its further

decreases with the next switching of the distributor 20. Adjusting the smoothness of the change in the value of m is made by throttles 21 and 22. The stroke of the slider 11 is adjusted by means of the terminal block 7. At the same time, the adjustment of the guide 2 is adjusted to ensure the slider arrives at the end of the guide and the adjustment the position of the drive j to maintain the position of the module's center of gravity on the previous module; the implementation is, respectively, via the terminal block 4 and terminal block 3. Changing the offset m does not affect the magnitude Ini of the 1I slider along the guide 2.

five

40

five

FIG. 2

Fig.Z

fig l

Sl

from the power system

22

In tTT //.

ar

and.

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Compiled by A. Shir Eva Editor N, Tupica Tehred N. Bonkalo Proofreader B. Roshko

2406/13

Circulation 1031 Subscription

VNIIPI USSR State Committee

for inventions and discoveries 113035, Moscow, Zh-35, Raushsk: nab., d, 4/5

. Production and printing company, Uzhgorod, st. Project, 4

FIG. five

Gz

Claims (3)

1. HAND OF INDUSTRIAL ROBOT, containing a base mounted on it with the possibility of adjusting the fixing guide, a crank-slide mechanism mounted on the guide, and a drive whose shaft is connected to the crank and the slider is mounted on the guide and connected to the gripper, characterized in that, in order to reduce the power of the drive, 'it is equipped with an adjustable link and a mechanism for changing its length, moreover, the adjustable link is made integral and its parts are connected by a mechanism for changing the length, with one horse The adjustable link is pivotally connected to the connecting rod, and the other to the slider. 2. Hand pop. 1, distinguished by the fact that the mechanism for changing the length of the adjustable link is made in the form of a screw mechanism, the nut of which is rigidly connected to the first part of the adjustable link, and the screw is installed in the supports of the nut and the second part of the composite adjustable link. 3. Hand pop. 1, characterized in that the mechanism for changing the length of the adjustable link is made in the form of a pneumatic cylinder, the body of which is rigidly connected to the first part of the composite adjustable link, and the rod is rigidly connected to the second part of this link. SU „„ 1229039