SU1271741A1 - Manipulating device - Google Patents

Abstract

The manipulator relates to the field of mechanical engineering and can be used in robotics, in automatic tool changer devices in the executive part of assembly machines. The purpose of the invention is the expansion of technological capabilities. The actuators of the translational movement of the housing 1 and the rotary spindle 2 operate independently of each other. At the initial moment, the rotation of the rotary spindle 2 through the half-coupling 3, the crosspiece 4, the half-coupling 5 and the finger 15 rotates the replaceable multi-head 14. At the end of the rotation, a pair of diametrically opposite tongs 22 is mounted on the multi-head of the holder 7. One of them drive 9 rotates the yoke 7 is mounted coaxially with the rotary spindle 2. The housing 1 is fed from the drive translational movement along the guide bracket 11 forward until the gripper 22 arrives at the liner th machine centers. The part (workpiece, tool) is clamped with a tong, the case 1 is fed back to feed, the part is removed from the machine spindle. Then, either Sfi rotates the withdrawn part by 180 °, located in the same gripper 22, by turning the spins section 2, or turning the new part, located in the opposite gripper 22, by shaking the multi-seater 14 around the cross 4 by 90 ° ; from drive 9. Thus, the machine is loaded from S 4

Description

Canting details. After placing the machined part in a container with or without tilting, spindle 2 rotates 90 ° and the handling device operates with another pair of tongs-grip 21. Running a swinging rotary multi-seat head on the handling device allows to shorten the handling zone by shaking the head and shorten the shift time diametrically opposite grips, which allows to increase productivity and allows the device to work with closely located technological equipment. 2 Il.

one

The invention relates to mechanical engineering and can be used in robotics as the executive part of a manipulator (industrial robot), in automatic tool changing devices of multi-purpose machines, in the executive part of assembly machines.

The aim of the invention is the expansion of technological capabilities.

1 shows a handling device, a general view; figure 2 - section aa in figure 1.

The manipulating device comprises a housing 1 with a rotary spindle 2 disposed therein (a spindle rotation drive is not shown). On the rotary spindle 2, the coupling half 3 is rigidly fixed, made in the form of a fork, into which two fingers of the cross 4 are hinged. The other two fingers of the cross 4 are hinged in the second coupling half 5. The half coupling 5 is installed in the separator b of the clip 7. The clip 7 is hinged Zana with the pusher 8, made in the form of a rod of a swinging cylinder 9, hinged to the arm 10, which is fixedly mounted on the housing 1. The pusher 8 passes through the groove of the bracket 1 that encloses it, rigidly mounted on the housing 1. On the coupling half 5 to A cylindrical guide 12 is centered mounted, which enters the concentrically located hole 13 of the replaceable multi-head 14. In the angular direction the head 14 is fixed relative to the coupling half 5 with a finger 15 mounted on the end of the coupling half 5 and the counter opening 16 formed at the base of the head 14. In the axial direction removable multi-head 14 is locked with a lock that includes balls 18 located in the grooves 17 of the head housing 14 and interacting with the annular recess 19 on the cylindrical guide 12 and the spring Pluggable hydrochloric sleeve 20. Multi-head drum 14 may be formed in the shape of a regular truncated cone, on the lateral surface of which there are a certain device or various technological purposes, such as tongs 21 and 22. Various tongs 21 and 22 may be disposed on the head 14 opposite daametralno. In this case, the axes of the tongs 21 and 22 may intersect in the center of the cross 4.

As devices for various technological purposes, control devices, welding guns, spray nozzles and other devices can also be placed on the multi-head 14 at the same time. The housing 1, together with the swiveling spindle 2 and the coupling halves 3 and 5 fixed thereto, interconnected by a crosspiece 4, and a wiggle actuator 9 of the holder 7, which is connected to the interchangeable multi-head 14, have

5 the possibility of reciprocating movement along the guide 23 from the drive of the translational movement of the body (not shown).

The manipulator is working.

0 as follows.

The translational movement of the body and the rotation of the spindle operate independently of each other. At the initial moment of rotation of the rotary spindle 2 from the drive of the rotation of the spindle through the coupling half 3,

5 cross 4, half coupling 5 and pin 15 rotate the drum of a replaceable multi-seater head 14. At the same time, a pair of diametrically opposed grippers 22 are mounted on the multi-head 14 at the end of the rotation. Some of them are coaxially turning with drive 9 of the casing 7. spindle 2. The housing 1 is fed from the drive of translational movement along the guide 23 forward until the gripper 22 arrives at the center line of the machine. The part (workpiece, tool) is clamped with a tong, the case 1 is fed with reverse feed, and the part is removed from the spindle. Then either the removed part is rotated

180 °, located in the same tong 22, by turning the spindle 2, or by bringing in a new part located in the opposite tong 22, rocking the multi-seater 14 around the cross 4 by 90 ° from the actuator 9. Thus,

Claims (1)

Claim A manipulating device comprising a housing with a rotary spindle located in it, a pusher with a drive for moving it, and a replaceable multi-seat head with grippers, characterized in that, in order to expand technological capabilities, it is provided with a holder pivotally connected to the pusher, and the spindle is connected by a seed multi-seat head cardan coupling, the first coupling half of which is rigidly connected to the spindle, and the second coupling half is located in the cage, and the drive of the pusher is pivotally connected to the housing, while the replaceable multi-seat I head is formed as a right truncated cone, on the lateral surface of which are made seats for the grippers and mounted with fixation axially lock further inserted and is able to adjust the angular otnositelno axis of the second coupling half. ВНИИПИ Order 6289/18 Circulation 1031 Subscribed Branch of the PPP "Patent", Uzhhorod, st. Project, 4