SU1331638A1 - Manipulator - Google Patents

Abstract

The invention relates to the field of industrial construction, in particular, to industrial works primarily for the automation of processes in the watch industry. The purpose of the invention is to increase reliability by reducing the number of drives. The slider 5 is installed with the possibility of reciprocating movement from the drive through a closed flexible element. Kinematically sv s (l

Description

The carriage 3 connected to the slider 5 carries the grippers 33, as well as the mechanisms for their movement relative to the carriage and the synchronous over locking. The carriage 3 is installed with the possibility of intersynion movement joint with the slider 5, and the grippers 33 are movable relative to the carriage in the direction perpendicular to its interchange. The kinematic connection between the slider and ka) () 11 is made in the form of a wei, 1st curviline-rocker mechanism, on the crank 16 of which a reverse rotary camshaft 15 is fixed. The latter is kinematically related to the mechanism of movement of the grippers with me1

The invention relates to industrial design, in particular, to industrial robots, and can be used in various areas of the national economy, for example, during one-hour 11 | lomers, when automating the loading of workpieces for wrist watches

 of the invention, increasing the reliability of the work by providing the possibility of implementing the function; 1X1Yx movements of the kinematic links of the man | {pultotor from a single drive.

FIG. Figure 1 shows the kinematic diagram of the manipulator in the initial position of the carriage cam; pas figs. 2 - slider connection with iijoKpon-drive; in fig. 3 - cyclogram of the manipulator operation, and the solid arrows indicate the innosity movements of the carriage together with the slider, and the dotted arrows show the movements of the slider relative to the carriage and the rotation of the crank together with the carriage shaft.

The manipulator is mounted on base 1 with horizontal guides 2 on which carriage 3 is installed with the possibility of a straight-line reciprocating interpositional movement under the action of horizontal 4) sliders 5 connected with a reversing electric drive (not shown) by means of a closed flexible element.

The flexible drive element is made of two different parts interconnected: a flat-toothed belt 6, the length of which is determined by the amount of movement of the slide 5, and a nylon cable 7. The movement of the flexible element is transmitted from the gearbox of the reverse electrical synchronism re-clamping of the claws 33 associated with the mechanism of them - by means of a kinematic bunk containing a carrier mounted on said camshaft, and a bridge connected by means of a ratchet mechanism with an installed coaxially and telescopically cam cylindrical shaft 39 of the slotted cam control mechanism perezazhimom grippers. In addition, the flexible element of the drive of the slide is made in the form of two dissimilar parts: a flat-toothed belt 6 and a nylon cable 7, which allows increasing the service hoop. 3 il.

water (not shown) through the interaction with the PL () sk: (using the K belt Ct gear pulley 8.

The interguise 1 remepd pi carriage 3 O1 is rejected by the magician: i1: uirpy3O4HOi (j devices (not shown), where the workpiece 9 is taken from the multi-cassette 10 and the processed part 11. mounted on the turntable (not shown) ) interchangeable stops 12. as well as at the machine at the time of installation Za1CH) T () vki 9 on the loading and unloading unit) position of the machine and removal from it of the machined part with a rigid gr 13, located on the base of the machine.

In the guide sleeves 14 of the carriage,} is set, 1en with the option of 1) B ()), and 15. was removed. Kinematically connected with and in 5 Mr. backpoint I) manipulated mount.

The kinemagic connection 110, o with the carriage 3 is made in the form of a fork-shaped curved-rocker mechanical mechanism: 5Ma, C () 1, one of which of the crank 16 fixed on the telescopic shaft 15 and two symmetrically set with respect to the slide 5 and There are rods 17. Krivots sp 16 and rods 17 are connected to each other by means of two wings 18 and 19.

The initial position of the crank 16 (0 ° on the nos. 111 and VI of Fig. 3) is fixed fixed on the carriage 3 by a rigid stop 20 and a return spring 21 (Fig. 1).

A cylindrical groove cam 22 of the mechanism for gripping the grippers relative to the carriage 3 is fixed on the shaft 15. This mechanism also contains a lever 23 with a finger 24 interacting with the profile

on the outside of the popaz 25, executed from the inside of the cam 22.

The lever 23 is hinged at one end by means of an eccentric support 26 connected to the carriage body 3, so that it is possible to adjust the height position of the grippers relative to the loading and unloading positions of the magazine and the machine, and the other cantilever end lever 23 is connected to one of the vertical skips 27 forming the with a cross bar 28 a rigid frame carrying the yoke 29, on which the spring-lever grippers are mounted. An adjustable stop 30 is installed on the opposite vertical rolling pin 27 of the frame, limiting the lower position of the cross member 29 with the hooks at the loading and unloading positions of the magazine and the machine. At the same rolling pin, one end is secured by a tension spring 31, the other end of which is fixed to the body of the carriage 3.

The crosshead 29 with grippers relative to the carriage 3 is moved along vertical guides 32. Each gripper 33 contains spring-loaded jaws 34 with expansion cone 35 located in a housing (not shown).

The mechanism of synchronous re-clamping of the grippers is located on the traverse 29 and contains a swinging rocker 36, which interact with its shoulders with the flutes of the 34 grippers. The indicated mechanism is kinematically connected to the re-clamping mechanism via a rocker arm 36 fixed on one shoulder.

The re-gripping control mechanism of the grippers is mounted on the yoke 29 by means of an axis 38 and comprises a cylindrical groove cam 39 with a shaped groove 40 on its outer side surface with which the pin 37 interacts and a gear-ratchet 41, rigidly connected with the cam 39. On the axis 38 above the cam 39 and the toothed-ratchet crown 41 freely mounted ring 42 with a leash 43 and ratchet pawl 44. On the cam 22, the carrier 45 is mounted, performed in the form of an open loop, with the protrusions of which, in the process of raising and lowering the traverse 29, the leash 43 alternately interacts.

The manipulator works as follows.

The manipulation cycle of the manipulator starts from the moment when the carriage 3 is stationary and stands on one of the interchangeable stops 12 above the multi-seat cassette 10.

In this case, the rotary shaft 15 is in the initial position (0 ° on the border of pos. VI-I of the cyclogram of Fig. 3), in which the curvature 16 is pressed by the spring 21 to the stop 20, and the grippers are in the upper position, with the right grip

ten

15

0

five

0

five

0

five

0

five

above the free slot of the multi-cassette 10 and holds the machined part 11 (spring-loaded levers 33 are divorced), and the left grip is free (spring-loaded levers 33 are collapsed) and is above the slot with the workpiece 9.

Under the action of an electric drive (not shown), the movement of the slide 5 to the left along the guides 4 relative to the carriage 3 (position I of the cyclogram of FIG. 3) begins. In the process of moving through. 1zun 5 through the connecting rod 17 through the link 19 rotates the crank 16, the shaft 15 and the cam 22 clockwise, overcoming the force of the spring 21.

Due to the interaction of the finger 24 with the shaped groove 25 of the cam 22, the left cantilever end of the lever 23 is lowered, turning on the axis 26 and releasing the frame, which under the action of its own weight and the spring 31 lowers along the vertical guides 32 relative to the carriage 3, and at the time of contact By an adjustable stop 30 of the carriage body 3, the frame with the crosspiece 29 stops. The grippers are lowered into the corresponding slots of the cassette 10. With further rotation of the cam 22 and the shaft 15 in the process of continuing to move the slide 5 to the left, the right ledge of the carrier 45 begins to interact with the driver 43, turning the ring 42 with the dog 44 and the ratchet 41 clockwise. Together with the ratchet 41, the cam 39 of the re-gripping control mechanism is turned on the axis 38. As a result of the interaction of the finger 37 with the groove 40, the cam 39 transmits the movement of the rocker arm 36, which raises the spring loaded right-hand pickup 34, thereby releasing its spring-loaded levers from the action of the expanding cone 35, and lowers the left-hand pick 34, the arms of which are separated by a cone 35. re-gripping the grippers: the right gripper releases the machined part 11 and puts it into the slot of the cassette 10, and the left gripper clamps the workpiece 9.

When the slider 5 reaches the leftmost position, the slider 5 stops, the end switch (not shown) commands the switch of the electric drive for reverse and the slider 5 begins to move relative to the carriage 3 to the right (position II of the sequence diagram of FIG. 3). fascinating behind him is the rod 17 with the wings 18 and 19. The end of the curved wheel 16 is freed from the action of the curtain wall 19, and under the action of the spring 21, the curved wheel 16 rotates counterclockwise.

Together with it, shaft 15 and cam 22 rotate counterclockwise, and lever 23 raises the frame with crosshead 29 and grips upwards with its cantilever end, while the lead 43 with the left protrusion of the carrier 45 rotates also counterclockwise, the dog 44 is nodding and translated to the next tooth of the ratchet ring 41. Due to the return rotation of the crank 16, the crosshead 29 is lifted with the claws, and the dog 44 is transferred to the next tooth of the ratchet 41. Thus, the mechanism for controlling the re-clamping of the claws is prepared to perform its th function.

In the process of the return movement of the slide 5 to the right relative to the carriage 3, the latter is stationary and held on the support 12 until the cross Jip 16 reaches the stop 20, after which the carriage H reads freedom of movement along the guides 2 of the base 1 and further movement of the slide 5 to the right under the action of the lekoprivod is carried out together with the carriage 3 (pos. III of the cyclogram of Fig. 3) in the direction of the machine. In this case, the left grip carries the workpiece 10, and the right one is free. The specified joint movement of the slider 5 with the carriage continues until the carriage 3 touches the hard stop 13. When the carriage is loaded, the carriage with grippers stops above the loading and unloading position of the machine, and the slider 5 continues its movement relative to the carriage (position IV of the sequence diagram of FIG. 3). At this time, the link 18 rotates the crank 16 clockwise and the whole cycle of operation repeats: 1 × 1 1 × movements of the execution of the manipulator, considered by 1) for the period of stopping of the carriage 3 on the stop 12 of the loading position of the magazine (fig. 3). In this case, the yoke 29 with the grippers is lowered down to the loading and unloading position of the machine, the mechanism for controlling the gripping is activated, and the grippers are not tightened, and the grippers are diametrically opposed to the considered actions. c and he takes the machined part 11 from the loading and unloading position of the machine, and the levers 33 of the left grip are released and he leaves at the indicated position of the machine the workpiece 9.

Moving the slider 5 to the right relative to the carriage 3 also takes place to the final switch, from which the command to reverse the electric drive comes, the slider 5 begins to move again to the left (pos. V of the cyclogram of Fig. 3), and all the utilizing links of the kinematic chain of the manipulator move, Similar to those indicated for position II on the cyclogram, namely: crank 16 with shaft 15 and cam 22 under the action of the spring 21 returns to its original position, while rotating counterclockwise by 90 °, the frame with clamps rises above the position of the machine, and the dog 44 is cocked on the next ratchet tooth 41.

After stopping the crank 16 on the stop 20 begins its horizontal movement to the left, the carriage 3 together with the slider 5. In the process of the joint movement of the carriage 3 with the slider 5 to the left in the horizontal direction, the machined part 11 is transported from the machine for loading into the cassette 10. All this EXECUTIVE SINGLE LINKS The manila of the torus is non-movable relative to each other due to the fact that the crank 16 remains pressed against the stop 20 and the camshaft 15 is in the initial position.

The combined movement of the carriage 3 with the slider 5 ends when the carriage 3 touches one of the interchangeable retainers 12 of the drum (not shown), and the cursor 5 continues its movement along the horizontal bar 4 to the left. After that, the cycle of the manipulator is repeated.

Claims (1)

Invention Formula A manipulator comprising a housing with guides in which a slider is placed,  a carriage with a gripper, kinematically connected with a slide, stops placed on the housing, and an actuator, characterized in that, in order to increase reliability by reducing the number of drives, the carriage is spring-loaded relative to 0 slider in the circumferential direction by a telescopic shaft, the axis of which is perpendicular to the direction of its movement, with a cross-beam mounted in it with the possibility of iiejie space parallelism: 1n the axis of the specified shaft, and the first lever pivotally connected 5 with one carriage, one shaft with a second double-arm lever mounted on it with cranks at its ends, and two jaws - slot and cylindrical, the first of which is fixed to the shaft, and the second is mounted on this shaft so that it can rotate, the second cam is connected to the first one by means of a ratchet mechanism, and the traverse has a third, two-arm lever connected to it, and the said and additionally inserted grippers are mounted on this traverse, the drive elements of which are spring-loaded relative to Raversi and installed with the possibility of reacting with the respective shoulders of the third lever, and on The first and third carriage arms and crossheads are fixed with fingers, the working parts of which are placed with the ability to interact respectively with the working surfaces of the groove and cylindrical cams, while the slider is provided with two njap5 rod-type sliders connected to it, each of which has a slot, and it contains one of the mentioned crookedons. (} l} ABOUT fpua 2 thirty F fig.Z ABOUT 90 F F 0 ° 90