SU1400883A1 - Industrial robot - Google Patents

Abstract

The invention relates to mechanical engineering and is intended for use in industrial robots used for lifting, assembly, assembly and technological operations, as well as in remote manipulators operating in radioactive radiation zones in space. The aim of the invention is the expansion of technological capabilities by combining the functions of moving and gripping parts. For this purpose, a body 2 is installed on the column, carrying the executive body. The body 2 houses the main and sub drums 3 associated with the individual drives. On the drums 3, respectively, the ends of the elastic band 6 are fixed. On the case 2, a guide mechanism 7 is fixed, through which the branches of the elastic band 6 pass. The branches of the elastic band 6 are located in the guide sleeve 8, forming a loop 9. In the hole of this sleeve one is fixed and & branches of elastic tape 6. The source of the working medium is placed in the body. Its outlet tube 1P is located on the axis of the guide sleeve 8 and is directed into the cavity formed by the bends of the elastic tape 6. 1 Cp. f-ly. 5 il. (L

Description

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The invention relates to the structure and is intended for use in industrial robots, the use of EMGs for lifting hoisting, assembly and assembly and technological operations, as well as remote manipulators, working in radioactive radiation zones, in space. .

The purpose of the invention is the expansion of technological capabilities by combining the functions of moving and securing parts.

I Figure 1 shows an industrial robot, general view; FIG. 2 is a sectional view V-A of FIG. 1; on fig.Z - section bb in figure 2; figure 4 - the executive body in the working position; figure 5 - the same, another option.

The industrial robot contains a column 1, on which, with the possibility of movement, the body 2 is installed, carrying the executive body. Inside the case there are main and additional drums 3, connected with individual drives 4, for example, electric motors, by means of shafts | 5; The drums 3 are fixed to corresponding ends of elastic band 6. JKopnyce 2 has guide mechanism 7, For example, a guide bushing through which the branches of the elastic tape 6 pass. The branches of the elastic tape 6 are located in the guide sleeve 8 to form a loop 9. In the hole of this sleeve one of the branches of the elastic tape 6 is fixed, the source of compressed air (not shown) is placed in the body e 2, while its upper tube lO is located along the axis of the guide sleeve 8 and is directed into the cavity formed by the bends of the elastic tape 6. The bends of the elastic tape 6 form a non-spherical element (extension) 11.

Industrial robot works as follows.

In the initial state, the elastic belt 6 is wound on the drums 3, the loop 9 is positioned near the case 2. When the drums 3 rotate, the branches of the elastic tape from the corresponding drives 4 (unwind from the drums and come out of the body 2). The mechanism 7 and form the carrier element (extension) 11, at which the speeds of rotation of the drums 3 must be equal so that the loop 9 does not contract. Loop 9 is rotated

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on the extension 11 to the desired length and positioned above the part. Then the industrial robot lowers the entire actuator, loop 9 is put on the part.

Next, the branch of the elastic tape 6 with the fixed guide sleeve B starts to unwind from the drum 3, and the other branch of the elastic tape is wound on the drum, thereby the loop 9 is tightened and the part is clamped. The actuator with the clamped part can be moved in the space with simultaneous removal or approach of the part to the body 2 by simultaneously winding or winding the elastic band 6 on the drums 3. After the part has been delivered to the desired position, loop 9 releases the part by applying the elastic band 6 to the drum with a fixed guide bushing 8 and a smatie from the drum of another branch of the elastic band.

By an industrial robot, the executive body rises above the part, then the elastic band 6 is wound on the drums 3, the loop 9 moves to the body 2 and assumes its original position. The compressed air supplied from the source through the tube 10 into the cavity of the extension 11 creates an overpressure inside it, which prevents dust from getting into the parts of the belt 6, and also allows blowing the parts to remove chips, cooling, heating.

In the proposed executive body of the industrial robot, the elastic tape is at the same time an extension and a gripper, which simplifies the design — instead of a multi-link system of levers, one elastic element. In the initial state, the executive body has small dimensions. Extending the extension and gripping the part is carried out by drives mounted in the housing, which facilitates the Movable part of the actuator. The proposed executive body allows capturing and retaining objects of various shapes. The absence of tavern friction nodes allows the mechanism to operate without failure in extreme conditions: in vacuum, in open space, in water, in a dusty and polluted atmosphere.

Claims (2)

1.Industrial robot containing a column on which a casing is mounted that carries an actuator having a main drum with an individual drive, an elastic band attached at one end on this drum and passing through a guiding mechanism mounted on the casing, distinguished by that, in order to expand technological capabilities by combining the functions of moving and gripping parts, the executive body is equipped with a guide sleeve and with an individual drive, also installed in the housing and rigidly connected to the other end of the elastic belt, passing through the guide mechanism, while the branches of the elastic belt are located in the guide sleeve, forming a loop, and one of its branches is rigidly connected with guide sleeve, 2. A POP-1 robot, characterized in that it is provided with a source of compressed air located along the axis of the guide bush, and the branches of the elastic tape located in the guide bush form a closed loop in sections. // (Rig.1 6-6 Fig.Z -j FIG. FIG. five