SU1423368A1 - Manipulator - Google Patents

Abstract

The invention relates to mechanical engineering, in particular to robotics. The purpose of the invention is to simplify the design while at the same time ensuring a horizontal and vertical movement of the arm. When axially moving the carriage 11 and the slider 12, which are kinematically connected to the meside, are located on the rod 8 of the power cylinder 3, due to the fact that arm 18 and levers 20 form a parallelogram mechanism, sequential vertical movements occur, then horizontal displacement of arm 18. Sequence and the magnitudes of the movements depend on the position of the adjustable stops 9 and 10 on the stem 8. 1 sludge.

Description

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i The invention relates to mechanical engineering, namely to manipulators,: and can be used to feed I sheet blanks into the working area I of a press.

; The purpose of the invention is to simplify the design, while simultaneously ensuring a horizontal and vertical movement of the arm.

The drawing shows the proposed device.

The manipulator consists of a base 1, a bracket 2 on which the linear actuator power cylinder 3 is mounted. On the bracket 4 of the base 1, the magazine 5 is fixed, I is equipped with a mechanism 6 for the step-by-step feeding of parts 7. On the rod 8 i pa 3 of the linear actuator and between adjustable lugs 9 and 10, j made in the form of terminal clamps; 8 and Slider 12. Between the carriage AND and the half-driver 12, a compression spring 13 is installed. The carriage 11 is rigidly fixed I parallel to the axis of the rod 8, the rod 14, | freely enters the guide hole of the front cap of the 15 cylinder of the cylinder 3. The rod 14 is provided with stops 16, 17, made similarly to stops 9, 10. The slider 12 and the mechanical arm 18 form a parallelogram mechanism with levers | gami 19 and 20 | the lever 19 in the middle is connected through the hinge 21 to the carriage 11 through one arm of the two shoulders {lever 22, the second arm of which has the ability to interact with the ipoM 9. For gripping parts 7, arm 18 is fixed on arm 18

In order to enable strictly vertical movement of the arm 18, the lengths of the levers 19, 20 are equal to each other, and the length of the lever arm 22 between the carriage 11 and the hinge 21 is equal to half the length of the levers 19, 20,

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The manipulator works as follows.

In the initial position, the arm 18 with the gripping device 23 is above the magazine 5 with the parts 7. In this case, the stop 16 rests on the front cover 15 of the power cylinder 3, and the slider 12 is held in the extreme position by the spring 13. The arm 18 with the gripping device 23 when This raises the item.

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When pressure is applied to the rod cavity of the ram 3, the rod 8 moves to the left and the abutment 10 presses against the slider 12, causing it to move. Since the movement of the rod 14 limited by the stop 16 in this direction is impossible, the carriage 11 remains stationary and, with this, the levers 19, 20 of the parallelogram mechanism rotate and the arm 18 with the gripping device 23 lowers and engages the upper part 7.

At the signal, the pressure is applied to the piston cavity of the power cylinder 3. In this case, the rod 8 moves to the right, the stop 10 releases the slide 12, which under the action of the pin 12i moves to the right and actuates the levers 19 and 20 of the parallelogram mechanism, which raise the arm 18 with the gripper device 23 and part 7. At this time, the carriage 11 remains stationary, since it is pressed by the spring 13, and through the rod 14, the stop 16 rests on the front cover 15 of the power cylinder 3, therefore raising the arm 18 remains strictly vertical. Raising the arm occurs until the twisting of the two shoulders lever 22, which interacts through the hinge 21 with the lever 19, is limited to the stop 9. The rod 8 begins to move the raised arm 18 with part 7 to the right. Moving the arm 18 takes place until until the stop 17 comes into contact with the front cylinder 15 of the power cylinder 3 and through the rod 14 does not stop the carriage 11. With further movement of the rod 8, when the carriage 11 is stopped, the stop 9 rotates the double shoulders / lever 22 and acts on the hinge 21. the lever 22 of the parallelogram mechanism, moving the slider 12 to the left and compressing the spring 13, while the hand 18 with the gripping device 23 starts and puts the part 7 into the working position.

On a signal from the SS, the gripping device 23 releases the part 7, the step-by-step feed mechanism 6 feeds the parts in the magazine 5 by one step, the upper part 7 is withdrawn to the position. The piston cavity of the power cylinder 3 is connected to the drain line, and pressure is applied to the rod cavity. In this case, the rod 8 is moved to the left, the stop 9, which is

It releases the double-arm lever 22 and, under the action of the spring 13, raises the arm 18 until the slider 12 comes into contact with the stop 10, the arm 18 in the raised state moves to the left.

The cycle is repeated until all parts 7 are removed from the mage.

that, in order to simplify the design while ensuring horizontal and vertical movement of the arm, it is provided with a slider freely located on the rod, spring-loaded relative to the carriage, and two levers forming a hinged joint with the arm and with the slider

Zine 5. From the working position of the part, strike the parallelogram mechanism, and are regulated either by another manipulator, or by duds, stops installed on the rod by air, of the power cylinder from two sides. The formula of the invention is relatively slider, with. this last

the pos Manipulator containing the base is connected kinematically with the carriage 5 by means of an additional two shoulders

lever, one shoulder of which is pivotally mounted in the middle of one lever

a hand mounted thereon with a gripping device equipped with a drive having a ram cylinder, a carriage rigidly connected with an O-rod located parallel to the longitudinal axis of the si-2o cylinder, and adjustable stops differing in that.

the hinge parallelogram mechanism, its axis of rotation is on the carriage, and the other arm has the ability to interact with one of the adjustable stops.

the hinge parallelogram mechanism, its axis of rotation is on the carriage, and the other arm has the ability to interact with one of the adjustable stops.

Claims (1)

Claim Manipulator comprising a base mounted thereon a gripper arm, provided with a drive, having a ram, a carriage rigidly associated with the bar · disposed parallel to the longitudinal axis of the cylinder Cu _2C lovogo _h and adjustable stops, characterized in that, in order to facilitate design while providing horizontal and vertical movements of the arm, oi is equipped with a slider freely located on the rod, spring-loaded relative to the carriage, and two levers, forming together with the hand and with the slider articulated parallelogram mechanism and an adjustable stop mounted on the rod of the cylinder on both sides relative to the slide, with. In this case, the latter is kinematically connected with the carriage by means of an additional two-shouldered lever, one shoulder of which is pivotally mounted in the middle of one lever of the articulated parallelogram mechanism, its rotation axis is on the carriage, and the other shoulder has the ability to interact with one of the adjustable stops.