SU1425036A1 - Robotic complex - Google Patents

Abstract

The invention relates to mechanical engineering and is designed to automate basic and auxiliary manufacturing operations. The aim of the trademark is an expansion of technological capabilities. For this purpose, the electromagnetic head 12 of the gripper is made with the POSSIBILITY of free rotation around its axis lU and is equipped with an annular manifold 17 interacting with the current lead brush 18 mounted on the holder 16, the holder 16 being able to turn it in the C-shaped arm 25 of the industrial arm. the robot at a given angle (90) around the axis E under the action of gravitational forces due to the displacement from the vertical of the center of gravity of the electromagnetic head 12. 1 Cp j f-ly, 4 ill.

Description

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The invention relates to machine building and is intended for the automation of basic and auxiliary technological operations, for example, during mechanical processing of the flanges of a bicycle ratchet.

The purpose of the invention is the expansion of technological opportunities.

FIG. 3 shows a robotic complex, a general view; Fig 2, the kinematic diagram of the complex; in fig. 3 - electromagnetic gripper design; in fig. 4 is a section A-A in FIG. 3

The robotic complex includes processing equipment, such as a lathe 1, an industrial robot 2 with a software control system, and a storage unit 3 with blanks 4.

For clamping the workpieces 4, a standard chuck 5 of the lathe 1 spindle is used, and their machining is carried out with the help of a support 6 having a tool holder 7, where the cutting tools 8 and 9 "are fixed

On the lathe 1, the arm 10 of the industrial robot 2 is mounted with a tong 31, which is made in the form of an electromagnetic head 12 "

The head 32 of the tong 11 can rotate freely on the axis 13 fixed to the longitudinal Part 14 of the T-shaped bracket 15 of the holder 56.

Electromagnetic head 12 has an annular collector 37, encompassing an electromagnetic head 12 "

During operation, the annular collector 17 constantly interacts with the brush 18, the conductor 19, installed in the threaded hole 20 in the transverse part 21 of the L-shaped bracket 15, opposite the annular collector 17 "

The holder 16 of the electromagnetic head 12 is made of a composite H-shaped bracket 15 and a shaft 22 mounted to rotate at a predetermined angle 90 in the holes 23 and 24 of the C-shaped bracket 25 of the arm 10 of the industrial robot 2.

For automatic rotation of the holder 16 with the electromagnetic head 12 at an angle of 90 ° under the action of gravitational forces, the center of the body of the electromagnetic head 12, lying on the axis

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B (Fig. 4) is slightly offset from the vertical B. This is achieved with the help of adjustable threaded stops 26 and 27, screwed into threaded holes made in tides 28 and 29 of the shaft 22 of the holder 16 "

When setting up the robotic complex by screwing in the threads of the stops iJk and 27, which abut their ends against the base 30 of the C-shaped bracket 25, the axis B of the electromagnetic head 12 is displaced from the vertical B, resulting in rotation of the gripper 11 of the arm 10 of the automated robot 2 around the D axis to 380, the holder-16 rotates simultaneously with the electromagnetic head 12 of the E-axis of the shaft 22 at an angle of 90 ° under the force of gravity

In order to provide a programmatic change in the position of the tong 11, there is a rotary actuator 31, an elevator-lower actuator 32 (Fig. 2), and an axial displacement actuator 33. Software control of the robotic complex is carried out by the control system of the robot 2, which is determined by a given work sequence. The longitudinal movement of the support 6 of the machine 1 is carried out by means of a drive 34 of the longitudinal movement (FIG.)

The operation of the complex is carried out as follows.

In the initial position, the workpiece 4 is at an angle equal to the angle of inclination of the electromagnetic head 12 of the gripper 11 on the bed 35 of the accumulator 3, while the electromagnetic head 12 is not yet connected to the network.

At the command of the software control system of the industrial robot 2, the drive 32 is triggered, and the start-up c. J1 drive. The gripper J 3 lowers to the workpiece 4, the electromagnetic head 12 of the gripper 11 is inserted into the network, and the workpiece 4 is gripped by the gripper 11 under the action of electromagnetic forces. Then the gripper 11 lifts the workpiece 4 from the bed 35 of the drive 3, the gripper rotates around the axis D by 180 ( 2}, while simultaneously due to the gravitational forces and the displaced center of gravity. a rotation of it occurs at an angle of 90 about this axis relative to the E axis, resulting in i gripping 11 with the workpiece 4 being mounted on the center line W cartridge 5 machine 1. After

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This command Axial movement using the drive 33, the workpiece 4 of the scope 11 is pressed against the base ends of the cams of the pneumatic chuck 5 of the machine 1, where it is clamped and fixed, while the command Sow power is disconnected from the network electromagnetic head 12, These operations are carried out without stopping machine spindle rotation. Then reach 11 by commands

displacement and reverse rotation returns to its original position (figure 2). Next, the actuator 34 of the longitudinal movement of the caliper 6 of the machine 1 and the workpiece 4 are engaged, clamped in the rotating pytron 5 of the machine 1, o6 is worked by means of the cutters 8 and 9 installed in the tool holder 7.

After the workpiece 4 has been machined, the cutters 8 and 9 are withdrawn to their original position and the chuck 5 of the machine 1 is opened, the workpiece 4 is triggered by a pusher (not shown in the machine bottom, the workpiece follows the cycle of the workpiece.

Claims (2)

Invention Formula A manipulator with a mechanical arm mounted on the caliper is mounted rotatably about a horizontal axis parallel to the axis of the machine spindle, located on a mechanical arm with the possibility of free rotation around its axis of the gripper, the storage of workpieces and the control system, t and l Sch and with the fact that, in order to expand the technological capabilities, the axis of the gripper of the mechanical arm is located on the additionally inserted holder, installed with the possibility of a limited rotation on the fur an animated hand, with the axis of rotation of the holder perpendicular to the axis of rotation the mechanical arm, and the center of gravity of the holder and gripper is offset relative to the vertical plane passing through the axis of rotation of the holder. I 2. The complex according to claim 1, about tl and h ayu yi and the fact that the gripper mechanical rzgki filled with electromagnetic and is equipped with an annular collector, designed to contact 1. A robotic complex, with a brush with a current-carrying brush, is positioned by a lathe located on the holder. ; j Fie.2 2c and П 21