SU1440711A1 - Actuating mechanism of industrial robot - Google Patents

Abstract

The invention relates to mechanical engineering and is intended for use in industrial robots used for carrying out hoisting, assembly, assembly and technological operations, as well as in remote manipulators, working them in radioactive radiation zones, in space. The aim of the invention is to expand the technological capabilities by providing a vrash, eni detail in the grip. The housing 1 contains drums 2 and additional drums 3 associated with individual drives. On the drums 2, an elastic strip 6 is fixed with its ends, which, passing through the guide mechanism 7 and the guide sleeve 8, forms an extension 9 and a loop 10. The guide sleeve 8 is connected with a flexible pull 11 extending on both sides of the extension 9 and covering the loop 10. The ends of the flexible cable 11 are connected with additional drums 3. 6 Il.

Description

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The invention relates to mechanical engineering and is intended for use in industrial robots used for carrying out hoisting, assembly, assembly and technological operations, as well as in remote manipulators, working them in radioactive radiation zones, in space.

The purpose of the invention is the expansion of technological capabilities by ensuring the rotation of the part in the grip.

FIG. 1 shows the executive body of an industrial robot, general view; in fig. 2 shows section A-A in FIG. one; in fig. 3 is a section BB in FIG. 2; in fig. 4 is a diagram of the executive body of the industrial robot when extending the extension; in fig. 5 - the same, when capturing parts; in fig. 6 - the same, while rotating the part.

The actuator of the industrial robot contains a housing 1, inside of which are placed the drums 2 and the additional drums 3 connected to individual drives 4 and 5, for example electric motors. On the drums 2, the tape 6 is fixed with its ends, for example, steel. The elastic belt 6, the passage through the guide mechanism 7 fixed to the body and the guide sleeve 8, deforms into a trough-like shape and forms an extension 9 in the section between the guide mechanism 7 and the guide sleeve 8 the hub 8 is a loop 10. The guide bushing 8 is connected with the flexible pull 11, passing along both sides of the extension 9 and covering the loop 10. The ends of the flexible pull are connected with the additional drums 3.

The guide mechanism 7 and the guide sleeve 8 are made of a material. with small friction coefficient, for example, from fluoroplastic. The executive body is located on industrial robot 12

The executive body of the industrial robot works as follows.

In the initial state, the elastic belt 6 is wound on the drums 2, the loop 10 is located near the housing 1, and the flexible pipe 11 is wound on the drums 3. When the drums 2 rotate from the drives 4, the elastic belt 6 winds up and is pushed out of the housing 1, passing through the guide mechanism 7 to form an extension 9. The loop 10 is thus extended on the extension 9 to the desired length and positioned above the part. Then the industrial robot 12 lowers the entire executive body. The loop 10 is put on the part.

The drums 3 come into operation with the ends of the flexible rod 11 fixed on them.

One end of the flexible rod 11 is wound from the drum 3, the other end is wound on the drum 3, thereby moving the guide sleeve 8 and tightening the loop 10.

In this case, the drums 2 are inhibited. The part is closed by the loop 10. The executive body with the clamped part can be moved in space with simultaneous removal or approach of the loop 10 with the part to the body 1 by simultaneous

winding or winding the elastic band 6 and the flexible rod 11 onto the drums 2 and 3.

The part can also be rotated by winding one end of the elastic band 6 and winding its other end onto the drums 2 while the drums 3 are stalled. After setting the part to the desired position and turning it, loop 10 releases the part by winding one end of the flexible rod 11 and winding the other end. end on drums 3 by moving

a guide bushing 8 to the housing 1. With the industrial robot 12, the actuator rises above the part. By simultaneously winding the elastic band 6 and the flexible rod 11 onto the drums 2 and 3, loop 10 assumes the initial position of the body 1. In the proposed executive body, the flexible tape is simultaneously an extension, a gripper and a drive mechanism, which simplifies the design - instead of a multi-link system of levers

elastic element. In the initial state, the executive body has small dimensions. The extension of the extension, the gripping of the part and its rotation are carried out by the drives installed in the housing, which greatly facilitates the moving part of the actuator.

a body that allows manipulation of objects of various shapes.

Claims (1)

Invention Formula The executive body of an industrial robot, comprising a case, drums with individual drives installed in it, a guide mechanism fixed to the case, and an elastic band passing through the guide mechanism and the guide sleeve forming the loop and its ends are rigidly connected corresponding drums, characterized by the fact that, in order to expand technological capabilities by providing a rotating part in the gripper, it is equipped with two additional drums with individual drives and flexible a y, covering an elastic band connected at its ends with additional drums and rigidly connected with a guide bushing. BUT L, UB rjv M ( / 2 t; with .g . / ipife .5 yg H Fie.6