SU1484724A1 - Industrial robot - Google Patents

Description

The invention relates to mechanical engineering, in particular to industrial robots and manipulators. The purpose of the invention is to improve the accuracy of positioning by eliminating the influence of gaps in the kinematic chains. To advance the gripper 10, actuators 11 and 12 are activated, rigidly mounted on the output link 5 of the manipulator. While the kinematically associated drums 13 and 14, on the working surfaces of which the teeth are made, rotate in the same direction clockwise with the same rotational speed. The flexible element, made in the form of a tape 7 with holes evenly spaced along its length, due to the interaction of these holes with the teeth of the working surfaces of the drums moves progressively to the right. To rotate the gripping device 10, which is rigidly fixed on the belt 7, the drives 11 and 12 are turned on so that the drums 13 and 1 ^ turn in opposite directions. 5 il.

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The invention relates to industrio

robots and manipulators designed to work with small parts and products, and can be widely used in mechanical engineering.

The purpose of the invention is to improve the accuracy of positioning by eliminating the influence of gaps in the kinematic chains.

Fig, 1 shows an industrial robot; in fig. 2 is a diagram of the work of the extension mechanism; in fig. 3 - diagram of the operation of the rotation mechanism; on Fig.4section aa on fig, 1; in fig. 5 view B in FIG. four.

Industrial robot contains fixed base 1, input link

2 (turntable), turn actuator (not shown), power cylinder

3 drive lift. To the rod 4 of the power cylinder 3 fixed output link 5, containing the guides 6, in which is placed an elastic flexible tape 7, having a curved profile in cross section (Fig. 4). The elastic flexible tape 7 is perforated with holes 8. The ends of the elastic perforated tape 7 are rolled into rolls 9, and the gripping device 10 is attached to the bend. To the link 5 there are fixed drives 11 and 12 rotations, on the shafts of which are gear drums 13 and 14, with drum teeth 13 are included

into engagement with the perforation holes of the upper branch of the tape 7.

Industrial robot works as follows.

To advance the gripping device, actuators 11 and 12 are activated so that toothed drums 13 and 14 rotate in the same direction clockwise with the same rotational speed (Fig. 2), while both branches of the perforated flexible tape 7 move to the right with the same speed, and gripper moves progressively to the right.

To return to the initial position, the reverse of the 11th 12 drives is turned on, the gear drums 13 and 14 rotate counterclockwise (Fig. 2), while both branches of the perforated flexible tape 7 together with the gripping device 10 are moved to the left.

To rotate the gripper clockwise (Fig. 3), the actuators 12 and 11 are activated so that the drum 13 rotates clockwise and the drum 14 rotates counterclockwise .. The upper branch of the tape moves to the right and the lower branch to the left, and the gripper 10 together with the perforated belt 7 rotates clockwise. To rotate the tong 10 counterclockwise (FIG. 3), the reverse of the drives 11 and 12 is activated.

Claims (1)

Claim Industrial robot containing a base, a manipulator, the input link of which is pivotally mounted on the base, and the output is kinematically connected with a gripping device, drives rigidly mounted on the links of the manipulator, and a flexible element, characterized in that, in order to improve positioning accuracy by eliminating the effects of gaps in the kinematic chains, it is equipped with two drums, hinged on the output link of the manipulator, kinematically connected with the drives and having teeth on their working surfaces remains, and the flexible element is made in the form of a tape, having a curved cross-section, the length of which evenly spaced holes interacting with the teeth of the working surfaces of the drums, while the gripping device is rigidly fixed on the tape. 1484724 14 11 FIG. 2 FIG. 3 A'A View 5 M & ⁷ >. □ □ FIG. 4 figure 5