SU1505774A1 - Industrial robot - Google Patents

Abstract

The invention relates to mechanical engineering and can be used for the mechanization of loading and unloading operations for the transportation and storage of goods. The purpose of the invention is the expansion of technological capabilities due to the provision of control efforts to push the object to the installation plane. By moving the trolley 1 along the monorail 2, the arm 3, made in the form of telescopic sections, is brought into the work area. The output section of the manipulator goes down and moves down the gripping device 18, which opens and clamps the object. After the object is transported to the storage place and installed on the pallet, the control system generates a signal for a momentary lifting of the gripping device, and then for moving the trolley up to the stop of the object in the vertical wall of the pallet. At the same time, the carriage 12, mounted in the guides 11 of the output section of the manipulator, stops, and the trolley, while continuing to move along the monorail, stretches the elastic element 17, one end of which is fixed to the carriage 12, and the other end to the output section of the manipulator. The operation of the sensor 25 means the achievement of the required installation effort of the object, which provides the necessary packing density. After opening the gripping device, the manipulator is moved to its original position. 5 il.

Description

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I The invention relates to the field of engineering and can be used for the mechanization of loading and unloading operations for transportation and warehousing of goods.

se A sensor 23 is installed on the carriage 12 in order to monitor the flatness of loading of the load, interacting with the flag 24. To stop the drive of horizontal movement and control the pressing force

I The purpose of the invention is to expand the technicians on the bracket 8 to set the data capabilities due to the driver 25. The track sensor 26 is also mounted on the monorail. All sensors are connected to the robot control system.

Industrial robot works as follows.

As soon as the load, for example, steam shchikov, comes under the gripping device, a photocell mounted on the roller table.

liver control efforts preload object U installation plane.

FIG. 1 shows the industrial profile, general view; in fig. 2 is a view A of FIG. one; in fig. 3 shows a section BB in FIG. 2; l FIG. 4 shows a section B-B in FIG. 3; in fig. 5 is a section of YYD in FIG. 1. I Industrial robot consists of a cart (and 1, which can be used to send a signal to a control system using a standard telfer. Mechanism of a robot. At the same time, the cable of the cart 1 moves down with the help of the drive wheels to move down the cart along the monorail 2. The presence of grooves 5 and 9 gives a possible roller conveyor to the pallet. The mechanism removes backlash in the kinematic

1ISM lifting, winding the cable on the rise-pairs. Simultaneously scrolls down

The first drum moves the manipulator 3, 2 of the gripping device mounted on a telescopic slide carriage 12 mounted on the guides 11 of the output link of the manipulator. The gripping device clamps the object (s). The lifting mechanism is activated. how

| oi The telescopic sections of the manipulator are movably mounted relative to the Circle with 1 cu, 1 rollers 4, one pair

| which is installed in the slots 5, and one - tg only the gripping device rises

on the racks 6 installed on the pedestal, as well as using the rollers 7 mounted on the bracket 8, the output section of the manipulator, and one pair of rollers 7 is installed in the slots 9. All

in the upper position, the sensor 21 is triggered. The trolley moves along the monorail 2 in the direction of the pallet. The sensor 22 stops the cart and barks a signal to lower the gripping device 18. How

the rollers are made profiled with yg-30 only a gripping device 18 with a wedge profile of 90 °. Between the pairs, the roles are lowered to the level of the pallet, on the basis of the JKOB 4 and 7, an intermediate sensor 23 is placed from the flag 24,

section 10 of the manipulator with the gripping direction fixed on the moving part. At the output link manipulated the toral device. In this case, the gripping mechanisms of the gripping device 11 are not opened, the gripping device is controlled by a gripping device, and the carriage 12 is attached to the short-spanner, the carriage 12 is equipped with this lifting gear, and then the four pairs of rollers are installed. two parking trolley on monorail 2 to

| ry rollers are profiled on the outer seal in the vertical wall of the pallet,

surface. A pair of lower rollers 13 bolster. In this case, the carriage 12 stops,

{installed in the slots 14. Two other pairs and the cart continues to move along

the rollers 15 are made smooth, with the inapa of the lower rollers 15 being set in the pa; ax 16. Parallel to the guide And the elastic element 17 is installed, made in the form of a pair of adjustable springs,

monorail, which leads to stretching of the elastic element, made in the form of springs 17, since one end is fixed on the carriage 12, and the other end on the end of the crown of the output section of the manipulator, the end of which is fixed on the slide carriage. Spring tensioning provides

ke 12 and the other on the output section of the manipulator. On the carriage 12, a gripping device 18, made in the form of an automatic tick-borne gripper, is installed, fixed to the wall of the pallet with the fixed wall of the drawers. At the same time, the sensor 25 is triggered and gives a signal for the trolley stop. The gripping device 18 is lowered, deployed, left on the pallet. After

; by the possibility of gripping the load in the plane, 50 of this manipulator is mixed in the outcome — the center of the movement direction is the whole position and continues to perform: the trolley. To determine the opening moment of the gripper, sensor 19 is attached to the carriage 12 and interacting with the flag 20,; located on the moving part of the gripper; device. To stop the gripper 55: a device 21 is fastened in the uppermost position of the racks 6 to a sensor 21. The traveling sensor 22 is fixed to a monorelloperacine.

Thus, setting the elastic element to a certain force, together with the sensor 25, provides control of the force during installation of the object, which increases the reliability of transportation and storage of the cargo.

se A sensor 23 is installed on the carriage 12 in order to monitor the flatness of loading of the load, interacting with the flag 24. To stop the drive of horizontal movement and control the pressing force

 The sensor 25 is mounted on the bracket 8. The track sensor 26, also an industrial robot, works as follows.

As soon as the load, for example, steam shchikov, comes under the gripping device, a photocell mounted on the roller table.

 sends a signal to the robot control system. At the same time, the cable of the trolley 1 is lowered to the upper position, the sensor 21 is activated. The trolley moves along the monorail 2 towards the pallet. The sensor 22 stops the cart and barks a signal to lower the gripping device 18. How

 only the gripping device 18 from the picker rail, which leads to stretching of the elastic element made in the form of springs 17, since one end of it is fixed on the carriage 12 and the other end is mounted on the end wall of the output section of the drawers to the stop wall of the pallet. At the same time, the sensor 25 is triggered and gives a signal for the trolley stop. The gripping device 18 is lowered, deployed, left on the pallet. After

This manipulator shifts to its original position and continues to perform

operatsin.

Thus, setting the elastic element to a certain force, together with the sensor 25, provides control of the force during installation of the object, which increases the reliability of transportation and storage of the cargo.

Claims (1)

Invention Formula An industrial robot containing a base with a monorail, a trolley with a drive mounted on a monorail and having guides, a manipulator with a drive made in the form of telescopic sections, the entrance section of which is installed in the guides of the trolley, and the output is kinematically connected with a gripper, as well as sensors connected to a control system, characterized in that, in order to expand technological capabilities by providing To control the force of the object against the installation plane, it is equipped with a carriage and an elastic element, and guides parallel to the monorail are additionally made at the output section of the manipulator, the gripping device being rigidly mounted on the carriage perpendicular to the guides of this section, and the elastic element being rigidly connected ends respectively with the carriage and with the output section of the manipulator, while the sensor is rigidly mounted on the carriage and interacts with the output section of the manipulator. 5 Sriga 15 13 lit 15 eleven sixteen