SU1542791A2 - Manipulator - Google Patents

Abstract

The invention relates to mechanical engineering, in particular to balanced manipulators, and can be used in the mechanization of loading and unloading products. The aim of the invention is to increase the safety of the operator when changing working bodies of different mass, by eliminating the spontaneous command to turn on the power cylinder from the mass of the gripping body. The force from the mass of the gripping body 26 fixed to the movable part 16 is compensated by the elastic element 27. The axial force developed by it is adjusted by the screw 29. In this case, the balance lever 25 does not turn and does not press on the element 24 interacting with the sensitive device 23, producing a signal on compressed air supply to the power cylinder for raising the boom arm. 5 il.

Description

lindr 5, main counterweight 6. Dopol-25 articulated arm-manipulator system

The supporting counterweight 7 is mounted on the free end of the lever 8 connected to the support hinge 9 of the cargo boom 4 placed in the vertical groove 3.

in the vertical plane carried out by adding removable elements 12 to the counterweight 7. At the yoke 13, the force from the weight of the gripping organ 26

The lever 8 is fixed to the roller 10, which through the movable part 16 is transmitted

to the balancing lever 25 and through the spring-loaded element 24 to the sensitive device 23, in which a pneumatic signal is formed, corresponding to the mass of the gripping body 26. In the membrane device 33 this signal is amplified into the power cylinder 5, a portion is supplied from the power source 32 compressed air. Since the manipulator is balanced, the power cylinder 5 will tend to move the bearing pivot 9 of the cargo boom 4 to the upper position of the vertical groove 3 of the pillar 2. The screw 29 adjusts the gain

It is mounted on a horizontal rail 11, fixed to HI rack 2. An additional counterweight, is filled with a dial-up with removable elemo-elgs 12.

Traverse 13, suspended on the arm 14S of the mounted ng1 end of the boom 4, comprises a non-rotary part 15, a movable 16 and a rotary 17. On the non-rotary part 15, an axle 18 is fixed on the floor, on which a rotary part 17 is mounted in bearings 19 Zana with swivel

to the balancing lever 25 and through the spring-loaded element 24 to the sensitive device 23, in which a pneumatic signal is formed corresponding to the mass of the gripping body 26. In the membrane device 33 this signal is amplified into the power cylinder 5, a portion is supplied from the power source 32 compressed air. Since the manipulator is balanced, the power cylinder 5 will tend to move the support hinge 9 of the cargo boom 4 to the upper position of the vertical groove 3 of the pillar 2. The screw 29 adjusts the force

part 17 by means of the rack 205 with one end of the spring 27, which is rigidly fixed to 5, at the compression of the spring, thereby the joint part 16, and the hinge force Ppr

but connected to the horizontal lever 21. The rack 20 is provided with a guide roller 22 placed in the vertical groove of the rotary part. The sensing device 23 is installed in the non-rotary part 15. The spring-loaded element 24 is placed inside the hollow axis 18 and with one end in contact with the sensitive device 23, and the other - through the balancer arm 25 - with the Movable part 16, on which the Pitts gripping body 26. The elastic element in the form of a spring 27 is installed between the gripping body. This relieves the pneumatic signal coming from the sensing device 23. Regulating the compression of the spring 27 is adjusted until the spontaneous upward movement of the boom 4 stops spontaneously. When the load is seized, the load force is equal to Р Ргр +

F

55

 R,

Gr Pr, where Pgp is the weight of the load, is delivered to the balancing lever 25. With this force Pgp P is compensated by the force of the spring 27, and the force Pgp is transferred to the sensitive device 23. AT

in the vertical plane, this is accomplished by adding removable elements 12 to the counterweight 7. At the yoke 13, the force of the weight of the gripping member 26

Through the movable part 16 is transmitted

to the balancing lever 25 and through the spring-loaded element 24 to the sensitive device 23, in which a pneumatic signal is formed corresponding to the mass of the gripping body 26. In the membrane device 33 this signal is amplified into the power cylinder 5, a portion of compressed air is supplied from the power source 32. Since the manipulator is balanced, the power cylinder 5 will tend to move the bearing pivot 9 of the cargo boom 4 to the upper position of the vertical groove 3 of the pillar 2. The screw 29 adjusts the force

compressing the spring 27, thereby compensating the force Ррр prot forces t

compressing the spring 27, thereby compensating the force Ррр prot forces t

STI gripping body. At the same time, the pneumatic signal is removed from the sensing device 23. The compression of the spring 27 is adjusted until the spontaneous movement of the boom 4 stops spontaneously. When the load is seized, the load force is equal to Р Ргр +

F

 R,

Gr Pr, where Pgp is the weight of the load, is transferred to the balancing lever 25. In this case, Pgp P is compensated by the force of the spring 27, and Pgp is transferred to the sensitive device 23. AT

15

The pneumatic signal is generated to the sensitive device 23, corresponding to the mass of the lifted load. This ensures the balancing of the load by supplying a portion of compressed air to the power cylinder 5. The movable part 16 of the beam 13 under the action of the force of gravity of the gripping body 26 and the load moves vertically, which is provided by the roller 22 placed in the groove of the rotary part 17. Bearings 19 provide endless rotation the rotary part 17 with respect to the non-rotary part 15 of the traverse 13 suspended on the arm 14. With frequent changes in the load-handling devices 26 with an insignificant amount of 15-20%, differing in weight, it is advisable to dit setting the elastic element in the form of a spring 27 and an additional counterweight 7 on the force of gravity having the smallest weight lifting devices. In this case, the difference in the force of gravity between the load gripping device, on the mass of which the manipulator is set up, and the load gripping device 26 mounted on the manipulator, will be

1542791

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perceived by the sensing device 23 as a force from the load, which is balanced by the pressure in the power cylinder 5.

The use of the elastic element 27 allows the air pressure in the power cylinder 5 to be used only for lifting the load and, due to this, to reduce the energy capacity of the manipulator. In manipulators, with a lifting capacity of 160 kg, for example, the energy intensity will be reduced by 15-30%.

acquisitions

Manipulator tor on avt.S.№ 1178584,

characterized in that, in order to increase operator safety when changing gripping bodies of different mass, by eliminating spontaneous input from the mass of gripping bodies of commands to turn on the power cylinder, the balance lever is additionally spring-loaded with adjustable force relative to the turning part of the crosshead.

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Fig. $

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FIG. five

Claims (1)

Claim The manipulator according to autosw.No 1178584, characterized in that, in order to increase the safety of the operator when changing gripping bodies having different masses, by eliminating the spontaneous receipt of commands from the mass of gripping bodies to turn on the power cylinder, the balancing lever is additionally spring loaded with adjustable effort relative to the rotary part of the traverse.