SU1549745A1 - Manipulator - Google Patents

Abstract

The invention relates to mechanical engineering, in particular to industrial robots for automatic loading of machine tools. The aim of the invention is to expand the technological capabilities of the manipulator by enabling it to be used on industrial numerical control robots, where the movement of the operating elements of the manipulator is carried out at strictly programmed points. This is achieved by loading the workpieces with the help of a manipulator with a cyclic control system into the machine chuck by its mechanical arm 4 with a gripping device 5. The grippers are installed with the possibility of displacement along the machine axis by means of a displacement mechanism in the form of spring loaded plungers, the stroke of which is limited by stoppers and the maximum possible width deviation of the workpieces, provides compensation for deviations of the dimensions of the workpiece without changing the control program of the manipulator. 5 il.

Description

The invention relates to machine building, in particular to industrial circuits for the automatic loading of metal-cutting machine tools.

The purpose of the invention is the expansion of technological capabilities through the use of industrial numerical control robots in industrial robots, where the movement of the working elements of the manipulator is carried out at strictly programmed points. 20

FIG. 1 shows the manipulator, general view; in fig. 2 - the moment of transfer of the workpiece from the grip to the machine chuck; in fig. 3 is a two-position gripper, general view on 25 of FIG. 4 — node I in FIG. 3; FIG. 5 is a view A of FIG. 3

The manipulator contains a base 1 in the form of a portal with the main guides 2, on which the carriage of the gate 3 with the Mechanical arm 4 (Fig. 1) is installed, which can be extended. At the end of the mechanical arm 1, a two-position gripping device 5 is installed with the possibility of rotation around a 35 axis of the mechanical arm 4 through 180 °. The gripping device 5 consists of a body 6, rigidly connected with a rotary flange 7 placed on a mechanical arm 4, a plug 8 mounted on additional guides 9 made on the body 6, two grips placed on a fork 8, and a mechanism displacement. Each of the two grippers is made in the form of a pair of symmetrically located clamping jaws 10 and is mounted on a fork 8 with the possibility of a free or spring-loaded swing on the pins 11 (Fig. 3) located on an axis perpendicular to the axis. symmetry of the clamping jaws 10, as well as with the possibility of displacement in the direction transverse to the axis of the mechanical arm 4 and coinciding with the direction of movement of the carriage 3. The displacement mechanism is 55

It consists of two spring-loaded plunger (ditch 12 with grooves placed on the plug 8, limiters 13 mounted on the housing 6 at the ends of an additional 0

50

five

about 5 about 5.

five

body guides 9, and stoppers 14. And the ends of the latter are placed in the grooves of spring-loaded plungers 12.

The swing angle (Fig. 2) of the grippers takes into account the maximum possible angle of non-parallelism of the ends of the workpiece 15, and the offset of the grippers - the maximum possible deviation of the workpiece across the width. In order for the force of action of the grippers on the workpiece 15 to be concentrated on the axis of the workpiece, the base edge 16 with the arrangement along the axis of the gripper is made on the end surface of the loading (unloading) gripper.

The movements of the carriage 3, the mechanical arm 4 and the rotation of the gripping device 5 are carried out from the respective drives (not shown). At the same time, at a minimum, the drive of the carriage 3 is a CNC drive and operates in tracking mode.

The manipulator works as follows.

After the manipulator with the next workpiece 15 clamped in one of the grippers, taken previously from the storage device, comes to the working area of the machines by moving the mechanical arm 4 down, the grips are mounted on the axis of the machine centers. Next, the second (free) gripper removes the machined part 17 from the chuck 18 of the machine, after which the grippers are rotated 180 °, and the workpiece 15 is located opposite the chuck 18.

Then, by moving the carriage 3, the workpiece is introduced into the chuck-18. In this case, the movement of the carriage 3 is programmed to an amount that overlaps the minimum possible width of the workpiece, as a result of which the grips are displaced and the springs 19 of spring-loaded plungers 12 are activated.

After the carriage 3 stops at the programmed point, the workpiece 15 is opened in the grip, and the grippers, under the action of the springs 19, interact with the base edge 16 with the end face of the workpiece 15, rotate around the swing axis and} self-aligning along this end, ensure that the other end of the workpiece 15 fits tightly end base surfaces of the chuck 18. After that, centering and clamping of the workpiece 15 with the chuck of the chuck 18 occurs, and the mechanical arm 4 with the previously machined part 17 leaves the working area of the machine.

Claims (1)

Claims of the invention A manipulator comprising a base with main guides, a carriage placed on the main guides, a mechanical arm mounted on a carriage with the possibility of extension and a carrier gripping device having a body, a fork and clamps fixed on a fork on an axis perpendicular to the longitudinal the axis of the fork, characterized in that, in order to expand technological capabilities through the use of industrial robots with numerical control, it is equipped with additional guides, bubbled on the housing parallel to the gripper axis alignment grippers, and biasing mechanism made in the form of spring loaded plungers with slots arranged on a fork claw detents and stops, moreover, the stops are mounted on the body along the ends of the additional guides, and the spring-loaded plunger is installed with the possibility of interaction with the stop, while 0 stoppers are mounted on the plug and their ends are placed in the slots of spring-loaded plungers. {40 Pus.2 WEA 6 13