SU1602729A1 - Industrial robot - Google Patents

Abstract

The invention relates to robotics, in particular to robots for transporting products serving metal-cutting equipment. The aim of the invention is to increase productivity by reducing the setting time of the gripping device to a predetermined size of the object to be manipulated. When the worm gear 16 rotates from the worm driven by the rack and pinion gear, the helical gear 9 and the leading sprocket wheel 11 are rotated. When the last sponge rotates, the gripper moves apart by a predetermined size . When the actuator acts on the pusher 8, axial movement of the wheel 9 along the shaft 6 occurs. At the same time, the inclination of the teeth of the wheels 9 and 15, as well as the self-braking of the worm gear, determines the rotation of the gripping jaws by an amount that fixes and transports the part. 5 il.

Description

It also has a control system that, in order to increase productivity by reducing the time to tighten the gripping device by a given size of the object to be manipulated, it is equipped with a rigid support mounted on the column, and the lip transfer mechanism ; gears, each of which is rigidly connected with sponges, a driving gear rigidly mounted on the entrance, and a worm gear is rigidly connected to the drive wheel of a helical gear and installed in the body of the gripping device,

The driven gear is mounted on the input shaft of the sponge movement mechanism coaxially with the driving sprocket wheel, movable in the axial direction and sub-loaded relative to it by the additionally introduced elastic element, and the fixed stop is interconnected with the toothed racks.

Buff in

FIG. g

Fiel

P

75-hz

Yr

FIG. five

Claims (2)

Claim An industrial robot containing a portal mounted on columns, a linear carriage, kinematically unrelated to the portal, and a mechanical arm kinematically connected to the carriage, while a gripping device is mounted on the mechanical arm,]! connected by a mechanism of their movement with a drive, the output shaft of which is kinematically connected with the input shaft of the movement mechanism 1, as well as a control system, characterized in that, in order to increase production due to the reduction of the setup time of the gripping device for a given size j of the manipulation object, it is equipped with a hard stop mounted on the column, and the mechanism for moving the jaws is made in the form of driven gears, each of which is rigidly connected to the jaws of the driving gear wheel, rigidly mounted on the input shaft of this mechanic and forming engagement with the driven gears, the helical gear transmission of the double gear-rack transmission, two rails of which are installed in the housing of the gripping device They can be moved with it and form a gearing with one gear of this gear, as well as a self-braking worm gear, the worm of which is mounted movably in the housing of the gripping device and is rigidly connected to the gear wheel of a double gear: the rack and pinion gear, and the worm wheel is rigidly connected with a helical gear drive wheel and installed in the housing of the gripping device, while 0 driven gear is mounted on the input shaft of the sponge movement mechanism coaxially with the drive straight ozubym wheel movably axially and resiliently relative to AR5 it additionally inserted an elastic element and a fixed stop is interconnected with the racks. Aa FIG. 2 view in FIG. 4