SU1618635A1 - Manipulator work-performing member - Google Patents

Abstract

The invention relates to machine building and instrument making, namely, to manipulation, to industrial industrial robots, and can be: used in the automation of technological processes. The aim of the invention is to simplify / construct. The actuator includes a multi-piston power cylinder 1. The implementation of the shafts of the pistons 10 and 12 in the form of hollow plungers with longitudinal holes 25 and 26, which are installed tightly in the cavities of the previous pistons 7 and 10, which have channels for supplying the working fluid, allows the rod to be braked the end of the stroke of each piston due to the overlapping of the channels by the shafts of the pistons. 4 il. §

Description

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The invention relates to the field of machine- and instrument-making, namely, to manipulators of industrial robots, and can be used as the executive body of linear movement.

The purpose of the invention is to simplify the design.

Figure 1 shows the executive body of the manipulator, a longitudinal section; Fig. 2 shows a section A-A in Fig. 1); Fig. 3 shows the inner part of the pistons in Fig. 4 — the left end part of the actuator.

The manipulator actuator includes a multi-piston cylinder 1 with inlets 2-5 for supplying the working fluid, the number of channels corresponding to the number of movable pistons. The power cylinder 1 is provided with a drainage hole 6.. Inside the power cylinder 1, a hollow piston 7 is mounted for movement. Inside it, a rod 8 is mounted for movement. Inside the cavity of the piston 7 is mounted with its shank 9, the hollow piston 10, In the cavity of the piston 10, its shank 11 is equipped with a hollow piston 12; and 14, respectively, pistons 15 and 16. The piston 16 ends with a rod 17, at the end of which a lock element is made to be connected to the target mechanisms of the technological automata. The end part of the power cylinder 1 on the output side of the rod 17 is closed by a nut 18.

.. Pistons 7, 10, 12 and 15 have grooves 19 and longitudinal holes 20 for drainage at the end face. In addition, each

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An embodiment of the executive body in FIG. 4 contains within the working cavity of each of the movable pistons a rusk 40 to reduce the parasitic internal volume, the pistons. The embodiment of the executing organ in FIG. 5 comprises a piston 41 mounted in the axial bore of the rod 8 with the possibility of moving along the axis to the left and away from a separate drive (not shown).

The executive body of the manipulator works as follows.

In the initial position, all the pistons of the power cylinder 1 are in the extreme position under the action of the springs 36-39. The piston 7 with the rod 8 is fixed with screws respectively 29 and 30 in the required position. Depending on the required value of the displacement of the rod 17, the working fluid is fed through a distribution device (not shown) along one of the pipes 31-34 into the appropriate direction. the shank bore 9,11,13 or 14 pistons 10,12,15 or 16.

For example, to ensure minimal movement of the rod 17, the working fluid is supplied through conduit 31 through channel 2 in the power cylinder 1, channel 21 to the piston 7 and opening 25 to the piston 9 of the piston 10. Under the pressure of the working fluid, the piston 10 overcomes the spring force 36, will move to the right until the channel 21 is closed by the shank 9 of the piston 10, providing braking at the end of the stroke of the piston 10. At the same time, moving the latter to the right sets all other pistons 12.15 and 16 in motion, transmitting this movement through

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of these pistons has a channel 21 24, respectively, for supplying a working-45 rod 17 to the appropriate mechanism.

th body in the cavity of the shanks 9,11,. When the worker stops

the body through the pipeline 31 spring 36 brings all the pistons to their original position.

13 and 14, in the walls of which are made longitudinal holes 25 - 28, respectively, the length of a multiple of 2.

Piston 7 in the power cylinder 1 t. is fixed by a screw 29, and the rod 8 is fixed in the piston 7 by a screw 30 The working fluid is supplied through pipelines 31-34, and drainage from the cylinder 1 is retracted through the hole 6 through pipeline 35. The return of the pistons 10,12,15 and 16 is carried out accordingly springs 36 - 39.

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An embodiment of the actuator in FIG. 4 contains within the working cavity of each of the movable pistons a rusk 40 to reduce the parasitic internal volume, i of the pistons. An embodiment of the actuator in FIG. 5 comprises a piston 41 mounted in an axial direction. the hole of the rod 8 can be moved along the axis to the left and away from a separate drive (not shown).

The executive body of the manipulator works as follows.

In the initial position, all the pistons of the power cylinder 1 are in the extreme position under the action of the springs 36-39. The piston 7 with the rod 8 is fixed with screws 29 and 30 respectively in the required position. Depending on the required amount of movement of the rod 17, the working fluid is supplied through a distributor (not shown) through one of the pipes 31-34 to the corresponding depth of the shanks 9,11,13 or 14 pistons 10,12,15 or 16.

For example, to ensure minimal movement of the rod 17, the working fluid is supplied through conduit 31 through channel 2 in the power cylinder 1, channel 21 to the piston 7, and hole 25 to the shank 9 of the piston 10. Under the pressure of the working fluid, the piston 10 overcomes the force of the spring 36 will move to the right until the channel 21 is closed by the shank 9 of the piston 10, providing braking at the end of the stroke of the piston 10. At the same time, moving the latter to the right sets all other pistons 12, 15 and 16 in motion, transmitting this movement through

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. When the worker stops

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body pipe 31 spring 36 leads all pistons to its original position.

To ensure that the amount of movement of the rod 17 is twice as large as when the piston 10 was moved, the working body is fed through conduit 32 through the channel 22 in the piston 10 and the hole 26 in the shank 11 5 of the piston 12. Under the pressure of the working body, overcoming the force of the spring 37. piston 12 moves to the right as a result of the same

the value moves the rod 17. When the pressure of the working fluid supplied through the conduit 32 is removed, the spring 37 brings the pistons to their initial position. Similarly, the executive body works when the working fluid is supplied to other pipelines 33 or 34; it provides movement of the rod 17 each time in steps that are twice as large.

The resulting leaks during the operation of the executive body can flow through the annular grooves 19 and the holes 20 into the pipeline 35 through the drainage hole 6 in the cylinder 1.

By setting the microdisplacement of the piston 41 (Fig. 4), it is possible to provide the same movements to the rod 17 through the same chain of pistons. This is achieved by the fact that movements of the piston 4 t lead to a change in the volume in the left cavity of the piston 10. In this case, a reduction of the movement of the piston 41 and the rod 17 can be achieved by changing the diameter of the piston 41. With small diameters of the piston 41

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This piston stroke will correspond to a smaller stroke 17 and vice versa. Thus, very high positioning accuracy can be achieved.

Claims (1)

Invention Formula A manipulator actuator containing a multi-piston power cylinder, in hollow pistons of which the shafts with dampers are concentrically arranged for braking subsequent pistons, and the control device including the distributor and the main supply channels for the working fluid, characterized by the fact that each piston is made: in the form of a hollow plunger and hermetically installed in the cavity of the previous piston, and an additional channel is respectively made in the walls of each piston and shank and g 25 is a longitudinal hole for supplying the working fluid, while the corresponding channels of the piston and the shank have the possibility of their mutual blocking. 15 20 nineteen 12 x .. S333S3SSSOSS3XZi33SUSXSCa SSsSSSSSSSSSSl SSf T w Figz U Shig4