SU1618639A1 - Manipulator - Google Patents

Abstract

The invention relates to mechanical engineering and can be used, for example, in aggregate machines and automatic lines with satellite devices for re-installing parts with an outer surface of a complex configuration. The aim of the invention is the expansion of technological capabilities due to the reorientation of blanks during transportation. The manipulator contains a mechanical arm with, vertical and 4 and 5 horizontal displacement drives and two grippers 10 and 12. The gripper 10 is fixed on the plate 9 mounted on the output shaft of the rotation drive 6, the gripper 12 is mounted on the plate 11 mounted on the output shaft of the rotation drive 7 . Each gripper is provided with clamping elements mounted parallel to one another, perpendicular to the output shaft of the rotational drive 6 and interoperable with each other. In this case, the output shafts of the rotational drives 6 and 7 are mutually perpendicular. 5 il. C PA 05 CO CO Fiv.1

Description

The invention relates to mechanical engineering and can be used, for example, in automatic lines with satellite devices for re-installation of parts having an external surface of a complex configuration, with their relocation to different surfaces.

The purpose of the invention is to expand the technological capabilities by re-installing the part on different base planes.

Figure 1 shows the manipulator, general view; figure 2 - view And in figure 1 $ fig.Z - section BB in figure 1; figure 4 - section bb In figure 2; on figoZ - section GG in figure 1.

The manipulator is designed, for example, to be embedded in a satellite automatic line for re-installation of parts having an outer surface of a complex configuration, over which it is impossible to perform the clamping, and flat ends, from one position of the rotating satellite to another position; located on the opposite vertical face, with the relocation of the part to other surfaces with a change in the angular position of the part c. vertical plane.

The manipulator consists of a base 1, a mechanical arm mounted on it in the form of a lift-portable mechanism 2, including a parallelogram-pantograph mechanism 3 with vertical% drives and a horizontal 5 movement and turn actuators 6 and 7. mounted on a finite link x mechanical arms through the bracket B9 and on the output shafts of these drives turn 6 and 7 are fixed, respectively, plate. 9 with a gripper 10 and a plate 11 with a gripper 12. A gripper 12 is fixed on an output shaft 13 located horizontally, with a turning radius R. And the gripper 10 is fixed on an output shaft 14, located vertically, with a turning radius R / 2, while The pivot axes of the grips 10 and 12 are located in mutually perpendicular planes.

The axes of the grippers 10 and 12 are located horizontally and are displaced in the horizontal and vertical planes at a distance R from each other. In addition, the gripper axes are 10, and 12 are located symmetrically with respect to

the center of rotation of the gripper 10 (the center of rotation of the gripper 10 is selected geometrically).

The grip structure 10 is similar to the grip structure 12 and consists of a welded body 15, inside of which, in the guide sleeves 16, clamping elements are installed, made in the form of skalings 17, terminating with the base fingers 18. The skals 17 are fastened to each other by a t9 bar connected with cylinder 20. On the welded body 15, pivot clamping clamps 21 are mounted (the sticking actuator is not marked) and the base plates are 22 "

The rotational drive of the gripper 10 is also similar to the rotational drive of the gripper 12 and is made in the form of a power cylinder and rack-and-pinion gear, toothed rack 23 and toothed wheel 24 connected to the output shaft 13 (14), to which the plate 11 (9) is attached with a tong. The toothed rack 23 is cut on the stem of the power cylinder 25 with two pistons 26 and adjustable stops 27 installed in the covers 28 of the power cylinder 25. The grips 10 and 12 are positioned so that their base fingers 18 are directed towards each other, placed parallel to each other and perpendicular to the axis of the output shaft 14.

The manipulator works as follows.

The lifting-portable mechanism 2 from the horizontal movement actuator 5 performs horizontal movement to the satellite 29. The gripper 12 clamps the workpiece 30 at the satellite position I, inserting the base fingers 18 into the basic holes of the part 30 half the length of the hole. Sticks 21 - clamp the part to the baseplates 22. Lifting-transfer mechanism 2 moves horizontally from the satellite 29. Parallel to position II of the satellite, the finished part is removed and the satellite rotates 180 °, and position II of the satellite occupies position II at the manipulator. The gripper 12 is rotated with the output shaft: 13 of the actuator 7 is rotated by 90 ° and becomes opposite to the gripper 10.. The fingers 18 of the gripper 10 are also included in the part half of the length of the base hole, and the fingers 18 and the levers of the gripper 12 are retracted, the part is clamped

5 grippers 21 of the gripper 10. The latter rotates 180 ° with the output shaft 14 of the rotation drive 6. The elevation / transfer mechanism 2 descends vertically downward on a stroke equal to R, moving further horizontally, sets the component to position II of the satellite and horizontally moves back. The gripper at 10 is rotated back by 180 °, and the gripper 12 is rotated by 90 °, and the lifting mechanism 2 is raised upwards. The manipulator comes to the starting position. -Detail installed on position II of the satellite on the face of the base plane, opposite it, that was used at position I, and rotated in a vertical plane at 90 °.

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formula of the invention A manipulator containing a base, a mechanical arm mounted on it, two grippers with clamping elements and actuators of rotation of the grippers mounted at the end of the mechanical arm and including output shafts associated with the corresponding grippers the expense of ensuring the reorientation of the blanks in the process of their transportation, the output shafts of the actuators of rotation of the claws are located perpendicular to each other relative to each other, and the clamping elements of the clamps atov arranged parallel to each, other, perpendicular to the axis of one of the output shafts and to cooperate with each other.

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FIG. 2

Type A

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23 25 28

Claims (1)

SUMMARY OF THE INVENTION A manipulator comprising a base, a mechanical arm mounted on it, two grippers with clamping elements, and gripper rotation drives mounted on the end of the mechanical arm and including output shafts ^ associated with respective grippers, characterized in that, in order to expand technological capabilities due to reorientation of the workpieces during their transportation, the output 15 shafts of the gripper turning drives are perpendicular to each other. relative to each other, and the gripping clamping elements Atoms are placed parallel to each other, relative to each other, perpendicular to the 7θ axis of one of the output shafts and with the possibility of interaction with each other. Type A Figure 2 Fi & .Z FIG. 4 Gg Fie 5 Compiled by A. Shiryaev Editor E. Papp Tehred L. Serdyukova Proofreader N. Revskaya Order 17 Draw V Subscription VNIIIPI of the State Committee for Inventions and Discoveries at the State Committee for Science and Technology of the USSR 113035, Moscow, Zh-35, Raushskaya nab., 4/5 Production and Publishing Plant Patent, Uzhhorod, st. Gagarina, 101