SU1648888A1 - Method of replacing the grips of self-balancing manipulator - Google Patents

Abstract

The invention relates to the mechanization of loading and unloading. The aim of the invention is to increase Productivity, safety and ease of maintenance. In the initial state, the load gripping device 11 is connected to the traverse of the manipulator 11. Before replacing the load gripping device 11, a regular weight 8 is suspended on the auxiliary gripper 7. I will act on the handle. 4, move the yoke 5 to the place of detachment of the lifting device 11 and place it on a supporting surface. With this, the nominal load 8 remains freely suspended. Then, the screw unlocks the load gripping device 11. By acting on the handle 4, the traverse 5 is retracted from the disconnected load-gripping device 11. The manipulator remains balanced, as the regular weight 8 balances the additional counterweight 18. Next, move the traverse 5 to the connection point another lifting device 11, which is connected and fixed with a screw. At the same time, the regular load 8 remains freely suspended. After that, the traverse 5 is moved to the place where the regular load 8 is removed, it is placed on the supporting surface and the traverse 5 is retracted from the removed regular load 8. The manipulator is ready for operation with the newly connected load-lifting device 11. 12 Il. Ј (/)% 00 00 00 100

Description

The invention relates to the mechanization of loading and unloading operations and is intended for use in the replacement of load handling devices with self-balancing manipulators.

The purpose of the invention is to increase productivity, safety and ease of maintenance.

FIG. 1 depicts a balanced manipulator; in fig. 2 — node 1 in FIG. one; a section, in FIG. 3 is a view A of FIG. 2; in fig. 4 is a pneumatic manipulator control circuit; FIG. 5 is a diagram of the forces acting on the j manipulator; in fig. 6 - the initial position, - in FIG. 7 - manipulator, the capture of regular cargo; in fig. 8 - the same, exemption from

of the gripping device, FIG. 9 - the same, after removing the lifting device; in fig. 10 the same, fastening of the new lifting device; figure 11 - release of the manipulator of the torus from the regular cargo; 0 12 - manipulator with a new lifting device.

The self-guiding manipulator contains a cargo arrow 1 connected to the power cylinder 2 and mounted on a rack 3 (Fig. 1). On the boom 1, a handle 4 is fixed, at the end of which a yoke 5 is suspended, having a movable part 6 with an auxiliary gripper 7 located on it for a regular load 8 and a seat 9 equipped with a screw 10. A screw 10 serves to fix the lifting device 11 in place 9 ( Fig. 2, 3). Sensing device 12 is located on traverse 5. The spring-loaded element 13 is in contact with sensing device 12 at one end, and the balance element 14 with movable part 6 at the other end. Spring 15 at one end abuts against balance lever 14 and the other at screw 16. At the opposite end the end of the boom 1 is fixed to the main counterweight 17 Additional counterweight 18 is mounted on the free end of the lever 19, having a roller 20 (Fig. 1). A membrane device 22, pneumatically connected to the power cylinder 2 and the atmosphere, and a sensing device 12, pneumatically connected to the membrane device 22 and the atmosphere (Fig. 4) are connected to the power source 21.

In order to balance the boom system together with the lifting device 11, the following requirements must be met (Fig. 5).

The strength of the body of the boom system G due to the force of gravity Р „p main

"

the counterweight 17 is reduced to the total force Gup, the point of application of which is on the diagonal a. This force is balanced by the reaction of R and the force of P. 1 created by the additional counterweight 18.

The required magnitude of the force P is determined by the formula

, (c / d + 1),

P g

ER

Strength of seals RGP. The load gripping device 11 is balanced by the force P created by the additional counterweight 18. The necessary magnitude of the force PЈ is determined by the formula

(b / d + 1).

Pi

gr.pr.

ten

Need for strength of body weight additional counterweight to balance the boom system

page |

P ... - P

i, / i

H.

Add. pp.

The required amount of gravity of the additional counterweight to balance the lifting device

20

 gr.pr. by,

-pi-vv

The total value of the power of tinplate additional counterweight

 R

page

+ p

gr.pr

d.op. dsapr dor.provichina compensating spring force 15

V

- gr.pr

f

eight

35

40

55

A self-leveling manipulator, on which: replace the lifting device, operates as follows.

In the initial position, a load gripping device 11 is installed on the manipulator. The main counterweight 17, mounted on the boom 1, partially balances the boom system, providing a balance in the horizontal plane. Full balancing boom system together

45 with the load gripping device 11 is carried out by means of an additional counterweight 18. The moment from the forces P / and P relative to the axis of the roller 20 is balanced by an additional

50 counterweight 18 acting on

two shoulders lever 19.

I

When loading the load gripping device 11, the loading force is equal to

Р Р

+ P,

gr rf, etc .; Through the position 9 of the movable part 6 is transmitted to the balancing lever 14. With this force P Gr Gr, the corresponding mass of the load gripping device 11 is compensated by the force of the spring 15, the compression ratio of which is regulated by the screw 16. And force is transmitted to the sensitive device 12 through the spring-loaded element 13 the weight of the lifted load; In the sensitive device 12, a pneumatic signal is formed corresponding to the weight of the lifted load and enters the membrane device 22.

In the power cylinder 2, mounted on a rack 3, a portion of compressed air is supplied from the power source 21 to balance the weight of the load. To move the load up, the balance lever 14 is turned operator up. At the same time, a portion of compressed air is supplied to the power cylinder 2 from the power source 21 through the sensing device 12 and the membrane device 22, which provides lifting of the load. The load lifted above the floor and, therefore, balanced by the pressure in the cylinder 2, is moved horizontally by the operator manually by acting on the handle 4. To move the load down the operator briefly release air (turning the balance lever 14 down) reduces the pressure in the cylinder 2 When unloading the manipulator sets the load on the supporting surface and, by turning the balance lever 14 down, releases air from the power cylinder 2, then releases the load from the lifting device 11 "

I

With a frequent change of load

devices 11, the compensating force of the spring 15 and the mass of the additional counterweight 18 correspond to the mass of the smallest of the replaceable load gripping devices 11, and the difference in mass between the load-gripping device to which the manipulator is set and the newly mounted device will be perceived by the sensitive device 12 as a force from the load, which is balanced by pressure in the power cylinder e 2.

Ii

The method for replacing the load gripping devices with a self-balancing manipulator is as follows.

0

five

0

five

In the initial state, the load gripping device 11 is connected to the traverse of the manipulator (Fig. 6). Before replacing the lifting device - | Neither 11 is suspended on the auxiliary gripper 7 by the regular load 8 (Fig. 7). By acting on the handle 4, the yoke 5 is moved to the place of detachment of the load gripping device 11, the load gripping device 11 is placed on the supporting surface. While the regular load 8 remains freely suspended (Fig. 8). Then, the screw 10 unlocks the load gripping device 11 (Fig. 3) at the location 9 and, acting on the handle 4, retracts the yoke 5 from the disconnected load gripping device 11 (Fig. 9). In this case, the manipulator remains balanced, since the regular load 8 balances the force P created by the additional counterweight 18. Then move the yoke 5 to the point of connection of the other lifting device 11 located on the supporting surface. The lifting device is attached and fixed by the screw 10 in place 9. At the same time, the regular load 8 remains freely suspended (Fig. 10). After that, the traverse 5 is moved to the place of removal (storage) of the regular load 8, the regular load 8 is placed on the supporting surface and. traverse 5 is retracted from the addition of regular load 8 (Fig. 11). The manipulator is ready to work with the newly connected lifting device 11 0 (Fig. 12).

Claims (1)

Invention Formula The way to replace the load gripping devices self-balancing j of the manipulator, which consists in disconnecting one lifting device from the traverse of the manipulator, connecting the other lifting device to the traverse 0 all manipulator, characterized by the fact that, in order to increase productivity, safety and ease of maintenance, the operation of disconnecting and connecting the EZZOZAKVATNYYH devices are produced in the presence of a regular load on a traverse arm with a mass not less than the mass of a replaceable lifting device ,, 0 five 19 18 Vida b- .. | .j I | ) i i1 ii Figz R FIG. five gr.pr. W 77I B  V4 0 / 3 / 3 // //// 77 ///////////// Put.3 (rm / # / 7 i I tq U I Phage. -12 - ////////////// ft ///// U2.J / // //////////// Fig. //