SU516506A1 - Manipulator for automatic tool change - Google Patents

Description

one

The invention relates to a group of devices intended for the automatic change of a tool, and can be used in program-controlled machine tools.

The manipulator is known, in it the gripping device (arm) is rotated by a torque cylinder (a hydrocylindrom of a rotary action), the rotor of which is connected by means of a sliding tongue by the manipulator shaft, its arm is fixed on its front end, and the back drum is attached to the back end. transverse and longitudinal grooves, moving between fingers and rigidly fixed in the housing of the manipulator, and defining the trajectory of the moved hands in the tool-changing cycle.

The disadvantage of this type of manula tor is the low rigidity of the presence of a long vapa connecting the torque cylinder with a coaxial drum and relatively large inertial masses (massive copier drum), which leads to greater dynamic loads and reduces the speed and reliability of the manipulator.

The proposed manipulator differs from the known one in that the rotation of the hand is carried out by means of two torque cylinders, the outer case of one of which interacting with the shaft of the manipulator is rotatable and rigidly connected with the rotor part of the second moment cylinder.

Such an implementation of the manipulator ensures its high reliability in operation and speed with minimal dynamic loads.

FIG. Figure 1 shows the proposed manual spool for automatic tool change; at 4 "r. 2 - the same, longitudinal section; in fig. 3 is a section along the line A-A in FIG. one; in fig. 4 - work cycles.

The shaft I of the manipulator, on which the arm 2 is attached, is connected to the rotor part (blade) 3 of the first moment shinsdr through a sliding pin 4. The casing of the first torque cylinder consists of a cylindrical part 5 and side flanges 6, which are rigidly connected to each other by bolts. The cylinder body part 5 of the first moment cylinder is the rotor of the second moment cylinder. The second moment cylinder consists of a stationary cylindrical body 7 with two flanges I. On the inner surface of the cylindrical part 7

stops 9 and JO are firmly fixed (fig. 3), which are limiters for turning the rotor (blade) 5. Similarly, the stops 11 and 12, which restrict the rotation of its rotor (blades), are rotated on the cytindrical part 5 of the torque cylinder 3. Oil supply in the moment cylinders and draining it through the side flanges. The translational movement of the arm 2 is ensured by the hydrocylium indrom 13 translational action. As the working medium can be used as oil and air.

To reduce the size of the manipulator in the radial direction, the torque cylinders can be arranged sequentially one after the other on the same axis. In this case, the outer case of the torque shaft interacting with the shaft of the manipulator must be rigidly connected with the rotor part of the second torque cylinder.

The rigidity of the structure is ensured by the fact that the torque is transmitted by the short section of the shaft from the mouth (blades) to the arm, and the absence of a drum in the construction has significantly reduced the inertial masses of the manipulator. The increase in damping is facilitated by the fact that the rotation stops are fixed inside the cidiIdrs and when the blade (rotor) touches the stop there is a thin layer of oil at the point of contact. Applying a constant pressure to the non-working cavities of the cylinders substantially compensates for the forces bending the shafts.

The manipulator cycle is illustrated in FIG. 4, To rotate the arm 90-100 ° C (to grip the tool), oil from the pump is fed into the cavities 14 and 15 (Fig. 4a). The rotor 5 is pressed against the stop 10, and the rotor (blade) 3 together with the shaft 1 is rotated clockwise up to the stop 12 and pressed against it (Fig. 4, b). The pressure in cavity 14 and 15 is maintained. After the tool is gripped in the mazine and the spindle, oil is fed into the hydraulic cylinder of the translational action.

XK The translational movement of the shaft with the hand, during which the tool is removed from the magazine (reloader and spindle). After the end of the translational motion, the oil is fed into the cavity 16 (Fig. 4, b), and the rotor (blades) 5 is rotated clockwise, which rotates the (rotor) blades 3 through the remaining column of oil in the cavity 15 between the blades of both rotors. together with

shaft 1 at 180 °. The rotation occurs up to the stop of the rotor 5 to the stop 9 (Fig. 4, c). After the end of the rotation through 180 °, oil is supplied to the hydraulic cylinder 8 of the translational action and the shaft is moved in the opposite direction, in which the new tool is inserted into the spindle, and the old tool returns to the magazine. After that, the oil is supplied to the cavity 17 (Fig. 4, c), and the pressure in the cavity 16 is maintained and the rotor 3 is rotated 90-100 ° counterclockwise until it stops 11, i.e.

initial position

Due to the difference in the diameters of the rotors 3 and 5 in the first and second torque cylinders, the rotor 5 acts more momentum than the rotor 3.

At the next tool change cycle, all

the movements are repeated only when rotated by 180 ° the rotor 5 will turn in the opposite direction, i.e. counterclockwise.

Claims (1)

Invention Formula thirty Manipulator for automatic tool change in machine tools with a turning mechanism in the form of torque cylinders, characterized in that, in order to ensure reliability of operation and speed under minimal dynamic loads, the outer casing of one of the torque cylinders, interacting with the shaft of the manipulator, is made swivel and rigidly connected to the rotor part of the second torque cylinder. ig.Z U2.