SU848349A1 - Industrial robot - Google Patents

Description

one

The invention relates to mechanical engineering, in particular to advanced robots designed to repeat a predetermined pattern of movement of the working element, stored in an automatic control system memory.

An industrial robot is known, which contains a base, articulated links, power cylinders, kinematically connected with the corresponding links, and a software control system. The disadvantage of the known robot is its low positioning accuracy.

The purpose of the invention is to improve the accuracy of the positioning of the robot.

The goal is achieved by the fact that the robot is equipped with axles pivotally mounted in the cylinder body, levers, each of which is pivotally connected at one end to the specified axis, and the other end to the base, as well as locking devices installed at the base.

In this case, each fixing device is made in the form of an emphasis with a spool installed with the possibility of interaction with the body of the power cylinder, and two spring-loaded pistons located on both sides of the body of this power cylinder coaxially with its hinge axis.

FIG. 1 shows the position of the cylinders and their rods when the shoulder deviates to the extreme left position | in fig. 2 - the same, with a deviation to the extreme right position in FIG. 3 - the same in

10 intermediate position (dotted line in the program's automatic reproduction mode); in fig. 4 shows an example of the construction of the fixing device (in the locked position).

15

Claims (2)

The industrial robot contains an actuator made of hinge-jointed links, power cylinders and a software control system (not shown). The executive organ in the form of shoulder 1, forearm 2 is mounted on base 3 together with power cylinder bodies, for example hydraulic cylinders 4 and 5 with cavities 6. Rods 7 and 8 hydrocylin25 firewood are hinged respectively with shoulder 1 and forearm 2. The body of hydraulic cylinders 4 and 5 are connected each pivotally by means of axles 9 with the ends of two pairs of levers 10, 11 and 30 12, 13 (lever 13 not shown), which are pivotally attached to the other ends of the robot's axis 14. On the base, Nii 3, fixing devices 15 are mounted, each of which contains two spring-loaded pistons 16 with lanes 17 and a spool 18 mounted on both sides of the cylinder body coaxially with axis 9, and a spring-loaded stop 19 with a cavity 20, inside of which 21. All links of the robot are balanced. Industrial robot works as follows. In the training mode of the robot, the hydraulic system is disabled, the axles are released. When the arm 1 and forearm 2 move manually, the axles 9 freely move relative to the base 3, and the rods of the hydraulic cylinders 4 and 5 do not move. After the training mode, the hydraulic system turns on, the working fluid is fed into the cavity of the hydraulic cylinder 4 and simultaneously into the cavity 20 of the spring-loaded stop 19. Case the cylinders 4 and the axis 9 are lowered down, the stop 19 rises upwards, overcoming the spring force, and the spool 21 under the action of the spring also rises to the upper position. In the lowest position, the body of the hydraulic cylinder 4 presses against the support 19 and stops, since the force on the side of the stop is greater than on the side of the cylinder. The spool 21 goes down and connects the pressure line with a cavity of 17 spring-loaded pistons. The pistons 16 move and grip the conical surfaces of the axles 9. The spools 18 at the ends of the spring-loaded pistons in this position connect the cavity 20 of the stop 19 to the drain line. The stop 19 is lowered under the action of the spring and releases the body of the hydraulic cylinder 4. A signal is sent to the control system to fix the axles 9, after which the robot starts to play the program. The proposed design eliminates completely the movement of the pistons in the training mode, which removes the opposition from the hydraulic system when the handles. nominal movement of the robot links under the conditions of the learning process. This allows to achieve high accuracy, angular deviations of links that are embedded in the automatic control system program, which, in turn, increases the reproduction accuracy of a given program and the positioning accuracy of the robot. Invention formula 1. An industrial robot containing a base, articulated links, power cylinders, kinematically connected with the corresponding links, and a software control system, characterized in that, in order to achieve the positioning accuracy of the robot, it is equipped with with MI, sYunyutirovannyh pivotally in the body of the power cylinder, levers, each of which is pivotally connected at one end with the specified axis, and the other end with the base, as well as fixing devices installed at the base. 2. The robot in accordance with Claim 1, about t and chuyusch and the fact that each locking device is designed as a stop with a spool installed with the possibility of interaction with the body of the pressure cylinder, and two spring-loaded pistons located on both sides of the housing the power cylinder coaxially with its hinge axis. Sources of information taken into account in the examination 1. USSR Patent No. 597327, cl. In 25 J 9/00, published. 1975. 3 FNG