SU861060A1 - Manipulator actuating member - Google Patents

Description

The executive body of the torus (Fig. 1) contains a pneumatic cylinder 1 with a piston 2 and a rod 3, which has a cross, the cross channel 4 and the longitudinal channel 5. The latter is equipped with a nozzle 6. At the same end of the rod 3 a flange 7 is fixed with fingers 8, on which the flap 9 with the springs 10 is movably mounted. At the opposite end of the rod 3 there is a grip AND a manipulator.

A flange 12 is mounted on the body of the cylinder 1, carrying the stops 13 fixed by screws 14. The supply lines of the executive body are connected by a line to the throttle 15 through which the cavities of the pneumatic cylinder communicate, in addition, these cavities are connected to the sensitive element 16.

A variant of the design of the actuator of the manipulator (Fig. 2) contains stops 17, equipped with electromagnetic drives.

A variant of the construction of the elements for controlling the stroke of the puff of a cylinder (FIGS. 3 and 4) attached to the valve 9 is a shaped rod 18 with channels 19 and 20, a sleeve 21 with channels 22 and a spring 23.

A variant of the flange design that carries the lugs contains IT (Fig. 5, 6 and 7) rings 24 and 25, a corrugated tube 26, guides 27, 28 and glasses 29. The mechanism for fixing the rings 24 and 25 contains chambers 30 (Fig. 8 and 9 ) with pistons 31, an elastic ring 32 and a sleeve 33. Between the rings 24, 25 and the sleeve 26, a sealed cavity 34 is formed (Fig. 5, 6 and 7). The variant shown in FIG. 10, it contains a sleeve 35 mounted on the cylinder 1. A screw 36, controlled by the stepper motor 37, is screwed into the threaded hole of the sleeve 35.

The manipulator works as follows.

In the initial polishing, the nozzle 6 of the actuator stem is blocked by a flap 9. After the detail 11 is taken (not shown) in the initial position, the supply line A flows air into the left cavity of the pneumatic cylinder 1. The right cavity of the cylinder goes through the trunk B backpressure, somewhat less than the pressure supplied through the line a. Therefore, the piston 2 with the rod 3 is moved to the right. This movement continues until the valve 9 rests on the stops 13. Thus, the valve 9 moves away from the nozzle 6, and a gap 5 is formed, through which air from the left cavity flows out to the atmosphere. As soon as the pressure to the left and right of the piston 2 is equalized, the rod 3, and thus the grip AND, will stop.

With equal pressures on the right and left, the sensitive element 16 will be triggered, which issues a control command to install the part in gripper 11 to the assembly position (the assembly position is not shown in the drawings). Thereafter, according to command 5 of the sensing element 16, the supply of pressure along line a stops. The pressure in the right cavity, acting on the piston 2, moves it back — to the left — to its original position, and 10 new parts are fed into the gripper 11. The cycle is repeated.

Since the gap 5 is very small and its size is very precisely maintained, then the removal of the grip AND to the assembly position is carried out with high accuracy, i.e. 15 in this manipulator a high positioning accuracy is achieved. The installation of the throttles 15 makes it possible to significantly improve the dynamic characteristics of the drive.

The amount of movement of the rod 3 of the executive body is regulated by the extension of the stops 13 and their fixation with screws 14.

Elements similar to the flap 9 and others can be installed on the right 5 side of the executive body. Thereby adjusting the stroke of the rod 3 to the left, and not just to the right.

Instead of mechanical stops, electromagnets can be used (Fig. 2), which 0 will expand the possibilities of automatic stroke adjustment. Depending on which stop 17 is turned on, the stop will be in different, pre-programmed places.

5 With the design of the elements for adjusting the stroke of the rod 3, shown in FIG. 3, the actuator operates as follows: at the moment when the valve 9 moves to the left (stops 13) between 0 the nozzle 6 and the flange of the rod 18 there is a gap, but air cannot escape to the atmosphere through the nozzle, because the sleeve 21 is pressed by the spring 23 to the end stock 3.

Therefore, the air through the channels 22 5 (fig. 4) of the sleeve 21, the channels 19 and 20 in the shaped sterling: not 18 passes into the control device (not shown in the drawings), where the necessary comaids are produced, and for example, to reduce the pressure, but 0 cylinder. At the same time, the push rod 3 continues its movement to the right. The valve 9 is supported by the stops, and the shaft 3, having overcome the force of the arms 10, moves with the flange 7 and the fingers 8. This will continue until the flange of the shaped worn 18 attached to the valve 9 will not hook the sleeve 21. As a result, the latter leaves the end of the rod 3, the air from the nozzle 6 will be released into the atmosphere, and the rod 3 will stop. The rest of the work of the executive body is as described above.

The work of the executive body in the embodiment shown in FIG. 5, 6 and 7. proceeds as follows.

In the initial position, the ring 24, the bearing lugs 13 and the guides 27 are arranged as shown in FIG. 5, where the ring 24 is fixed, and the ring 25 is unlocked. When air is supplied to the cavity 34, the ring 25 moves along the cylinder 1, compressing the spring 28 until it stops against the ends of the cups 29. In this new position (Fig. 6), the ring 25 stops (the tube 26 is in an extended state). Then the ring 25 is fixed, and the ring 24 is released, and the air from the cavity 34 is released. Under the action of the springs 28, the ring 24 is attracted, moving along the guides 27 to the right, to the ring 25, and also occupies a new position, i.e. the stops 13 are displaced one step to the right. After that, when air is supplied to the cavity 34, the movement of the lugs can be repeated, and depending on which of the rings is fixed, the movement of the lugs can be carried out in any direction. By changing the distance 1 between the ring 25 and the cup 29 (Fig. 5), it is possible to adjust the magnitude of the movement of the stops 13. Thus, the position of the stops is automatically adjusted.

The locking mechanism (Fig. 8 and 9) of the rings 24 and 25 works as follows: when compressed air is supplied to the chambers 30, the pistons 31 squeeze the elastic (for example, hydroplastic) ring 32, which acts on the sleeve 33 and compresses the cylinder body 1, which ensures fixation rings 24 and 25. When the air from the chambers 30 is released, the rings are released.

When the device is operated according to the embodiment shown in FIG. 10, if necessary, move the lugs 13 to turn on the motor 37, which moves the sleeve 35 with the lugs 13 to the right or left for the required distance.

The proposed design of the actuator provides for the elimination of blows of the rod during operation, the ability to control the smoothness of the movement of the rod, automate the installation and fixation of the movable stops, improve the accuracy of positioning of the actuator with a significant simplification of the structure compared to the prototype.

If, in the prototype, the stops suppress the kinetic energy of the entire pore with the brush when the latter are stopped, then in this device it is necessary to extinguish the kinetic energy of only flange 9, which is much smaller. This reduces blows, and

therefore, the characteristics of the executive body are increased.

Variants of the device (Figs. 3 and 4, etc.) make it possible to provide track control to the executive body, which is especially important in the assembly process. It is easy to generate a number of additional commands, and at the time when the grip 11 comes to the assembly position.

The use of movable stops (Figs. 5b and 7) allows automating the shutdown of the executive body in a large number of points (positions).

Claims (3)

1. An executive manipulator body containing a pneumatic cylinder with a piston, a brush and supply lines, as well as adjustable stops, characterized in that it is equipped with fingers and a kinematically associated spring-loaded damper installed with it in order to improve the positioning accuracy and performance. the possibility of interaction with adjustable stops, the said stops being mounted on the body of the pneumatic cylinder, and intersecting transverse and longitudinal channels, the outlet of the latter and which is located at the end of the shaft. 2. The executive body according to claim 1, characterized in that it is provided with a shaped rod mounted on the valve with channels and a spring-loaded sleeve mounted for movement on this rod, in the cavity of which longitudinal grooves are made. 3. The executive body for PP. 1 and 2, characterized in that it is provided with rings mounted on a pneumatic cylinder body, a corrugated tube through which these rings are connected by mechanisms of their fixation, rods fixed in one of the rings and forming a slip pair with another ring, and also spring-loaded glasses fixed at the end of the said rods, with adjustable stops located on one of the rings. Sources of information taken into account in the examination 1. Reinstalled, assembly machines ed. V.A. Yakhimovich, Kiev, “Technique, 1979, p. 62, fig. 35, p. 64, fig. 37. fj / 7 / fff 9 // fS 9 18 // eff fug, A-l // / Pp-: -UL ± 0-- i22zrs r f city.///, f f // -l-sh // - SStrt HK -Y%  Th .. .fvAXV, / / U / J / -: 7: misss H. / 7  W Г Х1: ± Л: 5-2ГГР J // /. 7 fug.Z