SU876419A1 - Modulus of industrial robot - Google Patents

Description

The invention relates to mechanical engineering, in particular to the designs of industrial robots and manipulators.

A known industrial robot module containing a drive with a movable element bearing fixed stops, dampers and a movable stop [1J.

A disadvantage of the known device is the complexity of the design and the narrowness of technological capabilities.

The purpose of the invention is the expansion of technological capabilities and simplification of design.

This goal is achieved by the fact that the module of the industrial robot is equipped with guides installed parallel to the longitudinal axes of the dampers, and a movable stop is installed in these guides between the bearing surfaces of the dampers.

There are two options for implementation, an industrial robot module with the implementation of rotational and translational movement.

In FIG. I shows an embodiment. niya rotation module, main view; in FIG. 2 - the same, top view; in FIG. 3 - section A — A in FIG. 2; in FIG. 4 - va. Embodiment of a mechanical arm module with translational movement, top view; in FIG. 5 - section B — B in FIG. 4.

The industrial robot module contains a base 1 on which the drive 2 is mounted, which is a reversible pneumatic motor kinematically connected by a gear 3 with a movable element 4 for a rotation module (Fig. 2) is a disk, and for a mechanical arm module (Fig. 4) - a pair of rods rigidly interconnected. · A number of stops 5 are fixed on the movable element 4 with the possibility of adjustment installation, and on the base 1, a pair of dampers 6 facing the supporting surfaces 7 to each other. Between the supporting surfaces 7 of the dampers 6 in the guides 8, a movable stop 9 is installed, which is a small-sized pneumatic cylinder consisting of a housing 10 and a non-interacting rod with an extended position with stops 5. The guides 8 in which the movable stop 9 is mounted are made in the form of rods mounted parallel to the longitudinal axes of the dampers 6. Moreover, these rods are rigidly fixed in the housing 10 and installed with the possibility of movement on the base 1 so that when the extended rod 11 interacts . ^{5 by} one of the stops 5, the housing 10 of the movable stop 9 moves along the base 1 and acts on the supporting surface 7 of one of the dampers 6.

The device operates as follows _<0

On the movable element 4 set the required number of stops 5, each of which during operation corresponds to a stop at the desired coordinate point. When an energy carrier, for example, compressed air, is supplied, the drive 2 through the gear 15 transfers the movement to the movable element 4; rotational - at the rotation module and translational - at the mechanical arm module. In addition, the supplied energy carrier extends the rod 11 at the movable stop 9. When moving the movable element 4 with one of the stops 5 acts on the extended rod 11 and moves the housing 10 of the movable stop 9 in the guides 8 along the base 1. The housing 10, moving 25 along the base 1, acts on the supporting surface 7 of the damper 6, a smooth stop occurs at a predetermined intermediate point. After that, the energy carrier is fed to the movable support 9 for the sinking of the rod II, and then again for its extension. During the recession period, the rod 11 moves away from the stop 5, the supporting surfaces 7 of the damper 6 return the housing 10 of the movable stop 9 to the neutral position. Thus, when communicating to the drive 2 and the stop 9 the forward and reverse stroke according to a predetermined program, the movable element 4 performs discrete movements in the forward and reverse directions.

The design of the proposed industrial robot module differs from the known ones for its simplicity, reliability and wide technological capabilities.

Claims (1)

This invention relates to mechanical engineering, in particular to industrial robots and manipulators. A known industrial robot module containing a drive with a movable element carrying fixed stops, dampers and a movable stop (1. A disadvantage of the known device is the complexity of the design and the narrowness of the technological possibilities. The purpose of the invention is to expand the technological capabilities and simplifications of the design. that the module of an industrial robot is equipped with non-guiding, installed parallel to the longitudinal axes of the dampers, and the sliding stop is installed in these guides between the support There are two versions of the module, an industrial robot with the implementation of rotational and translational movement. In Fig. 1, the embodiment is shown neither the rotation module, the main view, Fig. 2 - the same, top view; 3 is a section A-A in Fig. 2; Fig. 4 is an embodiment of a mechanical arm module with translational movement, top view; in Fig. 5 is a section BB in Fig. 4. The industrial robot module contains a base 1, on which the actuator 2 is mounted, which is a reversible pneumatic meter Torr kinematically associated gear 3 with the movable member 4 for rotation modulation (fchg- 2) is a disk, and to modulate the mechanical hand (FIG. 4) - a pair of rods rigidly connected to each other. A number of lugs 5 are rigidly fixed on the movable element 4 with the possibility of adjusting the installation, and on the basis of I - a pair of dampers 6 facing the supporting surfaces 7 to each other. Between the support surfaces 7 of the dampers 6 in the guides 8, there is a movable stop 9, which is a compact pneumatic cylinder consisting of the housing 10 and the rod 1, which cooperates with the extended pole with the stops 5. The guides 8, in which the movable the stop 9 is made in the form of rods mounted parallel to the longitudinal axes of the dampers 6. At the same time, these rods are rigidly fixed in the housing 10 and mounted for movement on the base I in such a way that when the extended stem interacts a. One of the stops 5, the body 10 of the movable stop 9 moves along the base I and acts on the support surface 7 of one of the dampers 6. The device works as follows. The required number of stops 5 are installed on the moving element 4, each of which corresponds to a stop at the desired coordinate point during operation. . When supplying energy, such as compressed air, the actuator 2 through a gear drive 3 communicates the movement of the movable element 4; rotational - at the module of rotation and translational - at the module of a mechanical arm. In addition, the supplied energy carrier extends the rod 11 at the movable stop 9. When moving, the movable element 4 by one of the stops 5 acts on the extended pin 11 and displaces the housing 10 of the movable stop 9 in the guides 8 along the base 1. Case III, moving along base, acts on the support surface 7 of the damper 6, there is a smooth stop at a predetermined intermediate point. After that, the energy source is fed to the movable support 9 on the embedding of the rod II, and then again on his nomination. During the period of embedding, the rod 11 moves away from the stop 5, the support surfaces 7 of the damper 6 return the casing 0 of the movable stop 9 to the neutral position. Thus, when communicating to the actuator 2 and the stop 9 for forward and reverse travel according to a predetermined program, the movable element 4 performs discrete movements in the forward and reverse directions. The design of the proposed industrial robot module differs from those known for their simplicity, reliability and wide technological capabilities. Claims of the invention An industrial robot module containing a drive with a movable element carrying fixed stops, dampers and a movable stop, characterized in that in order to expand technological capabilities and simplify the design, it is equipped with guides installed parallel to the longitudinal axis of the dampers, we will adopt a movable stop installed in these guides between the supporting surfaces of the dampers. Sources. information taken into account during the examination 1. USSR Author's Certificate No. 611774, cl. B 25 J P / OO. 1978 FIG. it 4-A