SU1445943A1 - Manipulator for loading-unloading process machines - Google Patents

Abstract

The invention relates to light industry, namely to automation devices for auxiliary operations. The purpose of the invention is to improve positioning accuracy by limiting the interchange, movable elements. When the manipulator is turned on, the pneumatic cylinder rod 4 performs a reverse stroke and the tongs are brought to the foot. When moving from the initial position to the middle rocker arm 2, it is held against movement by the spring 7 and the shoulder 8. Then intermediate link 5 is aligned with the rocker arm 2, which ensures the horizontal movement of the tong 10 at the end of the forward movement of the rocker arm 2. 4 il. i (L

Description

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The invention relates to light industry, in particular, to devices for automating auxiliary operations, such as feeding a semifinished product from a foot to the entrance conveyor of a through machine, removing a semifinished product from an output conveyor and stacking it in a foot, transferring the semifinished product from one conveyor to another in the course of inter-operational transportation, as well as to solve similar problems in adjacent areas of the lung; industry.

The purpose of the invention is to improve positioning accuracy by limiting the movements of moving elements.

FIG. 1 shows the structure of the manipulator; in fig. 2 - the executive body, the first extreme position; in fig. 3 - the same, intermediate position; in fig. 4 - the same, the second extreme position.

The manipulator comprises a base 1, on which rocker arms 2 and 3 are pivotally mounted, and a telescopic pneumatic cylinder 4 of double-acting. Intermediate link 5 and connecting rod 6 are pivotally connected with rocker arms 2 and 3 and have a common pivot connection with the pneumatic-cylindrical rod 4. The rocker arm 2 is connected with the spring 7 and can perform a swinging movement limited to stationary 8 and adjustable 9 stops. The connecting rod 6 is L-shaped, and at its free end the tongs 10 are hinged with the means 11 of their sensing. Damping elements 12 are installed in the curved part of the rocker arm 2 and in the areas of its interaction with the stops. Spring 7 is pivotally connected to the threaded pair 13 installed on the base, by means of which the tension of the spring is adjusted.

The operating principle of the manipulator, for example, when applying a semi-finished product from a pack to the input conveyor of the pass-through machine is shown in FIG. 2-4.

The manipulator works as follows.

When the manipulator is turned on, the pneumatic cylinder stem performs a reverse stroke and the tongs are brought to the foot 14, which is laid on the trolley 15. The sensing means, touching the surface of the semifinished product, turn on the grippers to switch the pneumatic cylinder to

move When moving from the initial position (Fig. 2) to the middle Position (Fig. 3), the actuator of the arm is a four-tier ABCDA, since the D point of the rocker arm 2 held from the movement by the spring 7 and the abutment 8 is fixed. Tongs during this period raise the semi-finished product vertically upwards. At the moment (Fig. 3), the structure of the actuator of the arm is transformed: the intermediate link 5 is combined with the beam 2 and the ABCEA four-berth is formed, which, with further movement of the pneumatic cylinder rod, provides horizontal movement of the tongs with the semifinished product over the conveyor 16, which is being laid. At the end of the forward stroke (Fig. 4), the beam 2 reaches the adjustable stop 9 and switches the limit switch mounted on it, resulting in the tongs

shut off and the semi-finished product is laid on the conveyor 16, and the pneumatic cylinder rod performs a reverse stroke.

Claims (1)

Invention Formula Manipulator for loading and unloading technological machines, containing a base, an executive body made in the form of a hinged-lever mechanism having two rocker arms hinged to the base, and the first connecting rod hinged to the first rocker and carrying on it a gripping device, and also a linear actuator pivotally connected to the base, and a spring pivotally connected one end with the base, and the other with the second arm of the mechanism, characterized in that, in order to improve positioning accuracy by limiting the movements of the moving elements, it is equipped with a second connecting rod, one the end of which is pivotally connected with the first connecting rod, and the second with the second rocker, as well as two stops, one of which is mounted on the base and interacts with the second rocker, and the other emphasis is installed on the second rocker arm and interacts with the second connecting rod, while the linear movement actuator pivotally connected to both rods at the point of their connection. 3 8 FIG. 2 Fi.Z Figm