SU1472251A1 - Gantry-type robot - Google Patents

Abstract

The invention relates to mechanical engineering and, in particular, to industrial robots and portal-type manipulators. The aim of the invention is to expand the service area by increasing the number of degrees free grippers, as well as expanding technological capabilities by ensuring the irreversibility of hydraulic actuators. Each hydraulic movement of the movable elements of the gantry robot consists of three body elements within which the main shaft 14 is located. In the absence of working medium pressure in the cavity 37, 38, 35, 36, 40, 41, the hydraulic cylinder is fixed relative to the main rod 14 by spring-loaded balls 27, 28 and 32, 33. When the pressure of the working medium in the cavities 36 and 40 is applied, the hollow control piston 34 splits the rod 14 by moving the balls 33, thereby allowing the piston 24 of the additionally introduced hydraulic cylinder to move upwards equalizing the pressure in the cavity 35, 36. The rod 14 remains jammed in the upper controlled brake clutch. When the working medium is supplied in the cavities 36 and 37, the rod 14, wedged with balls 32, 33, moves upwards when the piston 24 moves upward. Varya by applying pressure to different cavities, the main rod 14 moves relative to the stationary cylinder of the hydraulic cylinder or the cylinder case itself moves 14. 1 z.p. f-ly, 4 ill.

Description

The 38, 35, 36, 40, 41 hydraulic cylinders are fixed relative to the main stem 14 by spring-loaded balls 27, 28 and 32, 33. When the working medium is pressurized in cavities 36 and 40, the hollow control piston 34 cleaves the rod 14 by moving the balls 33, allowing the piston 24 of the additionally inserted hydraulic cylinder is moved upwards until the pressure in the cavity 35, 36 is equalized. The rod 14 remains stuck in the upper controlled brake clutch. When supplying the working medium in the cavities 36 and 37 of the stdk 14, stuck with balls 32, 33, moves upwards when the piston 24 moves upward, Varya by applying pressure to different cavities, moves the main rod 14 relative to the stationary cylinder of the hydraulic cylinder or the cylinder body itself 14, 1 hp f-ly, 4 ill.

one

The invention relates to mechanical engineering, in particular, industrial robots and portal-type manipulators.

The purpose of the invention is the expansion of servicing by increasing the number of degrees of freedom of the gripper, as well as the expansion of technological capabilities by ensuring the irreversibility of hydraulic actuators.

Fig, 1 shows a portal robot, top view; in FIG. 2, a section A-A in FIG. 1, in FIG. 3 is a view B in FIG. 2 | figure 4 - section bb In Fig, 1. (drive vertical movement of the manipulator and block).

On a fixed base .1 of the gantry robot, the guide rails 2 and 3 are mounted, on which the bottom carriage 4 is mounted and movable, containing the rails 5 and 6 of the swing. On the guides 5 and 6 there is an upper carriage 7 with a hydraulic actuator 8 fixed to it, moving the carriage 7, hydro. the actuator 9 (figure 2) and the hydraulic actuator 10 rotation of the gripper relative to the vertical axis.

The ends of the main rod 11 of the hydrodrive 10, the rotation of the arm are interconnected by a flexible element 12 through the block 13 of the hydraulic actuator 9 (Fig. 2) vertical movement, on the main rod 14 of which the clamp 15 is fixed. To prevent the spontaneous rotation of the main rod 14, the hydraulic actuator The vertical 9 is displaced by the G-1 and the tong 15 is connected by the guide 16. The ends of the main stem 17 of the hydraulic drive 8 are rigidly closed. replana on the bottom of the carriage 4. On pos0

,

five

g

Q 25

Q Q

The lateral hydraulic actuator 18 (FIG. 3) moves with a rod 19 fixed ends-on the base 1, the actuators of the movement of the carriages 4 and 7 and the gripper 15 are executed in the form of a hydraulic cylinder (FIG. 4) containing the housing element 20, the striker 21 fixed by a hollow st 22 through the spacer sleeve 23 in the housing element. 20 A movable piston 24 is located between the housing element 20 and the cover 21, forming two working cavities in the housing 20.

Controllable brake coupling halves 25 and 26 are mounted on the housing element 20 and are installed with an opposite direction of jamming and are able to interact with the main shaft 14 through spring-loaded jamming balls 27 and 28. Between the brake coupling halves 25 and 26, a two-spring loaded hollow control piston 29 is installed in the sleeve, forming also two working cavities.

Controllable brake coupling halves 30 and 31 fixed to the movable piston 24 are installed with an opposite direction of jamming and can interact with the rod 14 via spring-loaded balls 32 and 33. Between the brake hemispheres 30 and 31-, a spring-loaded hollow control piston 34 is installed in the sleeve, Balls 27, 28, 32-, 33 are spring-loaded in the direction of jamming of the corresponding coupling halves. The piston 24 forms with the housing 20 cavities 35 and 36, the piston 29 with the sleeve - cavities 37 and 38, and the piston 34 with the sleeve - cavities 39-41.

Portal robot works as follows.

When pressure is applied to the cavity 36 and at the same time into the cavity 40, the control piston, acting on the spring-loaded balls 33, splits the main rod 14 in the controllable brake coupling 31 and allows the movable piston 24 to be displaced from the rod 14 all the way into the cover 21. At the same time, the cavities 37, 35, 39 are connected to the atmosphere, and the rod 14 remains stationary, wedged in the semi-couplings 25 and 26 with spring-loaded balls 27 and 28. When the pressure of the working medium 3 is applied, cavities 36 and 37, while cavities 38, 35, 39, -40 and 41 are connected to the atmosphere, the rod 14, stuck zhinennymi balls 32 relative to the coupling half 30 is moved upwardly by the piston 24 on the magnitude of the step defined by the travel of the hydraulic cylinder is further introduced.

For the subsequent movement of the rod 14 in the same direction to the next step, it is necessary to repeat the cycle of actions. To move the rod 14 downward, the pressure of the working medium is given in cavities 35 and 38 (when the piston 24 is initially at the extreme upper point), and cavities 37, 39, 40, 41 are connected to the atmosphere. In this case, the control piston 29 pushes the spring-loaded balls 28, releasing the rod 14 relative to the coupling half 26, and the rod 14, fixed by the coupling half 30 and 31, moves downwards by the stroke of the additionally inserted hydraulic cylinder down by the action of the piston 24.

To return the rod 24 to its original (extreme top point) position with the rod 14 stationary, the working medium is fed into the cavities 36 and 41, and the cavities 35, 37, 38, 39 are connected to the atmosphere. In order to carry out the subsequent H9dov in this direction, the cycle is repeated. To stop the rod 14 at any point on the step size of the movement of the cavity 37, 38, 40, 41 is connected to the atmosphere. In the case of fastening, the rod 14 is taken under the appropriate movements by the body of the power cylinder relative to the rod 14.

When pressure is applied to the corresponding cavities of the hydraulic actuator 18

five

0

five

thirty

35

40

45

50

55

The carriage N1 of the carriage 4, the propulsion 18, mounted on the bottom carriage 4, performs the step-by-step movement of the latter along the guide rails 2 and 3 of rolling along the main rod 19 fixed with two ends on the base 1.

Similarly, the upper carriage 7 moves along the rails 5 and 6 of the lower carriage 4 along the main stem 17 fixed to it when pressure is applied to the corresponding cavities of the hydraulic actuator 8. In the hydraulic actuator 10, turning the tongs 15 around the vertical axis, the rod 11, during its movement , through the flexible element 12 rotates the block 13 of the hydraulic actuator 9 of the vertical gripper at a given angle.

All hydraulic units of moving units can work simultaneously. The position of the moving links is controlled by sensors (not shown).

Claims (2)

1. PoliDi robot containing N11zhnuyu and upper carriage with roller bearings, located one on another, moving in mutually perpendicular directions in the respective lean guides and kinematically connected, respectively, with a fixed base and between themselves by means of two main hydraulic drives of linear movement of to-k, made in the form of hydraulic cylinders, the bodies of which are connected with the corresponding carriages, and their main flux tubes are rigidly connected with the corresponding guides, as well as the third main an idle actuator for vertical movement of the gripper, the hydraulic cylinder body of which is rigidly connected to the upper carriage and the gripper and pressure lines connecting all the main hydraulic actuators with the hydraulic station, different from the fact that, in order to expand the service area by means, are fixed on its main rod. increasing the number of degrees of freedom of the gripper, as well as expanding the technopathic capabilities by ensuring the irreversibility of the pvdroprivod 51 provided with an additional hydraulic actuator for turning the gripper, made in the form of an additional hydraulic cylinder, the casing of which is rigidly mounted on the upper carriage, each hydraulic cylinder is equipped with an additional rod rigidly connected to the piston, which is located on the main rod with the possibility of longitudinal movement of the main hydraulic actuator shaft kinematically by means of an additionally introduced flexible element with a hydraulic actuator housing of a vertical gripper, and this housing, in turn, the hinge is connected to the upper carriage, with the case of each hydraulic cylinder of all main and additional hydraulic actuators made of three coaxial body elements and in the extreme body elements are placed additionally controlled brake clutches, and in the middle - an additional rod, which is rigidly connected one of the extreme body elements, and the other two, the elements are rigidly interconnected, with the middle body elements connected by pressure lines to the hydraulic station. 722516 2. Robot POP.1, characterized in that each controlled brake clutch is made in the form of an auxiliary hydraulic cylinder, the body of which is a corresponding housing element of the corresponding hydraulic drive, and inside this sixth housing element is located 10 coaxially to the main drive shaft of a double-acting hollow control piston, the opposite ends of which are spring-loaded on one side relative to this housing element, and on the other hand kinematically, are mechanically connected to the main hydraulic drive shaft by means of additionally introduced balls, while these the balls are located in conical holes, additionally made in the housing element, and are spring-loaded relative to it, with the tops of the conical holes directed towards each other, and the working cavities 25 of the auxiliary hydraulic cylinder of the controlled clutch are formed by the end surfaces of the hollow controlled piston and the inner surfaces of the housing element and are connected by an additionally inserted pressure lines to the hydraulic station. /. 20