• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    FIELD OF THE INVENTION The invention relates to the field of engineering, in particular to zazzitny devices directed. Two moving assemblies, in particular, to the protective devices of the guides of two installed with the possibility of relative movement of the assemblies, which can be used in industrial robots. The aim of the invention is to simplify the construction and design. reliability of protection due to the performance of two functions with a flexible tape: protective equipment and a variable-frequency drive. movable node. The protective device of the guides of two units installed with the possibility of relative movement 1 and 2 contains a flexible tape in the form of a toothed belt 3 fixedly mounted on the node 1. A tensioning device 7 is provided to tension the toothed belt. The toothed belt 3 is guided through a drive gear 10, which is installed in unit 2 and connected to the drive unit 11. To transfer the toothed belt 3 into a plane parallel to unit 1, two tensioning rollers 12 serve. When rotated from the actuator M, the drive gear 10, it rolls relative to the fixed belt 3, moves the node 2 relative to the node I. At the same time, the toothed belt 3, which drives the movement of the node .2, simultaneously provides reliable protection of the guides. . 3 hp f-ly, 8 ill. CO s (and Oi Ob 4 f f 7 CM
    公开号:SU1468407A3
    申请号:SU864020356
    申请日:1986-02-04
    公开日:1989-03-23
    发明作者:Циммер Эрнст
    申请人:Кука Швейсанлаген Унд Роботер Гмбх (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to mechanical engineering, in particular to a security device, guides two moving units, in particular to protective devices guiding two guides installed with the possibility of relative movement of units that can be used in industrial robots.
    The aim of the invention is to simplify the design and increase the reliability of protection due to the performance of two functions with a flexible tape - protective equipment and a drive for moving a mobile unit.
    FIG. 1 shows a safety device, longitudinal section; FIG. 2 l is a section A-A in FIG. 1 (with a variety of variants of F circular circular ball guide); On Go 5-7 section BB in FIG. 1 (with various embodiments of the guide channel); FIG. 8 is a section A-A in FIG. 1 (with a roller guide and another variant of the timing belt).,
     the guiding device of the guides of the two relatively movable units 1 and 2 contains a flexible tape in the form of a toothed belt 3, fixedly mounted on the node 1, made, for example, in the form of a fixed beam. Node 2 is mounted for movement within the node 1 and is made, for example, in the form of a tool carrier. The reverse relative movement of nodes 1 and 2 is also possible.
    For the fixed installation of the toothed belt 3, the fastening elements 4 and 5 at the end of the guide 6 provided in the node 1 serve. Since the toothed belt 3 must have certain tension, in the area of the fastening element 5 there is a tension device 7, which with the help of tools 8 provides the block 9, to which the toothed belt 3 is attached, the possibility of movement along the guide 6. The block 9 is fixed in the area of the fastening element 4. The tension device 7 may have a different design, for example, Carefully movement through the thread, etc. provides longitudinal rearrangement of the block 9 in the area of the fastening element 5.
    The toothed belt 3 is guided through the driving gear Y, which is installed in the node 2 and connected to the drive 11. Both tension rollers 12 serve to transfer the convexity of the toothed belt formed by the driving gear 10 to the plane parallel to the node 1.
    In the triangle ,. guiding the gear belt 3 through the drive gear 10 and under the tensioning rollers 12 to the node 2, the guide elements 13, which are included in the direction 6 of the node 1, are attached. For attachment is, for example, the bottom 14, which is an integral part of the node 2. moves over the top edge of the node 1. In order to prevent the tilting movement of the node 2, a sequential pairwise arrangement of the guiding elements 13 is provided, which are made, for example, as circular ball bearings 15 and 16. In this case, the balls 17 are directed mainly rectilinear long path and returned again to the initial position through the circular guide and disposed between the return guide. Therefore, such circular ball bearings
    15 and 16 are particularly suitable for linear movements with reliable direction. Sequential placement of circular ball bearings 15 and 16 leads to a stable direction.
    Balls 17 ball bearings 15 and
    16 enter guiding channels 18, which are an integral part of unit 1 or guide 6;
    The actuator 11 (Fig. 2) prifpantsovan. from side to node 2 and directly or through an intermediate gear 19 drives gear pinion 10
    Node 2 is made in the form of a housing, the bottom 14 of which has a shoulder. 20, to which circular balls 15 and 16 are attached. Balls 17 go into guide grooves 18 located on guide bars 21 and 22, which are an integral part of unit 1. However, guide bar 21 is fixedly resting on the receiving bar 23. Another guide rail 22 is made with the possibility of lateral movement using a tightening device 24. It acts through the balls 17 on the corresponding ball bearing 16 and then the h. pulls the bearings 15 and 16 through the shoulder and guide bar 21 relative to the receiving bar 23. Thus, it provides free play. An attachment device 24, which can be made in any manner, rests on a plate 25, rigidly connected to an I "node
    Between the two guide rails 21 and 22, a completely closed direction is formed towards the duct 26, leaving a longitudinal spline 27, in which the ball bearings 15 and 16, fixedly connected to another
    Lomo
    The toothed belt 3 (Fig. 3) overlaps the guide channel 26 and the spline 27. Both of the guide bars 21 22 are blocked at least partially by the toothed belt 3. The number 28 designates the surfaces of the toothed belt 3 to the guide bars of 21 liters 22. With this position to the facing section of the channel 26 through the depressions between the teeth of the belt 3, free lateral access of outside air is possible.
    FIG. Figures 4 and 5 show variants that prevent the free access of outside air.
    According to the embodiment of FIG. 4, the adjoining surface 28 of the strut assembly 2 has a support 38, which in the zone below the belt branch (Fig. 1) enters through the slot 27 into the direction of the channel 26. The support 38 has at both ends or in places between them lateral protrusions 39, on which the guide rollers 40 are rotatably fixed, mutually
    The individual guide bars 21 c. 22 are bounded laterally by protruding surfaces and interacting with working surfaces - shoulders 29, due to 36. The guide rollers 40 and the depression between the teeth of the belts 3 are closed on the front side. According to an example. The embodiments of FIG. 5, in the guide bars 21 and 22, the contact surfaces of the adjoining surfaces 28 are provided with gear elements 30, which can be provided in the form of belts or slats. The placement and configuration of their teeth are coordinated with gear design 3. Thus, the depressions between the teeth of the belt 3 overlap.
    The ball bearings 15 and 16 are fixed to the movable unit 2, as a result, the toothed belt is supported only by its edges (Fig. 2 and 3).
    In the embodiment according to FIG. 6 and 7, the toothed belt 3 rests not only with its edges on the vertical webs 31, but also in the middle on the direction of the strap 21 and 22.
    A profile is provided that is flush with the working surfaces 36. These rollers consist of two separate rollers interconnected with each other with a cross-section in the form of a truncated cone, mounted rotatably on a guide pin. Thus, the 45 l slug rollers 40 can interact without interaction with the working surfaces 36. Thanks to the sealing profiling of the working surfaces 36 and the guide rollers 40. with minimum dimensions, an adjustable and constant geometric closure in all guides is provided.
    50
    55
    The sheets 37 encompass the guide rollers 40 and the caliper 38 with the protrusions 39. The guide channel 26, formed by the corresponding sheets 37, can also be used in combination with another pattern, the guide channel 26 is formed by both vertical jumpers 31 and the cross bridge of the K node
    The directionless play is carried out with the help of tightening grippers 32, which, with their part 33, press the ball bearing 16 and guide the lower bar 22 to the grommet 20 of the knot 1, while the screw 34 attracts the knot 2 and thus tightens ball bearing 15 and guide bar 21 relative to: shoulder 20,
    According to FIG. 8, the guideway is formed by a flat horizontal xiphoid element 35 screwed to the fixed unit 1. The element 35 has, on both longitudinal sides, working surfaces 36 made in the form of a truncated cone.
    The guide is mounted in the guide channel 26, fully closed, leaving the upper longitudinal slot 27, the guide channel 26 being formed by side sheets 37 fixed to the node 1.
    The movable assembly 2 has a caliper 38, which, in the zone below the belt branch (Fig. 1), passes through the slot 27 into the direction of the yugday channel 26. The caliper 38 has at both ends or in places between them lateral protrusions 39 on which are fixedly rotatable guide rollers 40 interacting with the working surfaces 36. The guide rollers 40 have
    There is a profile that provides a flush with the working surfaces 36. These rollers consist of two separate rollers interconnected with each other with a cross-section in the form of a truncated cone, installed rotatably on the guide pin. Thus, the slug rollers 40 can interact without interaction with the working surfaces 36. Thanks to the sealing profiling of the working surfaces 36 and the guide rollers 40. with minimum dimensions, an adjustable and constant geometric closure in all guides is provided.
    The sheets 37 encompass the guide rollers 40 and the caliper 38 with the protrusions 39. The guide channel 26, formed by the corresponding sheets 37, can also be used in combination with other types of guides, the AO rotating guide rollers can be replaced three separate rollers, covered on three sides with a rectangular cross-section, xiphoid element 35.
    The toothed belt 3 (FIG. 8) joins the wide carrier part 41 and the center protrusion forming the rail 42, and the teeth are made only on the protrusion. The width of the rack 42 is chosen so that it is guided in the slot 27, with a sufficient clearance. The width of the carrier part 41 is chosen so that the belt 3 without deformation rests on the edge of the guide channel 26. On the sheets 37 on both sides can also be made shoulder, limiting on both sides toothed belt 3.
    When the drive gear II, mounted on the node 2, rotates from the drive II, it rolls over the stationary toothed belt 3, moves the knot 2 relative to the knot 1. At the same time, the toothed belt 3, being driven by the moveable knot 2, simultaneously performs reliable Directorate Protection.
    Formula
    the invention
    权利要求:
    Claims (4)
    [1]
    1. Sewing device of guides of two units installed with the possibility of relative movement from the drive, containing flexible flax
    five
    0
    five
    0
    35
    The one connected to its ends with the body, located Above the guides of one knot and directed as a loop in another knot between two tension rollers through a guide roller, mounted on the tensioning rollers and guides of the first knot, characterized in that in order to simplify the construction and increase the reliability of protection, the headers of one node are installed with the possibility of forming between them or between them and the body of the channel designed to accommodate the guides of the other node and covered with a flexible tape, This tape is flexible in the form of a toothed belt, and the guide roller in the form of a pinion drive of the movement of the nodes.
    [2]
    2. A device according to claim 1, characterized in that shoulder rails are provided on the guides of the first assembly, limiting the toothed belt from the sides.
    [3]
    3. The device according to paragraphs. 1 and 2, characterized in that it is provided with toothed elements in the form of belts or slats, located on the guides of the first assembly and intended to engage with the teeth of the toothed belt,
    [4]
    4. The device according to claim 1, characterized in that the toothed belt is made with a central protrusion, and the teeth are made only on the protrusion and form a rail entering the channel.
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    Compiled by V. Briskina Editor O. Yurkovetska Tehred L. Syrdyukova Proofreader L. Pilipenko
     Order 1219/58
    Circulation 892
    VNIIPI State Committee for Inventions and Discoveries at the State Committee on Science and Technology of the USSR (113035, Moscow, Zh-35, 4/5 Raushsk nab.
    Production and Publishing Combine Patent, Uzhgorod, st. Gagarin, 101
    FIG. eight
    Subscription
    类似技术:
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    同族专利:
    公开号 | 公开日
    ES295855U|1987-06-16|
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    US4706510A|1987-11-17|
    DD232861A5|1986-02-12|
    AT38793T|1988-12-15|
    AT35100T|1988-07-15|
    KR860700102A|1986-03-31|
    AU575411B2|1988-07-28|
    JPS61502320A|1986-10-16|
    EP0170773A1|1986-02-12|
    EP0170802A1|1986-02-12|
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    AU4432085A|1985-12-31|
    CA1302737C|1992-06-09|
    DE3563318D1|1988-07-21|
    WO1986005734A1|1986-10-09|
    DE3420936C1|1985-12-19|
    ES295855Y|1987-12-16|
    JPH0675813B2|1994-09-28|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE3420936A|DE3420936C1|1984-06-05|1984-06-05|Protection device for the guideway of a first machine part, on which a second machine part is mounted so that it can move longitudinally|
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