![]() Production system
专利摘要:
In a system comprising a gripper (9) and a number of gripping objects (7), and with fluid-communication couplings for establishing temporary fluid communication between the gripper (9) and the gripping object (7) being gripped, the novel feature consists in that the coupling comprise at least one tubular member (30) with at least one open end being adapted to be pressed against and to make fluid-tight contact with a plane surface (37) on the gripping object (7) having fluid-transfer openings (39) with somewhat smaller diameter than the open ends of the tubular member (30). With this arrangement, the risks of damage and other problems associated with previous coupling arrangements based on the male-female principle are avoided. 公开号:SU1690538A3 申请号:SU874203693 申请日:1987-10-14 公开日:1991-11-07 发明作者:Андерс Якобсен Оле 申请人:Данск Индустри Синдикат А/С (Фирма); IPC主号:
专利说明:
The invention relates to mechanical engineering and can be used in automated foundry installations. The purpose of the invention is to increase the reliability and safety of work. Figure 1 shows the phases of the technological system, providing the casting cores to the molds; FIG. 2 shows a gripping device in a working position with respect to the object of manipulation (the rod mask); on fig.Z - gripping device in the initial position. The mold 1 has rods supplied by the conveyor 2 and gripped by a mechanical arm 3, movable in three directions, perpendicular to each other. The manipulator 3 includes a gripping device 4 mounted thereto for rotation by means of the shaft 5, so that it can be oriented in different planes (as shown in Fig. 1, a, b, c and d). The structure carrying the manipulator is not shown, but it may include known components adapted to perform the required movements of the manipulator 3 and the gripping device 4, as well as to actuate the two clamping elements 6 and 7 of the latter. In operation, the manipulator 3 moves between different positions shown in Fig. 1, positions a, b, c, and d, so that the gripping device 4 can capture the object of manipulation — the rod mask 8. Through the use of the suction effect, it picks up the rod 9, which should be served on the tile 10 of the conveyor 2 and moves the rod yoo o SP 00 00 GO Neva mask 8 with rod 9 to install the latter in the correct position in the mold 1, if necessary, also performed other operations. After installation, the core of the new mold 11 is transported to the site of the mold 1 by means of the pusher 12, after which the conveyor 2 supplies the new tile 13 with the new core 14. Thereafter, the process proceeds cyclically as described above. The gripping device 4 captures and releases a part of the mold due to the corresponding movement of the clamping elements 15 and 16 (Figures 2 and 3). As can be seen in Figures 2 and 3, the gripping device 4 includes a box-shaped body 17c with a base 18 for securing this body to the shaft 5 of the gripping device 4 (n shown). The housing 17 has an opening 19 for allowing the two clamping elements 6 and 7 to move into the operating position, i.e. from the box-shaped housing 17 and back into it, i.e. (in the initial position). The housing 17 contains four bearings with mutually parallel axes, which are stationary and serve as fixed centers of rotation for the mechanism that actuates the clamping elements b and 7. In the following description, they are designated by numerical pointers connected to their axial points (figure 2 and 3). The first clamping element b is pivotally mounted on the bearing 20, and the second clamping element 7 is pivotally mounted on the bearing 21, so that the two clamping elements b and 7 can be moved inside and out of the box-shaped housing 17, as shown in FIGS. 2 and 3 In the working position of the gripping object of manipulation (Fig. 2), the clamping elements 6 and 7 come into contact with the bosses 22 and 23 of this object - the rod mask 8. The bosses 22 and 23 and the sections of the clamping elements 6 and 7 intended to enter in contact with them, may have appropriate forms to ensure reat firm grip. In the initial position (Fig. 3), the clamping elements 6 and 7 are drawn in and placed in the housing 17 in such a manner that the first clamping element b is behind the second clamping element 7. To do this, in order to make the required movements of the clamping elements 6 and 7 into and out of the housing 17, the gripping device 4 includes a drive mechanism comprising two elbow joints, one for each clamping element 6 and 7, and these elbow joints have common lever 24 pivotally mounted in housing 17 by means of a bearing 25, which is one of the above four mutually perpendicular bearings, which are permanently mounted in housing 17 with the possibility of minor adjustments. The movement from the working position of the gripper (Fig. 2) to the initial position (Fig. 3) and vice versa is carried out by means of an actuator, in particular a double-acting hydraulic cylinder 26 (or an equivalent linear motor), pivotally mounted in the housing 17 by means of a bearing 27. Hydraulic cylinder 26 has its piston rod 28 (here indicated only by its center line), connected to the corresponding point in the drive mechanism. The housing 17 contains a connecting unit 29 having different pipelines for the air working medium — vacuum and compressed air. In the given example, a vacuum connecting nipple 30 (FIG. 2) and two connecting nipples 31 for compressed air (FIG. 3) are shown. The connecting unit 29 is mounted in the housing 17 by means not shown, preferably having the ability to adjust the position of the connecting unit 29 relative to this housing. Part of the connecting unit 29 (FIG. 2) contains, in addition to the vacuum connecting nipple 30, a vacuum pipe 32, which can be connected by means not shown, for example, appropriate flexible hoses, etc., with an external vacuum source, and this source is intended to create a controlled vacuum, corresponding to the functions performed, such as lifting and moving the rod (figure 1). The vacuum pipe 32 is in constant communication with the inside of the vacuum connecting nipple 30 through respective side openings 33 provided in the vacuum connecting nipple 30, the latter being open and having a sealing bead 34 made of rubber or similar material at its end facing outwards and closed at the other end, as shown. The vacuum connecting nipple 30 is movably mounted in the connecting unit 29 and, accordingly, sealed therein by means of sealing rings 35 or the like. The vacuum connecting nipple 30 is held in the working position of the gripper (FIG. 2) in the forward position due to mechanical means in the form of a finger 36 attached to the free end of the hydraulic cylinder 26. At the same time, the latter is in this position (gripper) in the maximum turned position (clockwise ). When the gripping device 4 is disconnected from the rod mask 8, the hydraulic cylinder 26 moves away from the position shown in FIG. 2 in the counterclockwise direction, and will ultimately (in a position not shown) abut against rod 37, associated with the vacuum connecting nipple 30, to return the latter to its original (retracted or retracted) position (not shown). At the same time, a finger of 36 volts is sighed. The front end of the vacuum connecting nipple 30 comes into contact with the flat section 38 of the wall 39 of the rod mask 8. Moreover, this flat section 38 contains a vacuum transfer hole 40 connected to other pipelines (not shown). A relatively soft sealing bead 34, conical in its free state (not shown), will be kept in tight contact with the flat portion 38 of the wall 39 due to atmospheric pressure. This holding action is terminated when the vacuum supply is terminated. As shown in FIG. 2, the vacuum transfer opening 40 is smaller than the end opening interacting with it in the vacuum connecting nipple 30. This means that a slight misalignment between the two opening axes will not cause leaks in the connection, provided that the sealing lip 34, it is possible to enter the contact area, with a flat section 38 along its entire periphery. The compressed air nipples 31, shown mainly in Fig. 3, are in the form of cylindrical plugs or pistons movably mounted in respective openings in the connecting unit 29, and sealed therein by means of corresponding sealing rings 41 or the like. . The air connecting nipples 31 are hollow, open at both ends, have side holes 42 that connect the inside of each connecting nipple 31 to the compressed air pipe 43 connected to external sources of compressed air, for example, by means of corresponding flexible hoses, and these sources can be controlled. In FIG. 3, the connecting nipples 31 of the compressed air are shown in their retracted or the retracted position is out of contact with the flat region 38 of the wall 39 of the rod mask 8. When the gripping device is functional, i.e. The clamping elements 6 and 7 are moved from the initial position (Fig. 3) to the working position of the grip (Fig. 2) of the forked plate 44 attached to the vacuum connecting nipple 30 and having two protrusions that come into contact with the corresponding grooves 45 in the connecting nipples 31 of the compressed air is moved together with the vacuum connecting nipple 30, thereby also moving the connecting nipples 31 of the compressed air to the outside (to the right in FIG. 3) to the gripping or contact position (FIG. 2), in which they abut against the flat portion 38 with with These are the front end surfaces, especially when the sealing rings 46 are in contact, respectively, fitted into the protrusion just behind the rigid body of each connecting nipple 31 so as to create an effective seal in the gripping or contact position. Compressed air supplied through the ducts of the pipeline 43 may have a high pressure. For this reason, it is important to efficiently seal in order to save energy and avoid noise due to compressed air leakage. For this purpose, the compressed air nipples 31 have sections with different diameters di and da of the body 47 and their end sealing rings 46 respectively. Moreover, the diameter di is large in size, therefore the resulting pressure force acting on the connecting nipples 31 is directed outwards (i.e., to the right in FIG. 3), i.e. The connecting nipples 31 are pressed to the flat section 38 with a force whose magnitude increases with increasing air pressure in the duct of the pipeline 48. This only happens when the connecting nipples 31 are in tight contact with the flat section 38 and the compressed air is supplied through the pipeline 43. When the connecting nipples 31 of the compressed air are in the above-mentioned contact position, their end sealing rings 46 surround the air-conveying holes 48 having a diameter slightly smaller than the diameter da, thereby giving the possibility of some misalignment, as described above for the nipples 30. In order to further improve the gripping of the rod mask 8, especially in order to achieve good accuracy and stability of the coaxial position of the connecting nipples 30 and 31 and the corresponding transmission holes 40 and 48, the arrangement shown may include gripping hooks 49 attached to the root sections of the clamping elements b and 7 and designed to come into contact with the hooks 50 on the rod mask 8. This structure will significantly reduce the freedom of movement of the rod mask 8 relative to the body 17 of the gripping device. When the vacuum connecting nipple 30 is in its original,. the retracted position, and the connecting nipples 31 of the compressed air are also in the initial position, i.e. the retracted position shown in FIG. 3, the relative displacement parallel to the end wall 39 of the rod mask 8, i.e. parallel and perpendicular to the plane of the drawing, can occur without the risk of damage to the connecting nipples 30 and 31, since there are no parts protruding from the end wall 39 that could cause such damage. One exception is the hooks 50, but since the movements of the manipulator 3 carrying the gripper body 17 usually occur in accordance with predetermined programming, the probability of a collision of the connecting nipples 30 and 31 with the hooks 50 is extremely small. Since the surface portion 38 of the wall 39 is flat, any relative movement of the above type, even at different positions of the connecting nipples with their connecting positions pushed forward, is not likely to cause damage to parts except for some slight wear of the sealing bead 34 and sealing rings 46 . It is advantageous to use a sensor (not shown) of the type of a so-called microswitch installed in the lower part of the semi-circular contact recess in the clamping element 6, the sensor being intended to transmit a signal to the control device when the recess comes into contact with the gripping bosses 22 correctly. In this case, the control device can stop the operation of the entire installation and / or send an alarm if the sensor does not transmit such a signal for a short period of time after moving the gripping mechanism to the gripping position shown in Fig. 2. With this arrangement, dangerous situations can be eliminated, for example in the event of a fallout from a gripping the devices have already raised the masks 8, since such incidents can cause serious functional failures and damage to the installation. FORUMAWLAH AND ISLANDS
权利要求:
Claims (6) [1] 1. A technological system comprising a gripping device with a drive and a number of objects to be gripped, in which the gripping device has a housing, clamping elements intended for interacting with and gripping an object, and a nipple for passing an air working medium through them. captured objects which, in turn, have lugs, hooks designed to interact with the gripping elements of the gripping device, and holes on their flat surface, characterized in that, with In order to increase reliability and safety in operation, the nipples for passing the air working medium are made in the form of tubular elements with at least one open end; [2] 2. The system of claim 1, wherein the nipples for passing the working medium through them have the possibility of movement relative to the body of the gripping device and installation into the original and working position [3] 3. The system according to claim 2. characterized in that for moving the nipples it is provided with a mechanical means for moving the nipples associated with the additionally introduced drive. [4] 4. The system according to claim 3. different with that. that the mechanical means is made in the form of a pull-rod and a finger interacting with the nipple, and the drive is made in the form of a power cylinder, on the rod of which these thrusts and finger are located. [5] 5. The system according to claims 1-4, characterized in that the nipples have means for sealing the holes located on the flat surface of the object to be captured. [6] 6. The system according to claims 1-5, about tl and h and shch a - so. that the clamping elements of the gripping device, as well as the lugs and hooks of the object to be captured, form two pairs of connecting means arranged in mutually perpendicular planes. FIG. I 18 Fm.1
类似技术:
公开号 | 公开日 | 专利标题 EP1102661B1|2004-01-28|Bellows actuation device, especially for robotic manipulator, and method to operate said device US4365928A|1982-12-28|Fluid power connector system for manipulator SU1690538A3|1991-11-07|Production system US4720923A|1988-01-26|Remote center compliance system US4763401A|1988-08-16|Automatic tool-changing device for industrial robots US4676142A|1987-06-30|Adapter with modular components for a robot end-of-arm interchangeable tooling system CN101102869B|2012-09-05|Control system for an articulated manipulator arm US4195529A|1980-04-01|Device for moving the pickups of a flaw detection system through a pipeline KR940006939A|1994-04-26|Apparatus for holding and holding moldable glass plates in place during machining EP0068769B1|1987-09-09|A robot wrist of an industrial robot US4638278A|1987-01-20|Magnetic detector apparatus US4624043A|1986-11-25|Quick release tool holder for robots GB2100826A|1983-01-06|Remotely controlled arm CN110948509A|2020-04-03|Manipulator anchor clamps and robot US4295667A|1981-10-20|Rotary pipe switch EP3543585A1|2019-09-25|Device and method for accessing a pipe that branches from a larger diameter pipe at an angle. GB2145796A|1985-04-03|Manipulator unit SU1144952A1|1985-03-15|Change-over switch of direction of material pneumatically transported through pipeline CN209812320U|2019-12-20|Vacuum revolute pair and rigid vacuum transfer pipeline capable of flexibly extending CN212763983U|2021-03-23|Tube sheet mould vibrator plug positioner KR820001886B1|1982-10-18|Rotary pipe switch PL229442B1|2018-07-31|Manipulator for no-dig servicing of the water and sewer infrastructure elements JPH0741975Y2|1995-09-27|Variable capacity valve CN112045083A|2020-12-08|Manipulator hydraulic remote control device RU2029350C1|1995-02-20|Control device
同族专利:
公开号 | 公开日 DK489886A|1988-04-15| JPH0378236B2|1991-12-13| DK489886D0|1986-10-14| DE3734683C2|1992-04-16| US4840416A|1989-06-20| JPS63127890A|1988-05-31| DE3734683A1|1988-04-28|
引用文献:
公开号 | 申请日 | 公开日 | 申请人 | 专利标题 RU2724757C1|2018-01-11|2020-06-25|Кеда Клеан Энерджи Ко., Лтд.|Robot module for suspended movement of tiles and method of operation thereof|JPS5440419Y2|1976-03-15|1979-11-28| JPS5761487A|1980-09-30|1982-04-13|Fujitsu Fanuc Ltd|Hand for industrial robot| DE3144118C2|1981-11-06|1989-09-21|Heinrich Wagner Maschinenfabrik Gmbh & Co, 5928 Laasphe, De| DE3310192C2|1983-03-21|1985-02-14|Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth|Gripper coupling for industrial robots| DK159598C|1983-04-18|1991-04-15|Dansk Ind Syndikat|MANUAL OPERATOR FOR USE IN STOEBERIANLAEG| US4561506A|1983-07-11|1985-12-31|International Business Machines Corporation|Pivoting driver with changeable bits| DE3347423C2|1983-12-29|1990-05-17|Rudi 4018 Langenfeld De Kirst| US4664588B1|1984-03-09|1989-09-26| WO1986000032A1|1984-06-12|1986-01-03|MIKROVA^oGSAPPLIKATION AB|A core box and method of manufacturing the same| FR2587930B1|1985-05-30|1989-11-10|Steelweld France|DEVICE FOR RECEIVING AND STORING TOOLS IN ASSEMBLY LINES|DE3811887C2|1988-04-09|1993-03-04|Bayerische Motoren Werke Ag, 8000 Muenchen, De| US5018937A|1988-10-05|1991-05-28|Grumman Aerospace Corporation|Shearclip-handling tool| US5287091A|1990-01-20|1994-02-15|Sony Corporation|Printer| US5636887A|1995-03-20|1997-06-10|Chrysler Corporation|Apparatus for lifting objects by suction and releasing them by gas pressure| DE19541880A1|1995-11-09|1997-05-15|Otto Leiritz|Casting removal and reinsertion system in further processing machines| KR0173295B1|1995-12-23|1999-02-18|석진철|Pallet sharing device for flexible manufacturing system| DE102015218523B4|2015-09-25|2021-04-29|Schunk Gmbh & Co. Kg Spann- Und Greiftechnik|Gripping device|
法律状态:
优先权:
[返回顶部]
申请号 | 申请日 | 专利标题 DK489886A|DK489886A|1986-10-14|1986-10-14|PLANT WITH A POWER-DRIVEN GRIBER AND NUMBER OF GRIBE OBJECTS, NECESSARY FOR USE IN AN AUTOMATED SUBSTANCES, WITH A FLUID DUMP BETWEEN THE GRIBER AND A GRAB GOVERNED OBJECT| 相关专利
Sulfonates, polymers, resist compositions and patterning process
Washing machine
Washing machine
Device for fixture finishing and tension adjusting of membrane
Structure for Equipping Band in a Plane Cathode Ray Tube
Process for preparation of 7 alpha-carboxyl 9, 11-epoxy steroids and intermediates useful therein an
国家/地区
|