SU985479A1

SU985479A1 - Vertical displacement apparatus

Info

Publication number: SU985479A1
Application number: SU792859472A
Authority: SU
Inventors: Виктор Александрович Цапов; Олег Валентинович Борисенко; Андрей Адольфович Шлейхер
Original assignee: Запорожский Проектно-Конструкторский И Технологический Институт
Priority date: 1979-12-26
Filing date: 1979-12-26
Publication date: 1982-12-30

Description

.Изобретение относитс к мапшно- строению , в .частности к устройствам с пр молинейным вертикальным перемещением по движной части и пневматическим его уравновешиванием, примен екмм , например, в манипул торах промышленных роботов.The invention relates to a machine structure, in particular, to devices with a straight linear vertical movement on the moving part and pneumatic balancing of it, for example, in manipulators of industrial robots.

Известно устройство вертикального перемещени , содержащее направл ющую стойку, размещенную на ней каретку, приводной вал, св занный с кареткой гибким элементом, механизм уравновешивани выполненный в виде цйлинлфа и размещенного в его полости с образованием рабочих kciMep поршн с гибч КИМ штоком, св занным с приводным валом Ij.A vertical movement device is known, comprising a guide post, a carriage placed on it, a drive shaft connected to the carriage by a flexible element, a balancing mechanism made in the form of a cylinder and placed in its cavity with the formation of a working piston rod KciMep connected with the drive shaft. shaft ij.

Недостатками известного устройства вл ютс значительные габариты устройства поскольку обща длина пневмоцилиндра с выдвинутым штоком более чем В:два раза должна преклаать величину максимального хода каретки, и ограниченные компоновочные возмож-г ности устройства, вызванные необходимостью располагать пневмоцнлин;о параллельно направл ющей стойке.The disadvantages of the known device are the significant dimensions of the device, since the total length of the pneumatic cylinder with the stem extended is more than B: two times the maximum carriage stroke, and the limited layout possibilities of the device caused by the need to locate the pneumoclinlin; parallel to the guide post.

Цель изобретени - сокращение габаритов.The purpose of the invention is to reduce the size.

Указанна цель достигаетс тем, что приводной вал размещен в полости цилиндра, а гибкий шток закреплен нве посредственно на приводн : валу.This goal is achieved by the fact that the drive shaft is placed in the cavity of the cylinder, and the flexible rod is fixed on the drive shaft.

Кроме того, д(илиндр механизма уравновешивани размешен внутри нап- равл гадей стойки.In addition, g (the balance trimming mechanism is placed inside the rack of the guards.

На фиг.1 изображено предлагаемое 10 устройство, общий вид; на фиг.2 разрез А-А на фиг.; на фиг.З - вариант выполнени устройства.Figure 1 shows the proposed 10 device, a General view; in Fig.2, section A-A in Fig .; Fig. 3 shows an embodiment of the device.

Устройство вертикального перемещени содержит направл ющую стойку 1 и установленную на ней с возможностью 5 вертикального перемещени каретку 2, приводной вал 3, св занный с кареткой 2 гибким элементом, выполненным например, в виде цепной передачи 4 с установленной на валу 3 ведуи|ей The vertical movement device comprises a guide post 1 and a carriage 2 mounted on it with the possibility of 5 vertical movements, a drive shaft 3 connected to the carriage 2 by a flexible element, for example, made in the form of a chain gear 4 with a shaft mounted on the shaft 3.

Claims

20 an asterisk 5 with an asterisk 6 mounted on the rack 1. In addition, the drive shaft 3 is connected to the engine 7. The device also contains a balancing mechanism, made in the form of a cylinder 8 consisting of a sleeve 9 installed in its cavity (not indicated) with the formation of the working chambers 10 and 11. the piston 12 with the flexible rod 13. The shaft 3 is placed in the working chamber 10 using seals 14, the flexible rod 13 is directly attached to it. The direction of winding of the rod 13 is chosen so that the force of the pneumatic cylinder creates a moment on the shaft 3, which counteracts the static moment created by the weight of the carriage 2 and the knots mounted on it. Compressed air at a constant pressure is continuously supplied to the chamber 10, and the chamber 11 is connected to the atmosphere. . In the embodiment of the device (FIG. 3), the pneumatic cylinder is placed inside rack 1. In this case, the support 1 can be made airtight, its cavity 15 is connected to a source of compressed air, and the chamber 10 of the pneumatic dials 8 is connected to the cavity 15. The device operates as follows. When the shaft 3 rotates, the carriage 2 moves by a chain transfer 4 along the rack 1. In this case, the flexible rod 13 is wound onto the shaft 3, thereby moving the piston 12. When the carriage 2 moves up (according to the drawing), the piston 1 moves down (according to the drawing) and vice versa. The use of a vertical displacement device by selecting the appropriate diameter of the shaft 3 at the site of the winding of the rod 13 reduces the stroke of the piston 12 compared to the stroke of the carriage 2, which reduces the overall dimensions of the device and also improves its layout, since the pneumatic cylinder 8 can be installed under any angle relative to the carriage relocation direction. Claim 1. A vertical displacement device comprising a guide post, a carriage placed on it, a drive shaft — associated with the carriage by a flexible element; a balancing mechanism, made in the form of a cylinder and placed in its cavity with the formation of working chambers of a piston with a flexible rod, associated with the drive shaft, characterized in that, in order to reduce overall dimensions, the drive shaft is placed in the cavity of the cylinder, and the flexible rod is fixed directly on the drive shaft.

2. The device according to claim 1, wherein the cylinder is located inside the guide post. Sources of information taken into account in the examination 1. Prospect of the company Elfin SPA Welding robot, 1975.