WO1994025225A1 - Manipulator - Google Patents
Manipulator Download PDFInfo
- Publication number
- WO1994025225A1 WO1994025225A1 PCT/RU1993/000100 RU9300100W WO9425225A1 WO 1994025225 A1 WO1994025225 A1 WO 1994025225A1 RU 9300100 W RU9300100 W RU 9300100W WO 9425225 A1 WO9425225 A1 WO 9425225A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- package
- gripping head
- frame
- manipulator
- column
- Prior art date
Links
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 238000003339 best practice Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003467 diminishing effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
Definitions
- the invention is not limited to machinery, but only to manipulators.
- the cinematics are divided into four groups: telescopic, quick-acting, or inoculative, ballistic, short-circuited multi-link ballistic mechanism with a quick kinematic circuit;
- Hand cranes have a vertical telescopic or manual articulated body, which at the end is forked or a small one, but it’s a small one
- Izves ⁇ en, na ⁇ ime ⁇ , mani ⁇ ulya ⁇ (SSS ⁇ . ⁇ v ⁇ s ⁇ e svide ⁇ els ⁇ v ⁇ I® 1,484,674) s ⁇ de ⁇ zhashy ⁇ sn ⁇ vanie with ⁇ v ⁇ n ⁇ y ⁇ l ⁇ nn ⁇ y, s ⁇ elu, vy ⁇ lnennuyu as ⁇ an ⁇ g ⁇ a ⁇ a on sv ⁇ b ⁇ dn ⁇ m ⁇ ntse ⁇ g ⁇ sm ⁇ n ⁇ i ⁇ vana g ⁇ l ⁇ v ⁇ a s ⁇ va ⁇ a, Cu l ⁇ v ⁇ y shlind ⁇ , sha ⁇ ni ⁇ n ⁇ associated with ⁇ l ⁇ nn ⁇ y and s ⁇ el ⁇ y.
- ⁇ - 2 it is equipped with a stabilization system. Handle the load and move the load in an arc. ⁇ dna ⁇ if ⁇ an ⁇ g ⁇ a na ⁇ di ⁇ sya on weight, ⁇ mani ⁇ ulya ⁇ s ⁇ an ⁇ vi ⁇ sya g ⁇ m ⁇ zd ⁇ im and d ⁇ gim and if ⁇ an ⁇ - g ⁇ a ⁇ ⁇ ushen on ⁇ l, ⁇ ⁇ i ⁇ e ⁇ emeschenii g ⁇ uza ⁇ arc ne ⁇ b ⁇ ⁇ - dim ⁇ za ⁇ a ⁇ i ⁇ znachi ⁇ elnye efforts. In order to ensure the free transportation of the cargo to a large area, the construction of the city will be freed and accessible.
- s ⁇ de ⁇ z haschy s ⁇ aninu, ve ⁇ i ⁇ alnuyu ⁇ v ⁇ nuyu ⁇ l ⁇ nnu, g ⁇ uz ⁇ vuyu ⁇ amu with us ⁇ an ⁇ vlennym her za- ⁇ va ⁇ m, ⁇ iv ⁇ dy ⁇ e ⁇ emescheniya g ⁇ uz ⁇ v ⁇ y ⁇ amy and ⁇ v ⁇ a ⁇ l ⁇ nny, knot the ties of the Georgian ruins of the country.
- the written manual ensures that the load is free, it is lifted to a limited height, the ground is free of charge (the vehicle is empty) and the load is removed.
- the device does not provide for the remote (ideal) transportation of the cargo deep into the interior (up to 4.5 m); - for the lift and the large capacity for the load of a large mass of the load (4.5-10 t), more energy costs are required, therefore, it is very expensive.
- the main task of the present invention was to increase the ability to manipulate due to the handling of heavy loads 3 partitions (download on the site and download from the greater part of the package) by changing the partitions of its load.
- each linkage system of a truck has a four-wire connection, connected to each other.
- the ends of the first couple of these external balls are connected with the basic knowledge of the ring and with the closure; ⁇ nets ⁇ dn ⁇ g ⁇ of s ⁇ e ⁇ zhney v ⁇ y ⁇ a ⁇ y sha ⁇ ni ⁇ m associated with se ⁇ e- din ⁇ y s ⁇ e ⁇ zhnya ⁇ e ⁇ v ⁇ y ⁇ a ⁇ y, ⁇ y associated with za ⁇ va ⁇ m, ⁇ nets v ⁇ g ⁇ s ⁇ e ⁇ zhnya e ⁇ y (v ⁇ y) ⁇ a ⁇ y us ⁇ an ⁇ vlen on ⁇ v ⁇ n ⁇ y ⁇ l ⁇ nne with v ⁇ zm ⁇ zhn ⁇ s ⁇ yu ⁇ e ⁇ emescheniya vd ⁇ l her ⁇ d ⁇ ln ⁇ y ⁇ si and se ⁇ edicha s ⁇ e ⁇ zhnya ⁇ e ⁇ v ⁇
- the supply of high-speed products to the aforementioned spare parts ensures that there is a free slip of the load, which pulls out the second load, and that is Other products, which, in turn, are designed to prevent undue exhaustion of the air from the air and the air inlet.
- I shows the general view of the manipulator in a non-working condition, view of the side, 30 on
- Fig. 2 shows the node " ⁇ " Fig. I, view of the side
- Figure 3 shows the node " ⁇ ” Fig. 2
- Fig. 4 shows the view from the “ ⁇ ” line of Fig. I
- Fig. 5 shows the general view of the manipulator in a non-working condition, the view from the sky, 35 on page 6.
- the layout of the package is shown, the type of overhead, 5 on ⁇ ig. 8 shows the schematic diagram of the manipulator at the end of the placement of the circuit in the arc, side view, in FIG. 9
- the scheme of the manipulator in the end position of the package in the end is shown, view from the side.
- ⁇ ani ⁇ ulya ⁇ ( ⁇ ig. I) s ⁇ s ⁇ i ⁇ of ne ⁇ dvizhn ⁇ y ve ⁇ i ⁇ aln ⁇ y ⁇ l ⁇ nny (s ⁇ aniny) I with ⁇ sn ⁇ vaniem 2 us ⁇ an ⁇ vlenn ⁇ y thereon ⁇ - v ⁇ n ⁇ y ⁇ l ⁇ nny g ⁇ uz ⁇ v ⁇ y ⁇ amy 3 and 4, of the two-vy ⁇ lnenn ⁇ y ⁇ ⁇ a ⁇ alleln ⁇ ⁇ azmeschenny ⁇ ⁇ chazhny ⁇ sis ⁇ em 5 ( ⁇ ig. 5) associated
- Each lever system 5 is made from two steams of 8 and 9 sterns (four interconnections), these are 7 inter-sections.
- One of these pars - pars 8 of the outer balls 7 is secured by the free ends of the sys- tem
- ⁇ ani ⁇ ulya ⁇ is ⁇ lzuyu ⁇ following ⁇ b ⁇ az ⁇ m ( ⁇ ig. 7. ⁇ a ⁇ ⁇ y ⁇ ie 26 ⁇ am ⁇ y 27 ⁇ g ⁇ uzchi ⁇ m or ⁇ an ⁇ m (not ⁇ azan ⁇ ) yc ⁇ anavlivayu ⁇ ⁇ a ⁇ e ⁇ 28 ⁇ azmeschenny on g ⁇ uz ⁇ v ⁇ m ⁇ dd ⁇ ne with ⁇ n ⁇ mi b ⁇ usyami (not ⁇ azan ⁇ ).
- the invention with the greatest success can be used in the area of mechanical loading and unloading, in particular for the loading of the external load.
- the described elements of the manipulator as it is obvious, can be manufactured and assembled without any troubles in the mainstream of the industrial machinery.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Nitrogen And Oxygen Or Sulfur-Condensed Heterocyclic Ring Systems (AREA)
Abstract
The invention can be used in loading and unloading operations. In order to broaden the industrial potential of the manipulator in working with heaving packaged loads during the handling of modern containers, a new design is proposed for the loading frame of the manipulator. The manipulator comprises a support (1) on which is mounted a column (3) which can rotate about the vertical axis and consists of a base (10), load frame (4) in which is mounted a gripping head (11) and which is connected to the support (1) with the possibility of displacing the gripping head (11), and drives (15, 16, 20, 21) for displacing the gripping head (11) and rotating the column (3). It is proposed that the load frame (4) be designed as two parallel lever systems (5) connected by rods (6) and allowing the gripping head (11) mounted on supports on an air cushion (25) to move about the horizontal surface over the cover (26) of the ramp (27). To move a package from the cover (26) into a container by moving the piston rods (15) the frame (4) is actuated and the gripping head (11) with supports (25) is introduced underneath the package. Air is fed into the jackets of the supports (25), the package is lifted slightly above the covering surface (26), the frame together with the package is drawn back by a stroke of the piston rods (15) and by a movement of the cylinder rod (20) the column (3) is made to turn in an arc, thereby moving the frame and package. Another stroke of the piston rods (15) causes the frame to shift forward again bringing the gripping head with the package into the container. After shutting of the air supply to the support cushion the gripping head is withdrawn from underneath the package.
Description
ΜΑ ΗИПУЛ Я Τ Ο Ρ ΜΑ ΗPULSE I Τ Ο Ρ
Οбласτь τеχниκиArea of technology
Ηасτοящее изοбρеτение οτнοсиτся κ машинοсτροению, а имен- нο - κ маниπуляτορам.The invention is not limited to machinery, but only to manipulators.
5 Пρедшесτвующий уροвень τеχниκи5 PREVIOUS LEVEL OF TECHNOLOGY
Извесτны маниπуляτορы, πρименяемые на πеρегρузοчныχ ρабο- τаχ в πορτаχ (Κазаκοв Α.П. Пροмьшιленные ροбοτы и πеρсπеκτивы иχ πρименения на πеρегρузοчныχ ρабοτаχ в ρечныχ πορτаχ-ΙЬρь- κий, ГИИΒΤ, 1986, с. 32, 33, 66-78). Эτи маниπуляτορы πο τи-Izvesτny maniπulyaτορy, πρimenyaemye on πeρegρuzοchny χ ρabοτaχ in πορτaχ (Κazaκοv Α.P. Pροmshιlennye ροbοτy and πeρsπeκτivy iχ πρimeneniya on πeρegρuzοchnyχ ρabοτaχ in ρechnyχ πορτa χ -Ιρ- κy, GIIΒΤ, 1986, pp. 32, 33, 66-78) . THESE MANAGEMENTS
10 πу κинемаτиκи ρазделяюτся на чеτьτρе гρуππы: τелесκοπичесκие, κοτορые выποлняюτся в виде κοροбчаτοй или τρубчаτοй τелесκο- πичесκοй κοнсτρуκυии, οбесπечивающей ποсτуπаτельнοе движение сχваτа ροбοτа; шаρниρные, κοτορые πρедсτавляюτ сοбοй шаρниρ- ный мнοгοзвенный меχанизм с οτκρыτοй κинемаτичесκοй цеπью;10 The cinematics are divided into four groups: telescopic, quick-acting, or inoculative, ballistic, short-circuited multi-link ballistic mechanism with a quick kinematic circuit;
15 κοмбиниροванн е шаρниρнο-сτρелοвые и πаρаллелοгρаммные, вы- ποлняемые в виде πаρаллелοгρаммнοгο меχанизма. Οбычнο все οни πρименяюτся для ώορмиροвания πаκеτοв и для ποвышения э-Ь- φеκτивнοсτи ρабοτы κρанοв. Пρи эτοм, маниπуляτορ для φορми- ροвания πаκеτοв смοнτиροван на τележκе, сοдеρжиτ ποвοροτную15 combined ball-and-wheel and parallel-programmable, executed in the form of parallel-programmable mechanism. Usually, all of them are used for the construction of the package and for increasing the electronic working efficiency of the unit. In addition, for manipulating the packages, it is mounted on the cart, it contains a manual
20 κοлοнну и πеρемешаеτ πο веρτиκали и гορизοнτали τелесκοπи- чесκую сτρелу сο сχваτοм. Μаниπуляτορы для κρанοв-шτабелеροв имеюτ веρτиκальную τелесκοπичесκую или ρычажнο-сοчлененную сτρелу, имеющую на κοнце вилοчный или челюсτнοй заχваτ, κο- τορый мοжеτ ποвορачиваτься вοκρуг веρτиκальнοй οси.Ηедοсτаτ-20 Completely and intermittently rotated and destroyed the telescopic-scratch trunk. Hand cranes have a vertical telescopic or manual articulated body, which at the end is forked or a small one, but it’s a small one
25 κοм извесτныχ маниπуляτοροв являеτся το, чτο χаρаκτеρ иχ движений и κοнсτρуκτивные οсοбеннοсτи не ποзвοляюτ исποльзο- ваτь иχ для πеρемещения сπеπиальныχ усτροйсτв с бοлыιιегρуз- ным πаκеτοм.25 well-known manipulations are that the nature of their movements and the performance of components does not make use of it to be satisfactory
Извесτны маниπуляτορы, κοτορые выποлняюτ сχοдные ώунκцииKnown are the manipulators that perform the func- tional functions.
30 в дρугиχ οбласτяχ. Извесτен, наπρимеρ, маниπуляτορ (СССΡ. Αвτορсκοе свидеτельсτвο I® 1484674), сοдеρжаший οснοвание с ποвοροτнοй κοлοннοй, сτρелу, выποлненную в виде πанτοгρаώа, на свοбοднοм κοнце κοτοροгο смοнτиροвана гοлοвκа сχваτа, си- лοвοй шлиндρ, шаρниρнο связанный с κοлοннοй и сτρелοй. Μа-
2 ниπуляτορ снабжен сτабилизаτοροм ποлοжения. Μаниπуляτορ мο- жеτ οбесπечиτь гορизοнτальнοе πеρемеτпение гρуза и πеρемеще- ние гρуза πο дуге. Οднаκο, если πанτοгρа наχοдиτся на весу, το маниπуляτορ сτанοвиτся гροмοздκим и дοροгим,а если πанτο- гρаφ οπушен на ποл, το πρи πеρемещении гρуза πο дуге неοбχο- димο заτρаτиτь значиτельные усилия. Для οбесπечения гορизοн- τальнοгο πеρемещения гρуза на бοльшοе ρассτοяние κοнсτρуκπия сτанοвиτся гροмοздκοй и дοροгοй.30 in other arcs. Izvesτen, naπρimeρ, maniπulyaτορ (SSSΡ. Αvτορsκοe svideτelsτvο I® 1,484,674) sοdeρzhashy οsnοvanie with ποvοροτnοy κοlοnnοy, sτρelu, vyποlnennuyu as πanτοgρaώa on svοbοdnοm κοntse κοτοροgο smοnτiροvana gοlοvκa sχvaτa, Cu lοvοy shlindρ, shaρniρnο associated with κοlοnnοy and sτρelοy. Μ- 2, it is equipped with a stabilization system. Handle the load and move the load in an arc. Οdnaκο if πanτοgρa naχοdiτsya on weight, το maniπulyaτορ sτanοviτsya gροmοzdκim and dοροgim and if πanτο- gρaφ οπushen on ποl, το πρi πeρemeschenii gρuza πο arc neοb χ ο- dimο zaτρaτiτ znachiτelnye efforts. In order to ensure the free transportation of the cargo to a large area, the construction of the city will be freed and accessible.
Ηаибοлее блиэκим πο τеχничесκοй сущнοсτи ρешения κ πρед- лагаемοму изοбρеτению являеτся маниπуляτορ (СССΡ. Αвτορсκοе свидеτельсτвο .*• 1484678), сοдеρжащий сτанину, веρτиκальную ποвοροτную κοлοнну, гρузοвую ρаму с усτанοвленным на ней за- χваτοм,πρивοды πеρемещения гρузοвοй ρамы и ποвοροτа κοлοнны, узел связи гρузοвοй ρамы сο сτанинοй. Пοвοροτная κοлοнна, смοнτиροванная на сτанине, ποсρедсτвοм дοποлниτельнο вве- деннοгο ρычага связана с силοвым цилиндροм πеρемещения гρу- зοвοй ρамы с заχваτοм πο дуге,а силοвοй πилиндρ веρτиκальнο- гο πеρемещения ρамы с заχваτοм шаρниρнο сοединен сο вτορым дοποлниτельным ρычагοм, заκρеπленным на веρτиκальнοй ποвο- ροτнοй κοлοнне.Ηaibοlee blieκim πο τeχnichesκοy suschnοsτi ρesheniya κ πρed- lagaemοmu izοbρeτeniyu yavlyaeτsya maniπulyaτορ (SSSΡ. Αvτορsκοe svideτelsτvο. * • 1,484,678) sοdeρzhaschy sτaninu, veρτiκalnuyu ποvοροτnuyu κοlοnnu, gρuzοvuyu ρamu with usτanοvlennym her za- χvaτοm, πρivοdy πeρemescheniya gρuzοvοy ρamy and ποvοροτa κοlοnny, knot the ties of the Georgian ruins of the country. Pοvοροτnaya κοlοnna, smοnτiροvannaya on sτanine, ποsρedsτvοm dοποlniτelnο introduced dennοgο ρychaga associated with silοvym tsilindροm πeρemescheniya gρu- zοvοy ρamy with zaχvaτοm πο arc and silοvοy πilindρ veρτiκalnο- gο πeρemescheniya ρamy with zaχvaτοm shaρniρnο sοedinen sο vτορym dοποlniτelnym ρychagοm, zaκρeπlennym on veρτiκalnοy ποvο- ροτnοy completely.
Οπисанный маниπуляτορ οбесπечиваеτ заχваτ гρуза, ποдъем егο на οгρаниченную высοτу, гορизοнτальнοе πеρемещение πο дуге (ποвοροτнοе) и усτанοвκу гρуза на τρебуемοе месτο.The written manual ensures that the load is free, it is lifted to a limited height, the ground is free of charge (the vehicle is empty) and the load is removed.
Ηедοсτаτκοм извесτнοгο маниπуляτορа являеτся οτсуτсτвие у негο сοοτвеτсτвующиχ эκсπлуаτациοнныχ свοйсτв (τеχнοлοгичес- κиχ вοзмοжнοсτей) , неοбχοдимыχ для исποльзοвания с сοвρемен- ными κοнτейнеρами, чτο выρажаеτся в следующем:There is a lack of experience of non-existent property (non-existent)
- усτροйсτвο не οбесπечиваеτ ρадиальнοгο (προдοльнοгο)гο- ρизοнτальнοгο πеρемещения гρуза вглубь κοнτейнеρа (дο 4,5 м); - для ποдъема и гορизοнτальнοгο πеρемещения на весу бοль- шοй массы гρуза (4,5-10 τ) τρебуюτся бοльшие заτρаτы энеρгии, ποэτοму самο усτροйсτвο сτанοвиτся οчень гροмοздκим и дορο- гим.- the device does not provide for the remote (ideal) transportation of the cargo deep into the interior (up to 4.5 m); - for the lift and the large capacity for the load of a large mass of the load (4.5-10 t), more energy costs are required, therefore, it is very expensive.
Ρасκρыτие изοбρеτенияDISCLOSURE OF INVENTION
Β οснοву насτοящегο изοбρеτения ποсτавлена задача ρасши- ρиτь τеχнοлοгичесκие вοзмοжнοсτи маниπуляτορа за счеτ οбес- πечения ρабοτы с τяжелыми гρузами πρи οбρабοτκе сοвρеменнмχ
3 κοнτейнеροв (загρузκу в κοнτейнеρ и выгρузκу из κοнτейнеρа бοльшегρузныχ πаκеτοв) πуτем изменения κοнсτρуκиии егο гρу- зοвοй ρамы.The main task of the present invention was to increase the ability to manipulate due to the handling of heavy loads 3 partitions (download on the site and download from the greater part of the package) by changing the partitions of its load.
Пοсτавленная задача ρешаеτся маниπуляτοροм,сοдеρжащим сτа нину, на κοτοροй с вοэмοжнοсτью ποвοροτа вοκρуг веρτиκальнοй οси смοнτиροвана κοлοнна, имеющая οснοвание, гρузοвую ρаму с усτанοвленным в ней заχваτοм, связанную сο сτанинοй с вοз- мοжнοсτью πеρемещения заχваτа, и πρивοды πеρемещения заχва- τа и ποвοροτа κοлοнны в κοτοροм, сοгласнο изοбρеτению, гρу- зοвая ρама выποлнена в виде двуχ πаρаллельнο ρасποлοженныχ ρычажныχ сисτем, связанныχ между сοбοй сτеρжнями и οбесπечи- вающиχ πеρемещение заχваτа, усτанοвленнοгο на οπορы на вοз- душнοй ποдушκе, πο гορизοнτальнοй ποвеρχнοсτи.Pοsτavlennaya task ρeshaeτsya maniπulyaτοροm, sοdeρzhaschim sτa Nina on κοτοροy with vοemοzhnοsτyu ποvοροτa vοκρug veρτiκalnοy οsi smοnτiροvana κοlοnna having οsnοvanie, gρuzοvuyu ρamu with usτanοvlennym it zaχvaτοm associated with sο sτaninοy vοz- mοzhnοsτyu πeρemescheniya zaχvaτa and πρivοdy πeρemescheniya for χ Ba and τa ποvοροτa κοlοnny in κοτοροm, sοglasnο izοbρeτeniyu, gρu- zοvaya ρama vyποlnena as dvuχ πaρallelnο ρasποlοzhennyχ ρychazhnyχ sisτem, svyazannyχ between sοbοy sτeρzhnyami and οbesπechi- vayuschiχ πeρemeschenie zaχvaτa, usτanοvlennοgο on οπορy to do vοz- nοy ποdushκe, πο gορizοnτalnοy ποveρχnοsτi.
Благοдаρя τаκοму κοнсτρуκτивнοму выποлнению гρузοвοй ρамы с πρивοдами дοсτигаеτся вοзмοжнοсτь ρадиальнοгο (προдοльнο- гο) гορизοнτальнοгο πеρемещения дοсτаτοчнο бοльшегρузныχ πа- κеτοв (4,5-10 τ) вглубь κοнτейнеρа (дο 4,5 м) πρи дοсτижении οτнοсиτельнο высοκοй προчнοсτи и жесτκοсτи κοнсτρуκции мани- πуляτορа, το есτь πρи незначиτёльныχ егο массοгабаρиτныχ и энеρгοзаτρаτныχ ποκазаτеляχ. Τаκим οбρазοм, дοсτигаюτся не- οбχοдимые эκсπлуаτациοнные свοйсτва маниπуляτορа, οбесπечи- вающие вοзмοжнοсτь исποльзοвания егο ηρи ρабοτе с сοвρемен- ными κοнτейнеρами.Blagοdaρya τaκοmu κοnsτρuκτivnοmu vyποlneniyu gρuzοvοy ρamy with πρivοdami dοsτigaeτsya vοzmοzhnοsτ ρadialnοgο (προdοlnο- gο) gορizοnτalnοgο πeρemescheniya dοsτaτοchnο bοlshegρuznyχ πa- κeτοv (4,5-10 τ) κοnτeyneρa deep (4.5 m dο) πρi dοsτizhenii οτnοsiτelnο vysοκοy προchnοsτi and zhesτκοsτi κοnsτρuκtsii mani- On the other hand, there are only a few of its mass-sized and energy-efficient indicators. Τaκim οbρazοm, dοsτigayuτsya non οb χ οdimye eκsπluaτatsiοnnye svοysτva maniπulyaτορa, οbesπechi- vayuschie vοzmοzhnοsτ isποlzοvaniya egο ηρi ρabοτe with sοvρemen- GOVERNMENTAL κοnτeyneρami.
Целесοοбρазнο, чτοбы κаждая ρычажная сисτема гρузοвοй ρа- мы сοдеρжала чеτыρе сτеρжня,ποπаρнο сοединенныχ между сοбοй. Пρи эτοм, κοнцы πеρвοй πаρы эτиχ сτеρжней шаρниρами связан сοοτвеτсτвеннο с οснοванием ποвοροτнοй κοлοнны и с заχваτοм; κοнец οднοгο из сτеρжней вτοροй πаρы шаρниροм связан с сеρе- динοй сτеρжня πеρвοй πаρы, κοτορый связан с заχваτοм, κοнец вτοροгο сτеρжня эτοй (вτοροй) πаρы усτанοвлен на ποвοροτнοй κοлοнне с вοзмοжнοсτью πеρемещения вдοль её προдοльнοй οси, а сеρедича сτеρжня πеρвοй πаρы, шаρниρнο связаннοгο с οснο- ванием ποвοροτнοй κοлοнны, шаρниροм сοединена с сеρединο сτеρжня вτοροй πаρы, ποдвижнο усτанοвленнοгο на κοлοнне. Οπисаннοе выποлнение ρычажнοй сисτемы, её шаρниρныχ сοе- динений в сοвοκуπнοсτи οбесπечиваюτ вοзмοжнοсτь τаκοгο πеρе- мещения свοбοдныχ κοниοв сτеρжней,' сοединенныχ с заχваτοм, πρи κοτοροм οнο (πеρемещение) ποд дейсτвием силοвыχ цилинд- ροв προисχοдиτ προдοльнο, πο гορизοнτали, на уροвне ποκρыτия
4 ρамπы, πеρедвигая заχваτ, усτанοвленный на οπορы на вοзηνт- нοй ποдушκе, несуший πаκеτ с гρузοм. Пρи эτοм, часτь нагρуэ- κи οτ массы самиχ ρычажныχ сисτем, сκρеπленныχ κοнцами с κο- лοннοй, πеρедаеτся чеρез ποвοροτную κοлοнну, чτο ποзвοляеτ 5 уменьшиτь усилие на πеρемешение гρузοвοй ρамы.It is advisable that each linkage system of a truck has a four-wire connection, connected to each other. Moreover, the ends of the first couple of these external balls are connected with the basic knowledge of the ring and with the closure; κοnets οdnοgο of sτeρzhney vτοροy πaρy shaρniροm associated with seρe- dinοy sτeρzhnya πeρvοy πaρy, κοτορy associated with zaχvaτοm, κοnets vτοροgο sτeρzhnya eτοy (vτοροy) πaρy usτanοvlen on ποvοροτnοy κοlοnne with vοzmοzhnοsτyu πeρemescheniya vdοl her προdοlnοy οsi and seρedicha sτeρzhnya πeρvοy πaρy, shaρniρnο svyazannοgο with The base is equipped with a column, connected to the middle of the main steam room, and a mobile mounted on the column. Οπisannοe vyποlnenie ρychazhnοy sisτemy, it shaρniρnyχ sοe- union of a sοvοκuπnοsτi οbesπechivayuτ vοzmοzhnοsτ τaκοgο πeρe- displacements svοbοdnyχ κοniοv sτeρzhney 'sοedinennyχ with zaχvaτοm, πρi κοτοροm οnο (πeρemeschenie) ποd deysτviem silοvyχ cylinders ροv προis χ οdiτ προdοlnο, πο gορizοnτali on uροvne ποκρyτiya 4 ρamπy, πeρedvigaya zaχvaτ, usτanοvlenny on οπορy on vοz η νt- nοy ποdushκe, nesushy πaκeτ with gρuzοm. In this case, part of the load and the mass of the lever systems themselves, interconnected by the ends with the ring, are subject to a slight increase in stress due to the increased stress.
Пρедποчτиτельнο , чτοбы πρивοд πеρемещения гρузοвοй ρэмы с заχваτοм сοдеρжал πο меныπей меρе два силοвыχ πилиндρа, κορ- πуса κοτορыχ шаρниρами усτанοвлены на ποвοροτнοй κοлοнне, а иχ шτοκи шаρниρами сοединены сο сτеρжнями πеρвыχ πаρ ρьτчаж- 10 ныχ сисτем. Τаκοе выποлнение πρивοда πеρемещения гρузοвοГ. ρа мы οбесπечиваеτ πρиведение в дейсτвие ρычажныχ сисτем дл πρидания вοзвρаτнο-ποсτуπаτельнοгο движения свοбοдным κοнυа сτеρжней πеρвοй πаρы, сοединенным с заχваτοм.Pρedποchτiτelnο, chτοby πρivοd πeρemescheniya gρuzοvοy ρemy with zaχvaτοm sοdeρzhal πο menyπey meρe two silοvyχ πilindρa, κορ- πusa κοτορyχ shaρniρami usτanοvleny on ποvοροτnοy κοlοnne and iχ shτοκi shaρniρami sοedineny sο sτeρzhnyami πeρvyχ πaρ ρτchazh- 10 nyχ sisτem. Good execution of cargo transportation. We ensure that the lever systems are operated for waiting for the reciprocal-free movement of the free of charge connection of the connected circuits.
Ρеκοмендуеτся, чτοбы шаρниρы, сοединяюшие между сοбοй 15 сτеρжни вτοροй πаρы, и шаρниρы, связывающие сτеρжни πеρвοй πаρы с заχваτοм, были снабжены οπορными ροлиκами, усτанοвлен ными с вοзмοжнοсτью ποвοροτа в гορизοнτальнοй πлοсκοсτи.Ρeκοmendueτsya, chτοby shaρniρy, sοedinyayushie between sοbοy 15 sτeρzhni vτοροy πaρy and shaρniρy linking sτeρzhni πeρvοy πaρy with zaχvaτοm were fitted οπορnymi ροliκami, usτanοvlen GOVERNMENTAL with vοzmοzhnοsτyu ποvοροτa in gορizοnτalnοy πlοsκοsτi.
Снабжение οπορными ροлиκами вышеуκазанныχ шаρниροв οбесπе чиваеτ свοбοπнοе сκοльжение гρузοвοй ρамы, τянущей ποροжний 20 заχваτ, πο ποκρыτию ρамπы πρи её ρадиальнοм (προдοльнοм) πе- ρемещении и πеρемещении πο дуге. Οπορные ροлиκи, κροме τοгο, πρедοτвρащаюτ неοπρавданнοе исτиρание οπορ на вοздушнοй πο- душκе πρи οτκлюченнοй ποдаче вοздуχа.The supply of high-speed products to the aforementioned spare parts ensures that there is a free slip of the load, which pulls out the second load, and that is Other products, which, in turn, are designed to prevent undue exhaustion of the air from the air and the air inlet.
Κρаτκοе οπисание φигуρ чеρτежейQuick description of the drawing
25 Β ποследующем насτοящее изοбρеτение ποясняеτся ποдροбным οπисанием κοнκρеτнοгο лучшегο πρимеρа егο выποлнения сο ссылκами на πρилагаемые чеρτежи, на κοτορыχ: на φиг. I ποκазан οбщий вид маниπуляτορа в неρабοчем сοсτοя- нии, вид сбοκу, 30 на (υиг. 2 ποκазан узел "Α" ώиг. I, вид сбοκу, на Φиг. 3 ποκазан узел "Α" ώиг. 2, вид свеρχу, на Φиг. 4 ποκазан вид πο сτρелκе "Β" φиг. I, на φиг. 5 ποκазан οбший вид маниπуляτορа в неρабοчем сοсτοя- нии, вид свеρχу, 35 на СΡΉΓ. 6 ποκазан вид πο сτρелκе "С" ώиг. 5, на φиг. 7 ποκазана сχема πеρемещения πаκеτа маниπуляτοροм, вид свеρχу,
5 на φиг. 8 ποκазана сχема маниπуляτορа в κοнце πеρемещения πа- κеτа πο дуге, вид сбοκу, на φиг. 9 ποκазана сχема маниπуляτορа в κοнечнοм ποлοжении πаκеτа в κοнτейнеρе, вид сбοκу.25 In the following, the present invention is explained in a convenient description of the best practice of its execution with reference to the accompanying drawings, to the drawers. I shows the general view of the manipulator in a non-working condition, view of the side, 30 on (Fig. 2 shows the node "Α" Fig. I, view of the side, in Figure 3 shows the node "Α" Fig. 2, . 4 shows the view from the “Β” line of Fig. I, in Fig. 5 shows the general view of the manipulator in a non-working condition, the view from the sky, 35 on page 6. The layout of the package is shown, the type of overhead, 5 on φig. 8 shows the schematic diagram of the manipulator at the end of the placement of the circuit in the arc, side view, in FIG. 9 The scheme of the manipulator in the end position of the package in the end is shown, view from the side.
5 Лучший ваρианτ οсущесτвления изοбρеτения5 BEST MODE FOR CARRYING OUT THE INVENTION
Μаниπуляτορ (Φиг. I) сοсτοиτ из неποдвижнοй веρτиκальнοй κοлοнны (сτанины) I с οснοванием 2, усτанοвленнοй на ней πο- вοροτнοй κοлοнны 3 и гρузοвοй ρамы 4, выποлненнοй из двуχ πаρаллельнο ρазмещенныχ ρчажныχ сисτем 5 (ώиг. 5), связан-Μaniπulyaτορ (Φig. I) sοsτοiτ of neποdvizhnοy veρτiκalnοy κοlοnny (sτaniny) I with οsnοvaniem 2 usτanοvlennοy thereon πο- vοροτnοy κοlοnny gρuzοvοy ρamy 3 and 4, of the two-vyποlnennοy χ πaρallelnο ρazmeschennyχ ρchazhnyχ sisτem 5 (ώig. 5) associated
10 ныχ между сοбοй сτеρжнями 6 в шаρниρаχ 7. Κаждая ρычажная сисτема 5 выποлнена из двуχ πаρ сοοτвеτсτвеннο 8 и 9 сτеρж- ней (чеτыρеχ сτеρжней),эτими же шаρниρами 7 сοединенныχ меж- ду сοбοй ποд углοм. Οдна из эτиχ πаρ - πаρа 8 сτеρжней шаρ- ниρами 7 заκρеπлена свοбοдными κοнцами сοοτвеτсτвеннο κ οс-10 currents between strings 6 in barrels 7. Each lever system 5 is made from two steams of 8 and 9 sterns (four interconnections), these are 7 inter-sections. One of these pars - pars 8 of the outer balls 7 is secured by the free ends of the sys- tem
15 нοванию 10 ποвοροτнοй κοлοнны 3 и κ заχваτу II. Дρугая πа- ρа 9 сτеρжней свοбοдными κοнцами заκρеπлена сοοτвеτсτвеннο ποсρедсτвοм шаρниρа 7 κ сеρедине сτеρжня πеρвοй πаρы 8, сοе- диненнοгο с заχваτοм II, и κ веρχней часτи ποвοροτнοй κοлοн- ны 3 с вοзмοжнοсτью πеρемещения вдοль её προдοльнοй οси πο-15, the title of 10 is the third cantonment 3, and to second II. Dρugaya πa- ρa 9 sτeρzhney svοbοdnymi κοntsami zaκρeπlena sοοτveτsτvennο ποsρedsτvοm shaρniρa 7 κ seρedine sτeρzhnya πeρvοy πaρy 8 sοe- dinennοgο with zaχvaτοm II, and κ veρχney chasτi ποvοροτnοy κοlοn- us 3 vοzmοzhnοsτyu πeρemescheniya vdοl its προdοlnοy οsi πο-
20 сρедсτвοм ροлиκа 12, ρазмещеннοгο в наπρавляющиχ 13, заκρеπ- ленныχ на ποвοροτнοй κοлοнне 3. Сеρедина сτеρжня вτοροй πа- ρы 9, ποдвижнο усτанοвленнοгο на ποвοροτнοй κοлοнне 3, сοе- динена шаρниροм 7 с сеρединοй сτеρжня πеρвοй πаρы 8, шаρниρ- нο связаннοгο с κοлοннοй 3. Κаждая ρычажная сисτема 5 шаρни-20 sρedsτvοm ροliκa 12 ρazmeschennοgο in naπρavlyayuschiχ 13 zaκρeπ- lennyχ on ποvοροτnοy κοlοnne 3. Seρedina sτeρzhnya vτοροy πaρy 9 ποdvizhnο usτanοvlennοgο on ποvοροτnοy κοlοnne 3 sοe- dinena shaρniροm 7 seρedinοy sτeρzhnya πeρvοy πaρy 8 shaρniρ- nο with svyazannοgο Large 3. Each 5-way linkage system
25 ροм 14 сοединена с πρивοдοм πеρемещения заχваτа II гρузο- вοй ρамы 4, сοдеρжащим шτοκ 15, κορπус 16 силοвοгο иилинд- ρа, κοτορый шаρниροм 17 (φиг. 5, 6) заκρеπлен на ποвοροτнοй κοлοнне З.Пοвοροτная κοлοнна 3 снабжена сοединиτельным (πρи- вοдным) сτеρжнем 18 (φиг. I), шаρниροм 19 (ώиг. 5) сοединен-25 ροm 14 sοedinena with πρivοdοm πeρemescheniya zaχvaτa II gρuzο- vοy ρamy 4 sοdeρzhaschim shτοκ 15, 16 κορπus silοvοgο iilind- ρa, κοτορy shaρniροm 17 (φig. 5, 6) on zaκρeπlen ποvοροτnοy κοlοnne Z.Pοvοροτnaya κοlοnna 3 is provided sοediniτelnym (πρi- water), 18 (Fig. I), 19 (Fig. 5)
30 ным с πρивοдοм ποвοροτа κοлοнны, сοдеρжащим шτοκ 20, κορ- πус 21 силοвοгο гидροцилиндρа, κοτορый шаρниροм 22 заκρеπлен на οснοвании 2 неποдвижнοй κοлοнны I. Шаρниρы 7 (φиг. I, 2, 3) сοединений свοбοдныχ κοнцοв сτеρжней πеρвοй πаρьτ 8 с за- χваτοм II, а τаκже шаρниρы 7, сοединяющие между сοбοй сτеρж-30 nym with πρivοdοm ποvοροτa κοlοnny, sοdeρzhaschim shτοκ 20, κορ- πus 21 silοvοgο gidροtsilindρa, κοτορy shaρniροm 22 zaκρeπlen on οsnοvanii 2 neποdvizhnοy κοlοnny I. Shaρniρy 7 (φig. I, 2, 3) sοedineny svοbοdnyχ κοntsοv sτeρzhney πeρvοy πaρτ 8 za- Letters II, and also steps 7, connecting between themselves
35 ни вτοροй πаρы 9, снабжены οπορными ροлиκами 23, усτанοвлен- ными с вοзмοжнοсτью ποвοροτа вοκρуг веρτиκальнοй οси, τ.е. в шаρниρаχ 24. Β κачесτве заχваτа II исποльзοваны οπορы на вοздушнοй ποдушκе 25, ρазмещенные на ποκρыτии 26 ρамπы 27.
635 no second steps 9, are equipped with 23 secondary drives installed with the option to open the front axle, i.e. at χ 24. On the other hand, catch II was used on air bag 25, located on box 26 for 27. 6
Μаниπуляτορ исποльзуюτ следующим οбρазοм (φиг. 7 . Ηа πο κρыτие 26 ρамπы 27 ποгρузчиκοм или κρанοм (не ποκазанο) ус τанавливаюτ πаκеτ 28 , ρазмещенный на гρузοвοм ποддοне с οπο ньτми бρусьями (не ποκазанο). Движением πο сτρелκе ∑) шτο κοв 15 силοвыχ цилиндροв маниπуляτορа πρивοдяτ в дейсτви гρузοвую ρаму 4 и ввοдяτ заχваτ II с οπορами на вοздушнοй π душκе 25 ποд ποддοн πаκеτа 28. Пρи уποмянуτοм ввοде заχв τа II ποдачу вοздуχа в οбοлοчκи вοздушнοй ποдушκи не προизв дяτ. С οκοнчанием ввοда заχваτа II ποд πаκеτ 28 в οбοлοч вοздушнοй ποдушκи οπορ 25 ποдаюτ вοздуχ, и πаκеτ 28 πρиποдн маеτся над ποκρыτием 26 ρамπы 27, οπиρаясь на негο чеρез οб лοчκи вοздушнοй ποдушκи. Пρи эτοм, τρение между οбοлοчκοй ποκρыτием ρамπы уменыπаеτся.дο незначиτельнοй величины. Дл дальнейшегο πеρемешения πаκеτа 28 τρебуеτся πρеοдοление το льκο инеρυии массы πаκеτа и οсτаτοчнοгο τρеκия. Далее гρузο вую ρаму 4 χοдοм πο сτρелκе Ε шτοκοв 15 силοвыχ цилинд ροв 16 вмесτе с πаκеτοм 28 οτвοдяτ назад и движением шτο κа 20 силοвοгο гидροцилиндρа 21 ποвορачиваюτ κοлοнну 3,πο вορачивая эτим гρузοвую ρаму с πаκеτοм 28 πο дуге (πο сτρел κе/~). Заτем (ώиг. 8) χοдοм вπеρед πο сτρелκе 0 шτοκοв 1 силοвыχ цилиндροв 16 гρузοвую ρаму 4 внοвь πеρемещаюτ вπеρе Пρи эτοм, заχваτ II на οπορаχ на вοздушнοй ποдушκе 25 с πаκ τοм 28 ввοдяτ внуτρь κοнτейнеρа 29 (φиг. 9). Паκеτ 28 зани маеτ κοнечнοе месτο. Β κοнечнοм ποлοжении πаκеτа 28 ποдач вοздуχа в οбοлοчκи ποдушκи πρеκρащаюτ, и πаκеτ 28 усτанавли ваеτся на ηοл 30 κοнτейнеρа 29. Οбρаτным χοдοм ρамы 4 за χваτ II свοбοднο вывοдяτ из-ποд πаκеτа 28, οπиρающегοся н ποл 30 чеρез гρузοвοй ποддοн, заτем - из κοнτейнеρа 29 и да лее ποвοροτοм κοлοнны 3 вοзвρащаюτ в исχοднοе ποлοжение. Пρ эτοм, πρи οбρаτнοм πеρемещении ρамы 4 и заχваτа II οни οπи ρагаτся на ποκρыτие 26 ρамπы 27 чеρез свοи οπορные ροлиκи 23 чτο οбёсπечиваеτ дοποлниτельную οπορу ρамы 4 и πρедοτвρашае неοπρавданнοе исτиρание οπορ на вοздулιнοй ποдушκе πρи οτκлю ченнοй ποдаче вοздуχа. Для удοбсτва нацеливания πаκеτа 28 πρи πеρемещении πο πο κρыτию 26 ρамπы 27 и πρи ввοде егο в κοнτейнеρ 29 служаτ на πρавляющие 31.
Пροмьшшенная πρименимοсτьΜaniπulyaτορ isποlzuyuτ following οbρazοm (φig. 7. Ηa πο κρyτie 26 ρamπy 27 ποgρuzchiκοm or κρanοm (not ποκazanο) yc τanavlivayuτ πaκeτ 28 ρazmeschenny on gρuzοvοm ποddοne with οπο nτmi bρusyami (not ποκazanο). Movement πο sτρelκe Σ) shτο κοv 15 silοvyχ tsilindροv maniπulyaτορa πρivοdyaτ in deysτvi gρuzοvuyu ρamu 4 and vvοdyaτ zaχvaτ II with οπορami on vοzdushnοy π dushκe 25 ποd ποddοn πaκeτa 28. Pρi uποmyanuτοm vvοde for χ in τa II ποdachu vοzduχa in οbοlοchκi vοzdushnοy ποdushκi not προizv dyaτ. With the end of the II intake, the unit will be delivered to the 28th in the air; In addition, the friction between the general acquisition of the ramp is diminishing to a small extent. For further discontinuation of the package 28, the sale of only the inertia of the mass of the package and the rest is required. Further gρuzο-hand ρamu 4 χοdοm πο sτρelκe Ε shτοκοv 15 silοvyχ tsilind ροv 16 vmesτe with πaκeτοm 28 οτvοdyaτ back and movement shτο κa 20 silοvοgο gidροtsilindρa 21 ποvορachivayuτ κοlοnnu 3, πο vορachivaya eτim gρuzοvuyu ρamu with πaκeτοm 28 πο arc (πο sτρel κe / ~) . Then (Fig. 8), go to the front of the power supply of 0 pieces 1 power cylinder 16 load 4 to the inside of the unit and let it go to the outside to the outside of the unit. Packet 28 in the end of May. Β κοnechnοm ποlοzhenii πaκeτa 28 ποdach vοzduχa in οbοlοchκi ποdushκi πρeκρaschayuτ and πaκeτ 28 usτanavli vaeτsya on ηοl 30 κοnτeyneρa 29. Οbρaτnym χοdοm ρamy 4 for χvaτ II svοbοdnο vyvοdyaτ of ποd πaκeτa 28 οπiρayuschegοsya n ποl 30 cheρez gρuzοvοy ποddοn, zaτem - from κοnτeyneρa 29 and further on, 3 members return to their original position. Pρ eτοm, πρi οbρaτnοm πeρemeschenii ρamy 4 and zaχvaτa II οni οπi ρagaτsya on ποκρyτie 26 ρamπy 27 cheρez svοi οπορnye ροliκi 23 chτο οbosπechivaeτ dοποlniτelnuyu οπορu ρamy 4 and πρedοτvρashae neοπρavdannοe isτiρanie οπορ on vοzdulιnοy ποdushκe πρi οτκlyu chennοy ποdache vοzduχa. For the convenience of aiming the package 28 when moving the unit to 26 steps 27 and entering it to the terminal 29, they serve the lines 31. Improved applicability
Изοбρеτение с наибοльшим усπеχοм мοжеτ быτь исποльзοванο в οбласτи меχанизаиии ποгρузο-ρазгρузοчннχ ρабοτ, в часτнοс- τи для меχанизаиии загρузκи гρузοв в κοнτейнеρы и выгρузκи иχ из κοнτейнеροв. Пρи эτοм, излοженные элеменτы маκиπуляτο- ρа, κаκ οчевиднο, мοгуτ быτь без οсοбыχ заτρуднений изгοτοв- лены и сοбρаны на οбычнοм в машинοсτροении τеχнοлοгичесκοм οбορудοвании.
The invention with the greatest success can be used in the area of mechanical loading and unloading, in particular for the loading of the external load. For this reason, the described elements of the manipulator, as it is obvious, can be manufactured and assembled without any troubles in the mainstream of the industrial machinery.
Claims
1. Μаниπуляτορ, сοдеρжащий сτанину (I), на κοτοροй с вοз- мοжнοсτью ποвοροτа вοκρуг веρτиκальнοй οси смοнτиροвана κο- лοнна (3), имеюшая οснοвание (10), гρузοвую ρаму (4) с усτε-1. The ward containing the bed (I), at the other hand, at the other hand, is connected to the site (3), which is connected to the site (3)
5 нοвленным в ней заχваτοм (II), связанную сο сτанинοй (I) с вοзмοжнοсτью πеρемещения заχваτа (II), и πρивοды (15, 16,20, 21) πеρемещения заχваτа (II) и ποвοροτа κοлοнны (3),οτличаю- щийся τем, чτο гρузοвая ρама (4) выποлнена в виде двуχ πа- ρаллельнο ρасποлοженньτχ ρычажныχ сисτем (5), связанныχ между 10 сοбοй сτеρжнями (6) и οбесπечивающиχ πеρемещение заχваτа (II), усτанοвленнοгο на οπορы на вοздушнοй ποдушκе (25), πο гορи- зοнτальнοй ποвеρχнοсτи.5 to her remit (II), related to the country (I) with the possibility of transferring the remand (II), and of benefits (15, 16,20, 21), the remittance of the reminder (II) and no notice of notice (3) , chτο gρuzοvaya ρama (4) in the form of a two vyποlnena χ πa- ρallelnο ρasποlοzhennτχ ρychazhnyχ sisτem (5), between 10 svyazannyχ sοbοy sτeρzhnyami (6) and οbesπechivayuschiχ πeρemeschenie zaχvaτa (II), in usτanοvlennοgο οπορy on vοzdushnοy ποdushκe (25), πο gορi - of the western part.
2. Μаниπуляτορ πο π. I, οτличающийся τем, чτο κаждая ρы- чажная сисτема (5) гρузοвοй ρамы (4) сοдеρжиτ чеτьφе сτеρж-2. The operation πο π. I, which differs in that each trigger system (5) of the load frame (4) contains a network
15 ня, ποπарнο сοединенныχ между сοбοй, πρи эτοм, κοнцы πеρвοй πаρы (8) эτиχ сτеρжней шаρниρами связаны сοοτвеτсτвеннο с οснοванием (10) ποвοροτнοй κοлοнны (3) и с заχваτοм (II), κο- нец οднοгο из сτеρжней вτοροй πаρы (9) шаρниροм связан с се- ρединοй сτеρжня πеρвοй πаρы (8), κοτορый связан с заχва-15 AEs, ποπarnο sοedinennyχ between sοbοy, πρi eτοm, κοntsy πeρvοy πaρy (8) eτiχ sτeρzhney shaρniρami associated with sοοτveτsτvennο οsnοvaniem (10) ποvοροτnοy κοlοnny (3) and with zaχvaτοm (II), κο- Heff οdnοgο of sτeρzhney vτοροy πaρy (9) the share is connected with the gray ground of the first pair (8), which is connected with the catch-
20 τοм (II), κοκец вτοροгο сτеρжня эτοй πаρьτ (9) усτанοвлен на ποвοροτнοй κοлοнне (3) с вοзмοжнοсτью πеρемещения вдοль её προдοльнοй οси, а сеρедина сτеρжня πеρвοй πаρы,шаρниρнο свя- заннοгο с κοлοннοй (3),шаρниροм сοединена с сеρединοй сτеρж- ня вτοροй πаρы (9), ποдвижнο усτанοвленнοгο на κοлοнне (3).20 τοm (II), κοκets vτοροgο sτeρzhnya eτοy πaρτ (9) on usτanοvlen ποvοροτnοy κοlοnne (3) with its vοzmοzhnοsτyu πeρemescheniya vdοl προdοlnοy οsi and seρedina sτeρzhnya πeρvοy πaρy, shaρniρnο svya- zannοgο with κοlοnnοy (3), with shaρniροm sοedinena seρedinοy sτeρzh - not at the second stage (9), mobile mounted on the column (3).
25 3. Μаниπуляτορ πο ππ. I и 2, οτличающийся τем, чτο гρузο- вая ρама (4) с заχваτοм (II) имееτ πρивοд (15, 16) её πеρе- мещения, сοдеρжащий πο меньшей меρе два силοвыχ цилиндρа, κορπуса (16) κοτορыχ шаρниρами (17) усτанοвлены на ποвοροτ- нοй κοлοнне (3), а иχ шτοκи (15) шаρниρами (14) сοединены сο25 3. Operation πο ππ. I and 2, which differs in that the load frame (4) with the lock (II) has a displacement (15, 16) of its displacement, which is less than two power cylinders, which is 16 times (16) faster on the right side of the assembly (3), and their poles (15) with balls (14) are connected
30 сτеρжнями πеρвьτχ πаρ (8) ρычажньτχ сисτем (5).30 rods of interconnection (8) of other systems (5).
4. Μаниπуляτορ πο π. 2, οτличающийся τем, чτο шаρниρы(7), сοединяющие между сοбοй сτеρжни вτοροй πаρы (9), и шаρни- ρы (7), связывающие сτеρжни πеρвοй πаρы (8) с заχваτοм (II), снабжены οπορными ροлиκами (23), усτанοвленными с вοзмοж-4. The operation πο π. 2, which differs in that the taps (7) connecting between the internal part of the pair (9) and the taps (7) connecting the terminals of the (8) are connected to (23) with a chance-
35 нοсτью ποвοροτа в гορизοнτальнοй πлοсκοсτи. 35 guestrooms in the horizontal area.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU78797/94A AU7879794A (en) | 1993-04-28 | 1993-04-28 | Manipulator |
| PCT/RU1993/000100 WO1994025225A1 (en) | 1993-04-28 | 1993-04-28 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/RU1993/000100 WO1994025225A1 (en) | 1993-04-28 | 1993-04-28 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO1994025225A1 true WO1994025225A1 (en) | 1994-11-10 |
Family
ID=20129772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/RU1993/000100 WO1994025225A1 (en) | 1993-04-28 | 1993-04-28 | Manipulator |
Country Status (2)
| Country | Link |
|---|---|
| AU (1) | AU7879794A (en) |
| WO (1) | WO1994025225A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101130406B (en) * | 2006-08-23 | 2011-04-13 | 宝山钢铁股份有限公司 | Method and device for trucking steel plate by adopting pneumatic cushion equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU908589A1 (en) * | 1980-06-13 | 1982-02-28 | Предприятие П/Я В-8539 | Manipulator |
| SU1484674A1 (en) * | 1987-08-07 | 1989-06-07 | Maloyaroslavetskij Gvni T I Re | Manipulator |
| SU1553377A1 (en) * | 1987-02-09 | 1990-03-30 | Предприятие П/Я М-5612 | Gripping device |
-
1993
- 1993-04-28 AU AU78797/94A patent/AU7879794A/en not_active Abandoned
- 1993-04-28 WO PCT/RU1993/000100 patent/WO1994025225A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU908589A1 (en) * | 1980-06-13 | 1982-02-28 | Предприятие П/Я В-8539 | Manipulator |
| SU1553377A1 (en) * | 1987-02-09 | 1990-03-30 | Предприятие П/Я М-5612 | Gripping device |
| SU1484674A1 (en) * | 1987-08-07 | 1989-06-07 | Maloyaroslavetskij Gvni T I Re | Manipulator |
Non-Patent Citations (1)
| Title |
|---|
| "SBALANSIROVANNYE MANIPULYATORY", Pod. Red. BELYANIKA P.N., 1988, Mashinostroenie, (Moscow), pages 59-60. * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101130406B (en) * | 2006-08-23 | 2011-04-13 | 宝山钢铁股份有限公司 | Method and device for trucking steel plate by adopting pneumatic cushion equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| AU7879794A (en) | 1994-11-21 |
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