RU2749544C1 - Curvilinear movement drive - Google Patents

Abstract

FIELD: mechanical engineering.SUBSTANCE: apparatus relates to the field of mechanical engineering, robotics, and can be used in pneumatic and hydraulic equipment. Most effective is an application of the apparatus as a curvilinear movement drive for moving links of industrial robots, as well as in apparatuses for correcting the position of mating axisymmetric sleeve-sleeve parts. The problem of the invention is expanding functionality by ensuring control of the direction of curvilinear movement. The drive is comprised of an annular bellows along the axis whereof two plugs are fixed at the ends, interconnected a flexible rod, forming a sealed cavity configured to connect with the working medium pressing tool, a mechanism for controlling the direction of curvilinear movement is installed along the axis of the bellows, made in form of a lever installed along the axis of the bellows in one plug and pivotally fixed therein by the middle part, configured to skew relative to the axis of the bellows, and a flexible rod is fixed at the end of the lever located in the cavity of the bellows, connected with the center of the other plug along the axis of the bellows.EFFECT: expanded functionality due to ensured control of the direction of curvilinear movement.1 cl, 3 dwg

Description

The proposed device relates to the field of mechanical engineering, robotics and can be used in pneumatic and hydraulic equipment.

The most effective application of the device as a drive for curvilinear movement of moving links of industrial robots, as well as devices for correcting the position of mating axisymmetric parts of the sleeve-sleeve type.

Known pneumatic drives of curvilinear movement, in which two bellows are used to move the working bodies (see US Pat. RF IPC F15B 15/10 No. 23929 "Drive of curvilinear movement", Vasin VA, publ. 20.07.2002, Bul. No. 20, Patent RF MPK F15B 15/10 No. 2215199 "Curvilinear displacement drive with annular bellows", Vasin VA, publ. 27.10.2003, bull. No. 30). The devices contain two bellows, one of which is placed inside the other, and the end surfaces are plugged, forming a cavity made with the possibility of connection with the means for creating pressure of the working medium. The bellows are installed in such a way that their axes are not aligned. This ensures a curvilinear movement due to the force action of the working environment.

These devices have a complex design, limited functionality and scope. The working body can only move along one path, since there is no control of the direction of movement.

Known pneumatic drives of curvilinear movement, in which one bellows is used to move organs (see US Pat. RF IPC F15B 15/10 No. 2206011 "Displaced slotted gate with a curved trajectory of movement", Vasin VA, publ. 10.06.2003. , Bulletin No. 16; RF patent IPC F15B 15/10, No. 2206012 "Slotted gate with a curvilinear trajectory of movement", Vasin VA, publ. 10.06.2003, Bull. No. 16; RF patent IPC F15B 15/10, No. 2215224 "Open-body gate with a curved trajectory of movement", Vasin VA, publ. 27.10.2003, bull. No. 30). In these devices, the bellows is not axisymmetric. At a part of the bellows corrugations, the centers of the outer and inner corrugations of the corrugation do not coincide. The design of the bellows allows for the curvilinear movement of the working body under the influence of the pressure of the working medium.

The use of one bellows simplifies the design and increases the reliability of the devices, but the need to use a bellows of a specific shape complicates their manufacture. In addition, these devices also have limited functionality and scope, realizing curvilinear movement along only one path without changing the direction of movement along it.

Known drives of curvilinear displacement, which have an expanded area of application due to the implementation of the required directions of trajectories of curvilinear displacements. These devices are mechanical lever drives, the transmission mechanism of which includes two levers pivotally connected to each other (see RF Patent IPC F25J 15/06 No. 147155 "Capture correcting module", Sysoev SN, Litvinov IS, Yongjie Cao, publ. 27.10.2014, Bulletin No. 30; Patent RF IPC F25J 15/06 No. 2622071 "Capture Corrective Module", Sysoev S.N., Litvinov I.S., Molkov A.A., publ. 06/09/2017, Bul. No. 16), or one lever (see patent RF IPC F25J 15/06 No. 170165 "Capture correcting module", Sysoev S.N., Litvinov I.S., Ovchinnikov V. A., publ. 17.04.2017, bull. No. 11; patent of the Russian Federation IPC F25J 15/06 No. 128,150 "Capture correcting module", Sysoev S.N., Stolyarov A.V., publ. 20.05.2013 ., Bul. No. 14).

In these devices, the levers are skewed by external force, the relative position of which sets the direction of curvilinear movement. The devices are distinguished by advanced functionality, but their area of application is limited by the need to create a force effect on the levers from the working body.

The closest known in terms of technical essence is a device (see patent RF IPC F25J 15/06 No. 2722200 "Curvilinear displacement drive", Sysoev SN, Ovchinnikov VA, Golubeva TN, publ. 28.05. 2019, Bul. No. 16), including a rotary mechanism, consisting of an annular bellows, along the axis of which two plugs are fixed at the ends, forming a sealed cavity made with the possibility of connection with the pressure means, and in the cavity on the plugs along the axis of the bellows flexible inextensible traction.

The device works as follows. In the initial position, the cavity is connected through a distributor to the atmosphere. Due to the elasticity of the corrugation, the bellows occupies a position symmetrical about the axis. The plugs are located parallel to each other. External force, the skew of one plug relative to the other, sets the direction of curvilinear movement. To carry out the movement by the drive of curvilinear movement, the pressure of the working medium is created in the cavity of the bellows. Force action from excess pressure leads to a curvilinear displacement of the working body in the direction of a given skew. However, the implementation of curvilinear movement along a given trajectory in only one direction limits the scope of its application.

When assembling axisymmetric parts of the "sleeve-sleeve" type with limited end surfaces, there are situations when the direction of movement of the correction of the position of the mating part may coincide with the direction of the skew of the part and may be opposite (see Sysoev S.N. et al., Study of the boundary conditions of application lever correcting devices when pairing axisymmetric products, Journal "Successes of modern science", vol. 1, no. 2, 2017, pp. 124-128).

It is known to determine the required direction of movement of the mating part (see. RF patent application IPC В23Р 11/00, В23Р 19/10, No. 2018135015 "Method for assembling parts", Sysoev S.N., Ovchinnikov V.I., Grebnyakov P.M. , publ. 03.04.2020, Bul. No. 10), in which the direction is determined by the magnitude of the axial force interaction of the mating parts. However, there are no devices that implement, in the assembly process, a change in the direction of the corrective movement to the opposite direction of the skew of the part.

This device increases the efficiency of the drive by increasing the power characteristics while maintaining its weight and size parameters, but does not allow to control the direction of curvilinear movement, including changing the direction of movement to the opposite.

Thus, in this device and all known ones, there is no possibility of controlling the direction of curvilinear movement.

The object of the invention is to expand the functionality by providing control of the direction of curvilinear movement.

The task is achieved by the fact that in the drive of curvilinear displacement, including an annular bellows, along the axis of which two plugs are fixed at the ends, connected by a flexible rod, forming a sealed cavity made with the possibility of connection with the means of pressure of the working medium, a control mechanism is installed along the axis of the bellows direction of curvilinear movement, made in the form of a lever installed along the axis of the bellows in one plug and pivotally fixed in it by the middle part with the possibility of skewing relative to the axis of the bellows, and at the end of the lever located in the cavity of the bellows, a flexible rod is fixed connected along the axis of the bellows with the center another stub.

An example of the proposed device is presented in the drawings, which show the directions of curvilinear movements (Fig. 1), the stages of the drive when assembling axisymmetric parts with limited end surfaces (Fig. 2) and a view of the general mechanism (Fig. 3) with control of the direction of curvilinear movement, respectively : to the left (Fig. 3, a); to the right (Fig. 3, b); forward (Fig. 3, c); back (Fig. 3, e).

In the drive of curvilinear movement (Fig. 1, a), the end surfaces of the bellows 1 are closed with plugs 2 and 3. A working member 4 is fixed on the lower plug, for example, which is a mating part "cover" designed to be installed in a hole of a part of the "sleeve" type. The bellows is formed by a sealed cavity A, adapted to be connected via a distributor 5 with a pressure air supply _pit p.

In cavity A, a flexible non-extensible rod 6 is fixed, one end of which is fixed along the axis of the bellows on the plug 3. The other end is fixed at the end of the lever 7, which is hinged along the axis of the bellows in the plug 2. The lever 7 is made with the possibility of skewing relative to the axis of the bellows, removing the attachment point thrust from the axis of the bellows.

The device works as follows.

In the initial position (Fig. 1, a), the cavity A is connected through the distributor 5 to the atmosphere. The bellows 1, due to the elasticity of the corrugations, occupies a position symmetrical about the axis. The plugs are located parallel to each other.

For example, if it is necessary to carry out the curvilinear movement of the part 4 in the counterclockwise direction, the lever 7 is also rotated counterclockwise by the control angle α. The rod 6 is skewed relative to the axis of the bellows and the generated torque turns the plug 3 in this direction.

By turning on the distributor 5 (Fig. 1, c), the cavity A is connected to the air _pit. A torque is created on the plug 2 in the direction of displacement relative to the axis of the bellows fastening the rod 7, which leads to a curvilinear movement of part 4 counterclockwise by an angle β. The greater the pressure in the cavity A, the greater the amount of curvilinear displacement.

If it is necessary to carry out a curvilinear movement of the working body 1 in a clockwise direction, the lever 7 is turned clockwise. The upper fastening of the rod 6 is shifted to the left relative to the axis of the bellows (Fig. 1, d). By turning on the distributor 5 (Fig. 1, e), the cavity A is connected to the air _pit. A torque is created on the plug 2 in the direction of displacement relative to the axis of the bellows fastening the rod 6, which leads to a curvilinear movement of part 4.

When the distributor 5 is turned off, cavity A is connected to the atmosphere, the excess pressure decreases to zero, and the device takes its original position.

In known similar devices, the direction of curvilinear movement is set by changing the position of the mating part using external force effects on it. However, they lack the ability to control, change the direction of curvilinear movement, for example, to the opposite of the previously specified one.

An example of the operation of the proposed device when assembling axisymmetric parts with limited end surfaces is shown in Fig. 2.

In the initial position (Fig. 2, a), the device is located above the bushing, in the hole of which it is necessary to install the cover 4. In this case, their axes of the mating parts are displaced relative to each other by the value Δ.

The device is moved in the direction of the sleeve until the mating parts come into contact with the end surfaces (Fig. 2, b). Further movement leads to a skew of the cover 4 in the direction of its required corrective movement. There is a skew of the thrust 6 and the rotation of the lever 7 counterclockwise (Fig. 2, c). If cavity A is connected to the pressure of the working medium, then the curvilinear movement of the cover 4 will be performed counterclockwise, that is, in the opposite direction to the required one.

To change the direction of curvilinear movement, lever 7 is turned clockwise ((Fig. 2, d), changing the geometry of the bellows and the relative position of the plugs.

Switching on the distributor 5, creating the pressure of the working medium in cavity A leads to the movement of the cover 4 to the left (Fig. 2, e). This movement of the cover leads to its installation into the bushing hole (Fig. 2, f).

Thus, the proposed technical solution expands the functionality by providing control of the direction of curvilinear movement.

The prototyping, field studies of the proposed device confirmed its performance, efficiency and industrial applicability.

Claims (1)

A curvilinear displacement drive, including an annular bellows, along the axis of which two plugs are fixed at the ends, interconnected by a flexible rod, forming a sealed cavity made with the possibility of connection with the working medium pressure, characterized in that a mechanism for controlling the direction of curvilinear displacement is installed along the axis of the bellows , made in the form of a lever installed along the axis of the bellows in one plug and pivotally fixed in it by the middle part with the possibility of skewing relative to the axis of the bellows, and at the end of the lever located in the cavity of the bellows, a flexible rod is fixed connected along the axis of the bellows with the center of the other plug.

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