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Tutucular, robot kol sistemlerinde gerçek işi yapan kısımlardır. Uygulamalarda kullanılan tutucular; Hidrolik, pnömatik ve mekanik tahriklidir. Bu çalışmada tasarlanan tutucu mekanik olarak tahrik edilir. Bir tarafta sağ trapez dişli ve diğer tarafta sol trapez dişli parçalar aynı eksende rulmanların yardımı ile iki parça olarak tasarlanmıştır. Dişliler, kasnak ve zincir kullanılarak birlikte hareket ettirilir. Kasnak zincir hareketlerinde sol ve sağ dişlilerin açılması ve kapanması yönleri terstir. Zincir bir tarafa çevrildiğinde, dönüşleri engellenen dişliler üzerindeki somunlar içe ve dışa doğru açılır. Tahrik sisteminde ise dik açılı bir matkap motoru kullanılmıştır. Dişliler, mekanik güç kullanılarak hareket ettirilir. Parçayı kavrayan çeneler, somunlara yerleştirilen bir V bloğu şeklinde iki karşıt parçadan oluşur. Motor hareketleri, parçanın alınması ve bırakılması sırasında mekanik sınır anahtarlarıyla kontrol edilir. Motorun parçayı tutması sırasında sıkıştırmayı önlemek için yaylar çenenin bir tarafına yerleştirilmiştir. Dişlilerin döndürülmesiyle tutucu, parçaları tutarak, kaldırarak ve istenen konuma bırakarak çalışır. Bu çalışmada, tasarlanan tutucu kullanılarak silindirik ve prizmatik malzemeler bir yerden alınarak başka bir yere bırakır. Tutucu, parçaların taşınmasına ek olarak ayrıca iki eksende hareket sağlayarak parçanın alma ve bırakma pozisyonlarının artırılmasına da yardımcı olur. Üç eksende hareket eden mafsallı bir robotun uçuna takılmasıyla robotun beş eksende hareket eder. Beş eksende hareket eden robot endüstride, parçaların bantlar üzerinde taşınması işlemi ve hareketli bantlar üzerinde bulunan parçaları paketleme gibi işlemlerde kullanılarak değerlendirilebilir.
The holders are the parts that do real work in the robotic arms systems. The holders used in applications are hydraulic, pneumatic and mechanical. The carrier designed in this work is mechanically driven. The right trapez tooth on the one side and the left trapez tooth pieces on the other side are designed as two pieces with the help of the rollers on the same axis. The teeth are moved together using a chest and a chain. The direction of opening and closing of the left and right teeth is opposed in the movements of the kasnak chain. When the chain is turned to one side, the slums on the tooth that are blocked from turning are opened inside and outside. In the Tahrik system, a straight corner matkap engine was used. The teeth are moved using mechanical power. The shells that capture the piece are made up of two opposite parts in the form of a V block placed in the shells. Motor movements are controlled by mechanical boundary keys during the picking and leaving of the piece. To prevent compression while the engine holds the piece, the shells are placed on one side of the spine. With the turning of the teeth, the holders work by holding, lifting and leaving the pieces in the desired position. In this study, using the designed container, the cylindrical and prizmatic materials are taken from one place and left elsewhere. In addition to the movement of parts, the retailer also helps to increase the pick-up and leaving positions of the piece by providing the movement in two axes. A robot that moves in three axes moves in five axes when it is placed at the end of a robot. In the five-axis robot industry, it can be assessed by using processes such as the movement of parts on band and the packaging of parts on moving band.
Grippers are the parts that do the real work in the robot arm systems. Grippers used in applications; hydraulic, pneumatic and mechanically driven. The designed gripper in this study is driven mechanically. The right trapezoidal thread on one side and the left trapezoidal threaded parts on the other side are designed in two parts with the help of bearings on the same axis. The gears are moved together by using pulley and chain. In the pulley chain movements, the direction of opening and closing of the left and right gears is inverse. When the chain is turned to one side, the nuts on the gears whose turns are blocked are opened inwards and outwards. A right-angle drill motor is used in the drive system. After the motor is assembled on the system, the retaining jaws are rotatably mounted with chains and pulleys. The jaws that hold the part consist of two opposing pieces in the form of a vee block placed on the nuts. Motor movements are controlled by mechanical limit switches during pickup and release of the part. The springs are placed on one side of the jaws to prevent compression when the motor is holding the part. By rotating the gears, the holder works by holding the parts, lifting them and releasing them to the desired position. In this study, using designed the gripper, cylindrical and prismatic materials are taken from one place to another. In addition to the carriage of the parts, the gripper also provides movement in two axes to help increase the pick-and-release positions of the part. The robot moves on five axes by attaching to the end of a jointed robot moving on three axes. The robot moving in five axes can be evaluated in the industry using processes such as transporting parts on belts and packing parts on moving belts.
Field : Fen Bilimleri ve Matematik; Mühendislik
Journal Type : Ulusal
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