RU2697292C1 - Manipulator - Google Patents

Abstract

FIELD: nuclear technology; biological equipment.SUBSTANCE: invention relates to nuclear and biological equipment and can be used in production of manipulators for handling radioactive and biological substances. Manipulator comprises a ball bearing, a bearing sword in the form of a pipe, and a grip rod. On one end of the sword there is a device for attachment of detachable grippers, and on the other end – two wave drives in the form of wave generators for transfer of reciprocating movement respectively to the sword tube relative to the ball support and the rod of the grip relative to the sword pipe using sealed flexible cups, in which said sword tubes and grip rod are installed. Sealed flexible cups are made with annular grooves on their inner surface, which engage with thread on sword tube and grip rod with possibility of regulating value of radial forces on tight flexible cups on side of generators with provision of their self-centring relative to axis of flexible cups.EFFECT: increasing tightness, smoothness, accuracy and durability of manipulator operation.1 cl, 3 dwg

Description

The proposed manipulator is designed to work in laboratory and industrial cabinets, protective boxes and behind protective screens for various purposes, in particular, in nuclear as well as in biological technology and is a device for working with radioactive and biological substances that exclude direct human contact with these substances.

Known manipulators designed for remote conducting simple auxiliary laboratory and production work (transfer of objects, long-term holding of objects), in laboratory cabinets and protective boxes (with ball bearing).

Also known are wave transmissions carrying out movement into a sealed space (transmission through a sealed elastic partition) (see AS No. 170254 class. 47, 430 g, 47,701).

Also known are the designs of manipulators consisting of a long pipe (sword), on one end of which there is a special device for attaching removable grippers, on the other - a device for controlling the manipulator, consisting of a handle or steering wheel, a handwheel of rotation and a nut.

A rod with a large thread on the end passes inside the pipe of the manipulator’s sword. When the handwheel is rotated, the rod is screwed into the nut and fed forward, as a result of which the jaws of the tool are compressed, the manipulator’s sword pipe is mounted in a ball bearing, mounted in the box wall, and allows reciprocating operations in a protective airtight box or cabinet (see the catalog - reference book “Manipulators” Leningrad 1968 p. 16-40).

Known manipulators on a ball bearing, in which the sword makes a reciprocating movement, carrying a gripping drive rod inside, which are equipped with the purpose of sealing the movement of the gaps between the pipe and the ball bearing, the rod and the pipe, they are equipped with various seals (gaskets, bushings, glands and bellows, as well as threaded connections).

However, this does not give complete tightness, smoothness, accuracy and durability.

The aim of the invention is to achieve complete tightness, smoothness, accuracy and durability of the actuator rod in the reciprocating motion in a sealed space (in laboratory and industrial protective cabinets and boxes).

To achieve this goal, in well-known manipulators, manipulation (movement) of the epee pipe relative to the ball (support), as well as the rod drive (rod capture) in the reciprocating movement relative to the epee pipe, are equipped with various seals (bushings, glands and bellows) to achieve tightness of movement.

As the drive of the sword pipe in movement relative to the ball (support), as well as the rod in movement relative to the sword pipe, a wave transmission (screw-nut) (transmission through a flexible elastic partition) using a wave generator can be used.

In addition, the design of the wave generator provides smooth and simultaneous adjustment of both the generator itself and the movement of the epee pipe and the rod of the capture rod relative to its supports.

In FIG. 1 shows a general view of the manipulator. In FIG. 2 is a section AA in FIG. 1. In FIG. 3 is a section BB in FIG. one.

The manipulator with a sword drive through an airtight elastic partition from the wave transmission contains a ball bearing type 1 ОШ, bearing a sword 2, which consists of a long pipe 3, at one end of which there is a special device 4 for attaching removable grippers 5, at the other - two wave drives containing wave-forming agents (generators) 6 and 7.

The latter is made of two halves hinged together using pins and special adjacent screws (see AS No. 170254 class. 47, 430; 47; 701).

In each half of the generator there are ball bearings, through which the generators squeeze the flexible elements (glasses) 6 and 7 of the manipulator in the radial direction.

For self-centering of the generator, the bearings are doubled and staggered, which brings the points of application of force from the side of the generator to the flexible elements (glasses) 8 and 9 of the manipulator.

This is necessary, since the generator is made of a two-wave.

The manipulator works as follows.

Flexible elements are pre-deformed by the generator tightening screw, then during rotation of the handles (flywheels) mounted on generators 6 and 7. Generators transmit radial force deformations to flexible elements (glasses) 8 and 9, giving them an ellipse shape. In the zones of the small axis of the ellipse, the annular grooves cut on the inner surface of the flexible elements (cups) 5 and 6 are engaged with the thread of the pipe 3 and the thread of the rod 10, when the generators rotate, they cause axial movement (the reciprocating movement of the sword pipe relative to the ball joint and gripping rod relative to the sword pipe).

For the speed of manipulating the movement of the generator 5, the sword pipe is recommended to be carried out from an individual electric drive with various gear drives (gear, chain, belt, etc.).

The rest of the movement (manipulation) of the manipulator is carried by a ball bearing, which is built into the wall of the chamber, box, cabinet movably.

The proposed manipulator with a sealed epee drive through a sealed elastic partition from the gross gear compared with the known manipulator epee drives, which are used for manipulating in sealed cabinets, boxes, etc., has complete impermeability of the epee gear transmission drive relative to the ball joint, as well as smoothness, accuracy and durability of work.

Tests of the proposed manipulator sword drive showed that the drive is absolutely hermetic, has smoothness, accuracy and durability compared to the known manipulator sword drives.

The economic effect of the introduction of the proposed sealed drive of the manipulator’s sword according to preliminary estimates at the enterprise level amounted to 100 thousand rubles.

Claims (2)

1. A manipulator containing a spherical bearing carrying a sword in the form of a pipe, on one end of which there is a device for attaching removable grippers, and a gripping rod, characterized in that it is equipped with two wave drives located on the other end of the sword in the form of wave generators designed for the transmission of reciprocating motion, respectively, the epee pipe relative to the ball joint and the grip rod relative to the epee pipe using sealed flexible glasses in which the aforementioned epee pipe and gripper rod are installed cotton, while the sealed flexible cups are made with annular grooves on their inner surface that engage with the threads made on the pipe and the gripping rod, with the possibility of regulating the magnitude of the radial forces on the sealed flexible cups from the generators side, ensuring their self-centering relative to the axis of the flexible cups . 2. The manipulator according to claim 1, characterized in that each of the generators consists of two halves pivotally interconnected by pins, tightened by a screw, and is made with two rows of ball bearings for transmitting pressure to flexible glasses.

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