SU1225779A1 - Manipulator actuating device - Google Patents

Description

The invention relates to mechanical engineering, in particular, to manipulators for the mechanization and automation of basic and auxiliary energies.

The aim of the invention is the expansion of the technological capabilities of the actuator of the actuator by extending the service area.

FIG. 1 shows the actuator manipulator torus, general view; in fig. 2-section L - A in FIG. one; in fig. 3 - module connected to the base.

Isp 1note; the keypad device contains base 1, grip 2, and modules. Each module is made in the form of a support flange 3, which has a disk shape, the end surfaces of which are parallel to each other. The spherical elements 4 are rigidly connected with the supporting flange 3 before the module 1. or with the base 1. The supporting flanges 3 have radial cylindrical points 5 and 6, the number of which corresponds to the number of flexible pipes r 7, and around their outer circumference guiding elements 8 are provided for surfaces for flexible mounts of 7, each of which has an individual motor 9. In this case, motors

9 are installed on the basis of 1. The number of flexible TYa1 7 must be at least three. Radia.,) A cylindrical groove 5 is used to supply a working medium, such as air or oil, from a source of working medium (not shown). In each radial cylindrical groove 6 of the ramiep plunger 10 of the braking device, the spring 1 and 11 and the threaded plug 12 with a hole 13. On 1ntoke 14 each plunger

10 A tip for fixing the flexible rod 7 is made. The brake pads 15 are rigidly connected to the spring 14 of the plungers 10 by means of the levers 16 and their working surfaces are made along a sphere whose radius corresponds to the radius of the spherical element and are located in radial grooves 17, made on the end face of the support flange

3. At the same time, the latter are spring-loaded with respect to each other with the help of elastic elements 18. Ennol} The manipulator has the ability to rotate in any direction relative to points 19-24, i.e. regarding contact points

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spherical element 4 with face m. surfaces of the support flange 3 pads 15.

In the initial position, the actuator is rectified. At the same time, the brake pads 15 of the node are acted by the action of the springs And are pressed against the spherical elements 4, and between the tips of the rods 14 of each sludge): - 10 and the flexible pipes 7 there is a gap.

The actuator actuator operates in the following way.

For example, it is necessary to turn the actuator relative to point 20. To do this, the working medium is fed into the radial cylindrical groove 5 and the plungers 10 are moved from the center, while moving the brake pads 15 away from the spherical element. During further displacement of the plunger 10 of their podonechiki, made by ujTOKax 14, press the flexible rods 7 to the guiding element of the element .. 8. Engines 9 of flexible tg 7 turn on, and the speeds of movement of the latter and the direction of their movement are different. Depending on the bibi6) aniioro direction laziness. rotation of the actuator — the network of the engines 9 pulls on the flexible rods 7, and the other part lets go of the flexible rods 7. In this case, a part of the elastic elements 18 is compressed, and the other part is stretched.

Engines 9 can receive sigpa; 1Y about the speed of movement and direction,: 1 tie from a software system from the control system, 1 pick. The controllers are also associated with the software adjustment. When the required rotation is used; and the device is relatively to the point 20, the pressure of the working medium from the radial cylindrical groove 5 is removed and the plungers 10 nod are moved to the center by the action of the spring 11. In doing so, the brake pads 15 also move to the center and thus fix the position of the disrespectful hand device. To rotate the actuator relative to d y1, their points 19-24 do the same. In this case, the working part is brought into the radial cylindrical groove 5 of the corresponding supporting flap 1. | .a 3. After the assignment has been completed: x interlacings are finished; 1, the motors 9 and the actuator under the action of the elements 18 occupy: the initial position.

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Claims (1)

EXECUTIVE DEVICE OF THE MANIPULATOR, containing a base, engines mounted on it and modules with guide elements for flexible rods, which are connected at one end to the corresponding engines, and others are rigidly fixed to the last module, carrying a gripping body, characterized by gem, which, in order to expand technological capabilities by expanding the service area, each module is made in the form of a support flange, having the form of a disk with parallel end surfaces, and brake devices located on it a spherical element rigidly connected to the support flange of the previous module or to the base, while the support flanges are spring-loaded relative to each other and each of them has radial cylindrical grooves, the number of which corresponds to the number of flexible rods, radial guide grooves are made on one end surface of the support flange by the number of radial cylindrical grooves in which the spring-loaded plungers of the brake device are located, and the brake pads of this device are rigidly connected with the rods of the brake the grooves and their working surfaces q are made along a sphere whose radius corresponds to the radius of the spherical element, and the piston rods are installed against the corresponding guide element of the flexible rod. SU „„ 1225779>