SU1252161A1 - Manipulator - Google Patents

Description

125216

2, the Manipulator is in accordance with Clause I., of the cylinder and trough, the depth of which is stalled by the fact that the profile of the roller is no more than the radius of the roller, the curved groove of the bar is made in the form of ci-thorn.

The invention relates to process equipment for moving products from one point to another and can be used in mechanical engineering and other areas of technology,

The aim of the invention is the expansion of technological capabilities due to the simultaneous rotation and movement of the rod and increasing the accuracy of positioning,

Fig. 1 shows a kinematic manipulator circuit; figure 2 - manipulator, top view; Fig. 3 is a diagram of the conjugation of a roller of a crankshaft with a slot groove; Fig. 4 shows an embodiment of a two-handed manipulator; FIG. 5 is a section A-A in FIG. L; figure 6 - section bb in fig .. 1.

The manipulator includes a base 1, on which is mounted a shoulder 2 with an emphasis 3, a rod 4 located in the guides of the shoulder 2, spring-loaded by means of a spring 5, the engine 6 by means of a worm gear 7 and the shaft of the worm gear 8 is kinematically connected with the mechanism 9 movement of the arm. The movement mechanism of the gun is designed as mounted on. the shaft of the worm gear 8 of the slot cam 10 connected to the leash 11 is in the middle of a roller 12 located in its groove, the leash 11 hinged at one end, the other end of which is rigidly fixed on the gear sector. 13 gears,

In this case, the leash 11 is coupled with a crank 14 via a gear drive, rigidly connected with the gear wheel axis 15 with a gear. At the free end: {snyo thorn 14 pivotally mounted RO.GShK 15, installed with the possibility of its interaction with the profile groove 1 / strap 18, attached to the free ;. the end of the rod 4, Cam 19 cam

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The gear unit is mounted on the shaft of the worm gear 8 and is kinematically connected with the pusher 20 of the same gear,. In this case, the pusher 20 podpru-KiffleH relative to the base 1 by means of a spring 21 and is made in the form of a housing 22, and additional stops 23 on the internal surface, represented by the walls of the groove pushed out in the housing of the pusher 22, and guides 24, in which a pre-rotary rotary carrier (support) 25 is mounted, rigidly connected to arm 2 and cooperating with these additional stops 23 with the possibility of providing a two-way spring connection, for example, a spring-loaded chagom 2b. ntom (support) 25.

Dp ensuring normal and engagement of the roller 12 of the crank 14 in the extreme positions of the rotation of the shoulder 2 (the crank stands at an angle of 90 relative to the axis of the rod 4), it is necessary that the groove 17 on the end wall of the rod 18 spring pus pusher 4 was depth no more than the radius of the roller 12 of the crank 14, and less than the radius 12 of the groove P is impractical because when you rotate the shoulder 2 (rod) from the on-load loads, it can get out of engagement with the roller 12 5 and around the cylinder 14,

At the same time at one end of the rod 3 acres of heat exe 2 7.

The manipulator works as follows.

From the motor 6, through the worm gear 7 and the shaft of the worm gear 8, rotation is simultaneously transmitted to the cam 19 and the groove cam 10. As a result of the growing of the groove cam 10, the leash And entering the groove of the spike 10 and rigidly connected with the toothed sector 13 toothed gear;

3

around the vertical axis. A reverse rotation is transmitted to the crank 14, which, through the roller 12 entering the profile groove 17 of the bar 18, simultaneously rotates and progressively moves the rod 4 relative to the base 1. The forward movement of the rod 4 is limited by the stop 3, and its rotation by additional stops 23 Simultaneously with the fixation of the rods 4 on the stop 3 and the additional stops 23, the roller 12 of the crank 14 extends from the groove 17 of the bar 18. This

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The moment of the spring-loaded pusher 20 with the shoulder 2 and the spring-loaded rod 4 moves downward according to the law determined by the cam profile I9. When the movement is reversed (due to the kinematic properties of the cam-shaped cam 10), the boom 4 is lifted and then the roller 12 again engages with the profile groove I7 and when the crank I4 is further rotated, the boom 4 rotates in the reverse direction with simultaneous reciprocating movement from - nosnt flax base 1,

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Compiled by J.Eakulin Editor V.Ivanova Tehred L.SerdyukovaKorrector A.Obruchar

Order 4574/18 Circulation 1031 Subscription

VNIIPI USSR State Committee

for inventions and discoveries 113035, Moscow, Z-ZZ, Raushsk nab., 4/5

Production and printing company, Uzhgorod, ul. Project, 4

FS / g. 5

Claims (2)

I. MANIPULATOR, comprising a base on which a shoulder is mounted with a stop, a rod located in the guides spring-loaded with the possibility of reciprocating movement and bearing grip, a shoulder movement mechanism and a black-eye gear kinematically connected to the engine, characterized in that, with In order to expand technological capabilities due to the simultaneous rotation and movement of the rod and improve positioning accuracy, it is equipped with a bar with a profile groove mounted on the free end of the spring-loaded piece ngi, gear and cam gear, the cam of which is mounted on the shaft of the worm wheel and its pusher is spring-loaded relative to the base, while the pusher is made in the form of a housing having additional stop rails on the inner surface, in which an additional bearing element (support) is installed interacting with these stops, and the bearing element (support) is rigidly connected to the shoulder, and the mechanism for moving the shoulder is made in the form of a groove cam, a leash, rigidly fixed at one end to the tooth an atom of the gear sector, and the other end pivotally connected to the first roller located in the groove of the specified cam and crank, rigidly connected to the axis of the gear of the gear, the second roller is pivotally mounted with the possibility of its interaction with the profile groove of the strap, while a groove cam is mounted on the shaft of the worm wheel at an angle to its axis. Yu ^/ Fig. 1 rn, 1252161 A ί 25216! 2. The manipulator according to claim 1, characterized in that the profile groove of the bar is made in the form of a cylindrical groove, the depth of which is not more than the radius of the crank roller.