SU1265040A1 - Manipulator - Google Patents

Abstract

MANIPULATOR containing a portal with a guide, a carriage mounted on the guide, a mechanical arm with a brush and a grip, consisting of a series of links connected in series by means of joints, and mounted on the carriage with the possibility of movement relative to it, subsequent drives for the movement of the carriage, extension and rotation of the links of the mechanical arm, hand and grip, characterized in that, in order to increase reliability and improve the dynamics of work by reducing the number of drives, the transmission mechanism from the previous link to the next one is made in the form of two gear-rack gears and a planetary mechanism comprising a housing fixed on the previous link, in the cavity of which a central gear wheel with internal teeth is mounted, a shaft mounted in the housing coaxially with a gear wheel, at one end of which a gear wheel of the first gear-cutting gear is fixed, and on the other side a carrier rigidly connected with a subsequent link, and a satellite made in the form of a block of two wheel gears, one of which is in engagement with the central gear wheel, and the second with the second gear-rack gear rack, the first gear-rack gear rack is placed in the front (L main link with the ability to move along its axis, and the second gear rack). rack and pinion in the subsequent link and kinematically connected with the brush. 1C O5 sd about 4

Description

The invention relates to mechanical engineering, in particular to manipulators used for the mechanization of harmful technological processes. The purpose of the invention is to increase reliability and improve operation dynamics by reducing the number of drives. FIG. 1 shows the manipulator, general view; in fig. 2 — node I in FIG. one; in fig. 3 - node II in FIG. one; in fig. 4 is a view A of FIG. 3; in fig. 5 - phases of the sequence of the manipulator operation. The manipulator consists of a portal 1 with on: a control, a carriage 2 mounted on a guide, a mechanical arm, consisting of: connected in series between: a hinge of links 3 and 4 and a hand 5 seconds; the gripper mounted on the carriage 2 with the possibility of moving the latter, extending and rotating the links of the mechanical arm, hand and gripper. The hinge connecting links 3 and 4 of the mechanical arm is made in the form of two gear-rack gears and a planetary mechanism, which consists of a body 6 rigidly connected with link 3, in the cavity of which the central gear wheel 7 with an internal tooth is fixed and mounted coaxially This wheel is shaft 8. A gear wheel 9 is engaged on the outer console of this shaft and meshes with the rail 10, .4 „„ „„ „Qrr., fi, ji, fT, 4 located in link 3 movable along its axis. At the other end of the shaft 8, the carrier 11 is fixed, rigidly connected with the link 4 of the mechanical arm. In the carrier 11 there is a satellite 12, made in the form of a block of two gears, one of which is in engagement with the central gear wheel 7, and the second with a rail 13 placed in the link 4. This rail is kinematically connected to the gear wheel 14, rigidly associated with the brush 5 mechanical hands. The manipulator operates as follows: When the rail 10 is moved, the gear 9, which engages with it, rotates by an angle determined by the magnitude of this movement. The carrier 11 and the mechanical arm 4 link 4 associated with it rotate at the same angle. When the carrier 11 is rotated, the satellite 12 rotates as one of its interlocked gears rolls over the central gear wheel 7, and the second gear of the satellite moves the rail 13, the co-operator, interacting with the gear wheel 14, rotates the brush 5 with the gripper. This kinematics makes it possible to realize the movements of the mechanical arm, the phase of the koaiu ip / i. 1 ..- / .....,., - fj-, -, these are shown in FIG. 5, where a is the initial position; b - moving the grip down and grabbing the object; in - movement of the grip with the subject up; (d) double fracture of the manipulator axis; d - move the manipulator through the portal to the right and release the item; e - movement of the manipulator along the in, 1 (1t - p - PRPRMR1T1RNIR m nipul too on the portal to the left.

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Claims (1)

MANIPULATOR, comprising a portal with a guide, a carriage mounted on the guide, a mechanical arm with a brush and a gripper, consisting of a series of links connected in series by hinges, and mounted on the carriage with the possibility of movement relative to it, a mechanism for transmitting movement from the previous link to the next and movement drives carriage, extension and rotation of the links of the mechanical arm, hand and grip, characterized in that, in order to increase reliability and improve the dynamics of work by reducing the number of drives, the mechanism for transmitting movement from the previous link to the next is made in the form of two rack and pinion gears and a planetary gear comprising a housing fixed to the previous link, in the cavity of which a central gear wheel with internal teeth is installed, a shaft mounted coaxially with the gear shaft in the housing a wheel, on one end of which a gear wheel of the first gear rack is fixed, and on the other - a carrier rigidly connected to the next link, and a satellite, made in the form of a block of two gear rings EU, one of which is meshed with the central gear wheel, and the second with the second gear rack _and pinion gear, and the first tooth gear-In the chat-and-pinion gear is placed in the previous link with the possibility of movement along its axis, and the second gear rack - rack and pinion transmission - in the next link and kinematically connected with the brush. SU „1265040 a> r <r!