SU1283087A1 - Manipulator - Google Patents

Abstract

The invention relates to mechanical engineering, in particular, to hand-operated manipulators, and allows to increase reliability and improve working conditions due to the fact that the manipulator is equipped with a hinge parallelogram mechanism 8 mounted on the final link. Arrows 7, while On the opposite side of the parallelogram 9, a gripper 10 is placed, and the control knob is pivotally connected at one end to the side of the parallelogram, on which the gripper 10 is located, and the middle part, through the transverse axis 14 with the lifting control mechanism and opus canister of the power cylinder 4. This allows the manipulator to be controlled only by the control handle. 5 il. Q b

Description

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The invention relates to mechanical engineering, in particular, to hand-operated manipulators.

The aim of the invention is to simplify the design, improve working conditions and increase reliability.

FIG. 1 depicts a manipulator, a total vrsch; in fig. 2 is a control mechanism, a general VIEW} in FIG. 3 - pneumatic schematic diagram; in fig. 4 - left side control mechanism; in fig. 5 - the same, top view.

The manipulator consists of a base 1, on which a pneumatic gas tank 2 is installed, a fixed column 3 and a pneumatic cylinder 4, the rod of which is connected to a carriage 5 moving along column 1, on a lug of which a bearing arm 7 is mounted through bearing units 6 fixed at the end by a hinged parallelogram 8, on the movable link 9 of which a gripper 10 and a hinged control handle 11 are mounted with possible interaction with a push-switch of the control valve 12 by means of a bracket 13, transverse axis 14, a rod with a cam 15, on od schey- with a central bore of the body 16, and also with rychagash 17 hinged parallelogram. To return the handle 11 to the initial position on the rod 15 in the housing 16. a spring 18 is installed. The pneumatic cylinder 4 is connected to the control valve 12 via the pneumatic valve 19. The load to be moved is indicated by the position 20.

The manipulator works as follows.

In the initial position, the piston of the pneumatic motor 4 is in the upper position, the control valve 12 is turned off. The control handle 11 is lowered. Down, the operator through the transverse axis 14, the bracket 13, the rod with the cam 15 turns on the control valve 12, and compressed air through the control cavity of the pneumatic distributor 19 is fed into the upper cavity of the pneumatic cylinder 4, resulting in a rod pneumatic cylinder 4 connected to the trolley 5 and the cantilever rotary arrow 7 fixed on it, lower the rc until the operator stops it in the desired position. To stop the manipulator, the operator must hold the control handle 11. The rod of the pneumatic cylinder 4 is lowered, and the retained handle 11 through the axis 14, the bracket

13 and the cam 15 shuts off the control valve 12, the compressed air through the valve 19 enters the lower cavity of the pneumatic cylinder 4, as a result, the pneumatic cylinder starts. . rise, since the control knob remains stationary, the control valve 12 is turned on and the pneumatic cylinder 4 is lowered again, i.e.

a pulsation occurs — up-down until the operator, the gripper 10, takes the load 20. Then the operator lowers the control handle 11, which is spring 18

returns to starting position, ne

The control valve 12 is compressed. The compressed air through the control cavity of the pneumatic distributor 19 is supplied to the lower cavity of the pneumatic cylinder 4, the rod of which rises and lifts the cantilever boom / with the gripped load 20. To lower the load, the operator must push down the control handle 11.

When lowering the grip 10 onto any rigid support of the cantilever boom 7 continues to descend due to the free running of the levers 17 of the hinged parallelogram, the levers

through the transverse axis 14, the bracket 13 and the rod 15 to switch the tea control valve to the USB valve 12, the compressed air through the valve 19 is supplied to the lower cavity of the pneumatic cylinder 4,

raising its rod and the associated boom-boom 7 connected with it within the free travel of the levers of the parallelogram, and since the control handle 11 is held by the operator,

then the control valve 12 is switched, the boom is lowered. The up and down oscillations are suppressed by the paralogram 8, therefore the gripper 10 remains motionless.

Claims (1)

Invention Formula A manipulator containing a fixed column was installed on a shotgun with a drive for its vertical displacement, completed in the form of a two-way power cylinder, a control mechanism for the drive of a vertical peremetnaya mounted on the end of the boom and containing a rod with a cam interacting with the actuator control valve, a gripper, a control handle, characterized in that, in order to increase reliability and improve working conditions, the manipulator is equipped with a hinged parallelogram mechanism mounted on the final star not the arrows, while on the opposite side of the parallelogram there is a gripper, and the control knob is hinged at one end to the gripper, and the middle part is connected to the control mechanism, while the boom with the control mechanism cam is spring-loaded relative to the body of the end link. 7E 77 / I 9 . gyt / sj Fmgl 5