SU1323361A1 - Rod-type manipulator - Google Patents

Abstract

The invention relates to the field of mechanical engineering, in particular, to devices for performing auxiliary operations associated with changing the position of products, and can be applied to automate technological processes. The aim of the invention is to increase the reliability and simplify the design by reducing the 7S f &

Description

the number of progressive parr working with perennial wear. When the engine is screwed in, the shaft begins to rotate, which through the gears 3-4 transfers the rotation to point A of the crank with an adjustable radius OA. Through the connecting rod 20 and double-arm lever 21, linear movement and rotation of the rod 23 expanded in sleeve 22, connected ball surface with body. IljetJ turning point A at an angle qj, the invention relates to mechanical engineering, in particular to devices for performing supplementary operations associated with measuring load of products, and can be npHi-sene-oriented to automate technological processes.

The aim of the invention is to increase reliability and, simplifying the design by reducing the number of translational pairs, working with increased wear.

FIG. Figure 1 shows the kinematic manipulator circuit; in fig. 2 - scheme of the device for adjustment of single; / - sa crank; in fig. 3 paspc j А-А on fig „2.

On shaft 1 (FIG. 1), mounted; 1; ns in housing 2, a gear collar 3 is fixed, which meshes with a gear wheel 4 located in a cylindrical recess of housing 2. Gear wheel 4 has a radial groove in which a slider 5 is placed. AT; on the one hand, a crush-tip AAD is attached on one side, and on the other side there is a thread with which the screw forms a kinematic pair. At the end of the screw 6, a conical gear wheel 7 is fixed. In the cylindrical recesses 8 of the gear wheel 4 there is a conical differential mechanism consisting of friction conical wheels 9 and 10, which are in engagement with the gear wheel 7. The end surfaces of the conical wheels 9 and 10 are covered friction material with the aim of increasing friction; cdu nsh-ga and hull.

the jaws 26-27 are interleaved with the product clamped, at the Cf angle - unclamping the jaws and releasing the product, at the angle (f - returning the jaws to the initial position Cd, at the angle q the jaw closing and gripping the product. When the point rotates: A crank the links 20 and 23 form a higher class schematic pair, therefore, at the corners Cf, and (3, in addition to the linear movement of the link 23, it is rotated around the longitudinal axis. 3 Il.

13 differential mechanism relative to the gear wheel 7 is installed similar to the gear-i oa wheel, ensuring the stability of the structure.

In case 2, along axis 00 of rotation of the toothed wheel 4, there is installed a ha ha 11. On which presser legs 12 and 13 are fastened, a T-shaped bend 14 is connected with ha 11, which is balanced by a spring 15 fixed on both its sides. On a fixed axis 16 lever 17 is mounted, and 1): the axle 18 is movable - lever 19. A 1h bend is located in the longitudinal grooves of the levers 17 and 19 "Crank AAD connected by a connecting rod 20 with a double arm 21 through two spherical kinematic pairs A and B. Spherical hinge D c the handle C is rigidly connected to the sleeve 22 in which the guide rod passes 23. The center of the spherical hinge D coincides with the center of rotation of the crank OA. The hinge D is fixed to the housing 2 by a screw 24. There is a forced resistance between the sleeve 22 and the rod 23. A stop 25 and a sponge 26 are rigidly fixed to the rod 23. The lever 21 is hingedly connected to the rod 23 and equipped with a sponge 27 "

The proposed manipulator works as follows.

When the drive is turned on, the shaft 1 rotates with the gear wheel 3 and the gear wheel 4, together with which the slider 5 rotates. The latter rotates the bevel gear wheel 7 connected to the screw 6 and rotates the gear wheels 9 and 10 The slider 5 through the crank AA and the spherical hinge sets in motion the connecting rod 20. The direction of rotation of these elements is shown by the arrow f,

The adjustment of the OA radius of the crank is as follows.

When the lever 17 is turned on, by means of a tap of 14 tons ha 11 and the presser foot 12 connected with it moves downwards. Foot 12 presses the friction conical wheel 9 to the housing 2 and stops it. This causes the wheel 7 to roll over the fixed wheel 9, and the screw 6 rotates. With the help of a screw, the slider 5

points C while simultaneously turning it around its axis. For the sake of friction in a pair of 22-23 sponges 26 and 27 are closed and keep transported

with Subject. At the angle if, the jaws 26 and 27 open and the transported product is released. At the angle tf, the jaws 26 and 27 are returned in the opened position to the starting point GO with simultaneous further rotation of the rod around its axis. The sponge 26 and 27 are gripped on the angle Cf and gripped.

15

Claims (1)

Invention Formula A rod manipulator comprising a housing, a rod, a crank AA located at and an associated detachment sleeve, is connected to the axis O, i.e. the radius of the OA is increased by a ball. When the required length is reached, the lever 17 is released and with the help of the spring 15 takes the initial position, while the kinematic connection between the friction bevel wheel 9 and the foot 12th emkkayets. When the lever is turned on 19 t ha 11 and the presser foot associated with it 13 moves upward and, due to the strength of the friction, occurs between the wheel 10 and the body 2, the wheel 10 becomes stationary. At the same time, the wheel 7 is recalculated along a fixed reliability and simplification of the design of the wheel 10 in the opposite direction, which causes the slide 5 to move to the center of rotation, and the OA radius decreases. By spring 15, lever 19 returns to its original position. When the crank is fully rotated, characteristic angles cf, Cf, qij, cf. When the crank point A is rotated by angle,, the extraction is performed by reducing the number of translational pairs operating with increased wear, the ball bearing of the rod is placed along the axis of the crank 40, and the center of this support is located in a plane perpendicular to the axis of the crankshaft and passing through the hinge is connected with a crank with a connecting rod, while the connecting rod and the rod form a pair of sliding rod 23 from sleeve 22 to 45 of your class. points C while simultaneously turning it around its axis. For the sake of friction in a pair of 22-23 sponges 26 and 27 are closed and keep transported Thing. At the angle if, the jaws 26 and 27 open and the transported product is released. At an angle tf, the jaws 26 and 27 are returned in the opened position to the starting point GO while simultaneously rotating the rod around its axis. The sponge 26 and 27 are gripped on the angle Cf and gripped. Invention Formula the stem turning the rod around its longitudinal axis, gripper, one sponge which is fixed to the end of the rod, and a friend is assigned to two shoulders lever, mapHiipHo associated with the specified rod, the drive with a Kriyo-Shatunov mechanism, equipped with a device for adjusting the radius crank, and the ends of the connecting rod of this mechanism are pivotally connected, respectively, with the specified crank and two-arm lever, characterized in that, in order to increase reliability and simplify the design due to a decrease in the number of translational pairs operating with increased wear, the ball bearing of the rod is placed along the axis of the crank and the center of this support is located in a plane perpendicular to the axis of the crankshaft and connecting the crank with the connecting rod through the hinge. connecting rod and rod form a pair eleven Fiyo2 L, 3 tt m111 Editor L.Povkhan Compiled by Y. Wilchinsky Tehred A. Kravchuk Proofreader I. Muska Order 2914 / 19Tiragk 953Subscription VNIIPI USSR State Committee on Inventions and Discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Project, 4 FKG.Z