SU1335455A1 - Flexible manipulator - Google Patents

Abstract

The invention relates to mechanical engineering, namely to manipulators, and can be used for insertion into the internal cavities and spatial orientation of the instrument or control devices. The aim of the invention is the expansion of technological capabilities by providing the possibility of mutual axial movement of disks and flexible. For the first time, the discs 1 with central openings are enveloped by flexible tubes 2 in series with the outer and inner sides, and the flexible member 3 passes through the central openings of these discs. When pressure is applied to one of the tubes 2, the flexible arm is gently bent in the direction opposite to the tube. The flexible element 3 is moved relative to the flexible manipulator when pressure is applied to the middle modules by bent-edge module 4, while {the middle module 4 clamps the flexible element 3, and the middle module moves the last module 4 with the clamped flexible element . I zp f-ly, 3 ill. 3 s (L 00 got together 4 followed

Description

The invention relates to mechanical engineering, namely to manipulators. and can be used for insertion into the internal cavities and spatial orientation of the instrument or control devices.

The purpose of the invention is the expansion of technological capabilities by providing the possibility of mutual axial movement of the disks and the flexible element,

Fig, 1 shows a manipulator, general view; in fig. 2 section A-A in FIG. 1; Fig. 3 shows a variant of the manipulator with the possibility of axial movement of the flexible element relative to the manipulator;

The flexible arm contains disks I with central openings elastic containers in the form of flexible tubes 2 for changing the mutual position of the disks, enveloping the disks. 1 in series with the outer and inner sides and the connecting disks 1 between each other with the possibility of changing the relative position, and the flexible element 3 passing through the central openings of the disks 1, wherein elastic containers, for example flexible pipes 2, are connected with individual sources of energy supply 5, for example pressure,

In order to move the flexible element 3 relative to the manipulator, the latter consists of at least three 4 6 modules, each of which includes at least three disks 1,

Flexible manrshul torus works as follows

Pressure is applied to one of the tubes 2, the flexible arm is gently bent in the direction opposite to the tube. If the same pressure is applied simultaneously to all the tubes, the flexible arm is extended without bending. At the same time, the flexible element 3, located in the central apertures of the wild, is gently wrapped around the flexible tubes 2, when being manipulated, it bends smoothly and does not contact the edges of the disks 1, which is especially important if the flexible element 35, for example a light guide or duct, does not allow concentrated mechanical load silt sharp kinks.

Moving the flexible element 3 with respect to the flexible manipulator

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The pressure is fed into the middle biv of the extreme 4 modules of the flexible modulator, while the extreme module 4 clamps the flexible element H and the average modules are placed at an axial direction in the axial direction of the extreme -1 module 4 with the clamped flexible element 3 after which the pressure is applied to the other extreme module 5, and in the extreme 4 and middle 6 modules the pressure is released.

The following examples are repeated,

Claims (2)

Invention Formula 1, A flexible manipulator containing discs with a central opening for flexible adaptive, elastic containers located between the discs symmetrically relative to the flexible element and associated with individual sources of supply of energy carrier, characterized in that in order to expand technological capabilities due to the possibility of mutual axial movement of the disks, elastic containers are made in the form of flexible tubes, successively enveloping the disks from the outer and inner side, 2. The manipulator is pop, 1j is tol and is due to the fact that for the axial movement of the flexible element it consists of at least three modules, each of which includes at least three disks, while for the extreme modules of the manipulator d, D cn .- + 2 b tr five 0 where d B CC gr the diameter of the central hole of the disks of the extreme modules of the manipulator j is the diameter of the flexible element; the size of the tubes in the diametrical section of the module in the absence of pressure of the working medium; and for the average module of the manipulator 2 P cs d ,, Tr. where d cs five tr. diameter of the central hole of the disks of an average MODU.PI manipulator; the size of the tubes under the pressure of the working medium in the diametrical section of the module.