SU1357220A1 - Manipulator - Google Patents

Abstract

The invention relates to the field of engineering, in particular to industrial robots and manipulators. The aim of the invention is to improve positioning accuracy by reducing the material consumption of the manipulator. This is achieved by rotating the mechanical arm, longitudinal movement and rotation of the actuator 4, and mixing the gripping elements 6 of the gripper 5 from one electric motor 10, the shaft of which is connected to the central gear 11 of the precessional transmission, and the satellite of this transmission is rigidly connected Zan with the body 3 mechanical hands. Movement to the driven gear 16 of the cylindrical gear of the rotary mechanism of the executive body 4 is transmitted from the central gear 11, and the toothed sector 19 is mounted on the base 1 with the possibility of locking with the latter by means of the control clutch 2. The forward movement of the executive body 4 by means of a screw gear, a nut 23 of which. placed in the hub of the central gear 11, and the screw is connected with the actuator 4 and the mechanism for moving the clamping elements 6 of the gripper 5, while the actuator 4 is connected with the driven gear 16 by means of a control coupling. 1 il. l 2S cl with 1 ito

Description

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  135 The invention relates to mechanical engineering, in particular to industrial robots and manipulators.

The aim of the invention is to improve positioning accuracy by reducing the material consumption of the manipulator.

The drawing shows a manipulator, a general view.

The manipulator includes a base 1 and a body 3 of the mechanical arm. The manipulator is mounted on it by means of balls 2. The mechanical arm carries the executive body 4 placed with the possibility of longitudinal movement and rotation in the housing 3 of the mechanical arm with the mechanisms for its longitudinal movement and rotation, and the gripper 5 with the movement mechanism of its clamping elements 6. The movement mechanism of the clamping elements 6 is designed as a cable 7 connecting the spring-loaded clamping elements 6, the balls 8 and the electromagnet 9.

The mechanical arm turn actuator turns on the engine 10 mounted on the body 3 of the mechanical arm and the precessional Transmission, the satellite gear wheel 11 of which is connected to the output shaft of the engine 10 and is made in the form of two disks 12 and 13 with inclined ends, the angle of inclination of which is equal to the precession angle satellite gear 11 and balls 14.

The central, wheel 15 is rigidly connected to the body 3 of the mechanical arm, and its teeth are made in the form of tapered rollers. The difference between the teeth of the satellite gear 11 () and the rollers of the central wheel 15 (is equal to ± 1.

The rotation mechanism of the actuator 4 is made in the form of a cylindrical gear drive, the drive gear 16 of which is mounted coaxially to the body 3 of the mechanical arm and the satellite gear wheel 11 of the precession gear and rigidly connected to the hollow central shaft 17, which is connected to the satellite gear wheel 11 by means of a gear the clutch 18. The driven gear sector 19 is installed on the base 1 with a rigid connection with the last

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by means of a control clutch 20 made in the form of an electromagnet 21 and a finger 22.

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The longitudinal movement mechanism of the executive body is made in the form of a helical gear, the nuts 23 of which are installed in the satellite hub of the gear wheel 11 by means of clips 24, and the screw 25 is placed in the hub of the satellite wheel 11, and is connected to the executive body 4 by screw cutting. In the hub of the drive gear of the cylindrical gear 16, a second control clutch is placed in the form of an electromagnet 26, mounted with the possibility of connecting the hollow central shaft 17 with the transition sleeve 27; associated with the slots 28 with the Executive body 4.

The manipulator operates as follows.

The rotation from the electric motor 10 through the disk 12 and the balls 14 is converted into a precessional movement of the satellite gear 11. Due to the reduction in the precessional transmission, the hollow central shaft 17 rotates with the reduction:

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The housing 3 rotates around the axis of the base 1 when the electromagnet 21 is turned on, while the finger 22 stops the driven gear sector 19 to the base 1 and, therefore, rotation of the hollow central shaft 17 causes the rotation of the body 3 of the mechanical arm around the axis of the base 1.

The actuator 4 is rotated when the electromagnets 21 and 26 are turned on, with a kinematic connection: the driving gear 16 — the hidden gear sector 19, the base 1 opens,

 and chain: hollow central shaft 17 - transition sleeve 27 closes. As a result, the rotation of the hollow central shaft 17 is transmitted to the executive body 4, the rotation (rotation) around its axis is removed. The longitudinal movement of the actuator 4 is also carried out from the electric motor 10, while the satellite gear 11, making

5, the precessional motion causes the helical gear nuts 23, symmetrically located relative to the precession center, to partially engage with the screw 25, causing it to move. Associated with the executive. body 4 using threaded joint nt 25 causes actuator 4 to move along its axis with a reduction equal to the gear ratio of the helical gear for a certain distance. does not cause the movement of the executive body 4, but only the movement of balls 8, which by means of a cable 7. cause the workpiece to be covered by spring-loaded clamping elements 6. In this position, the balls 8 are fixed Electromagnet 9. After moving the workpiece to the desired position, electromagnet 9 is turned off and tongs 5 release it. The manipulator is returned to the original position by changing the direction of rotation of the electric motor 10.

Claims (1)

Invention Formula A manipulator containing a base mounted on it with the possibility of turning a mechanical arm, an executive body placed with the possibility of longitudinal movement and rotation relative to the body of a mechanical hand, mechanisms of its longitudinal movement and rotation, a gripper with a mechanism for moving its clamping element. A. Vorovich Compiled by A. Shir Eva Tehred L. Serdyukova Proofreader M. Sharoshi Order 5931/13 Circulation 952 Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, st. Project, 4 The actuator includes a motor kinematically connected to the body of the mechanical arm, characterized in that it is equipped with control clutches to improve positioning accuracy by reducing the material consumption, and the motor kinematic connection with the body of the mechanical arm is in the form of a precession transmission. , the satellite gear wheel of which is rigidly connected with the engine shaft, and the central roller wheel with the body of the mechanical arm, and the mechanism of rotation of the actuator is made in the form of a cylinder transmission gear, the drive gear of which is installed coaxially with the axis of the satellite gear of the precession gear and is kinematically connected with it, and the driven gear sector of this gear is placed on the base with the possibility of connecting with it through the first control clutch, the body is made in the form of a helical gear, the secret of which is installed in the hub of the satellite gear of the precession gear, and the screw is kinematically connected with the executive body a mechanism for moving the gripping elements of the gripper, wherein the actuator is mounted to cooperate with a leading cylindrical zubchatm wheel transmission control posredstvomvtoroy yuscheymufty.