SU1380933A1 - Manipulator - Google Patents

Abstract

The invention relates to mechanical engineering and can be used in the construction of robots for the automation of technological operations, for the orientation of satellites in automatic lines. The purpose of the invention is the expansion of technological capabilities by increasing the service area and the number of degrees of mobility. When a linear motor is turned on, the stator of which is placed in rails 2, and the measles on carriages 4-11, paired up on rails 2, pairs of carriages move one relative to the other or carriages in a pair, while through the leads 12 and spherical hinges 14 -17 the required displacement is carried out 20. 8 Il.

Description

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The invention relates to mechanical engineering and can be used in the construction of robots for the automation of technological operations, for the orientation of satellites in automatic lines.

The purpose of the invention is to improve technological capabilities by increasing the service area and the number of degrees of mobility.

FIG. 1 shows the kinematic diagram of the device; in fig. 2 is the same section along the carriage, the leash and the hinge in FIG. 3-8 show the slides on the rails.

The manipulator consists of a base 1, on which the guides 2. with 3 rolling bodies are fixed. Direction 2 forms in plan a closed pr - 20 van carriages, a gripper with a support, on a small angle, on each side of which are mounted on a pair of carriages 4-5, 6-7, 8-9 and 10-11. A lead 12 is connected to each of the carriages of the charts, and the other ends of the leads of each pair of carriages are connected to the respective spherical hinges 14-17 by means of axles 13. In the spherical element 18, each of these hinges is made, each of which is connected with a spherical hinge to the gripper support and the other to a corresponding carriage, and an actuator that is different in that in order to expand the technological capabilities by increasing the service area and the number of degrees of mobility that guide the dimensions (on the base of the hole, in which one innovation is placed so that they form in plan

from the protrusions 19 of the base on which the grip 20 is placed. Each of the carriages 4-11 with the pole-forming protrusions 21 placed on them is the rim of a linear electric motor, the stator 22 of which is fixed to the base.

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The manipulator works as follows.

The linear motor is activated by a command from the control system, at which this pair of carriages move one relative to the other (or the carriages in each pair move one relative to the other), while the gripper 20 is moved along given coordinates X, Y and rotated by an angle f (Fig. 3) or rise - lowering relative to the base 1,

Claims (1)

Invention Formula A manipulator containing a base with guides on which are mounted, each of which is connected with spherical hinges at one end to the support of the gripper, and the other with a corresponding carriage, and an actuator that is different in that increase the service area and the number of degrees of mobility, guiding the spacing (en a closed rectangle, on each side of which two carriages are mounted, a hole is made in the spherical element of each hinge, and the base of the gripper is made in the form of a cross, the protrusions of which are placed in the said holes of the hinges. figs //. f9 L, /ABOUT -eight fi8.JJ eleven Y7 five YU nineteen 7 X 9 of FIG. five  at FIG. 6 7 fie.v