SU1407788A1 - Manipulator - Google Patents

Abstract

The invention relates to the field of transport robotic systems, in particular, to manipulators with manual and automated control, which accompanies transport operations. The aim of the invention is to reduce energy consumption by using a single centralized drive of moving parts. When the drive is mounted coaxially with the mechanism 5 of turning the arm 6, the arm 6 is rotated relative to the column 1. The movement of the tong 8 is carried out from the same drive and transmitted to the tong by the flexible coupling 10 using a special gear mechanism mounted in the movable carriage 2 The raising and lowering of the arm are carried out from the mechanism 3 having its own drive. 7il, €

Description

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The invention relates to transport robotized systems, in particular, to manipulators with manual and automated control, performing transport-technological operations.

The aim of the invention is to reduce energy consumption by using a single centralized drive of moving parts.

Fig. 1 shows a manipulator, the general view of Fig. 2 shows a joint assembly of a carriage with a column; in fig. 3 shows section A-A in FIG. 2; in fig. 4 shows a section BB in FIG. 3; in fig. 5 is a section on BB in FIG. 3 | in fig. 6 a section of YYY in FIG. 3} in FIG. 7 shows a flexible communication package.

The manipulator contains a carrier column 15 on which the movable carriage 2 is installed, having the possibility of vertical movement along column 1 due to the lifting mechanism 3 mounted on the slab 4 and turning due to the turning mechanism 5. On the carriage 2, the arm 6 is fixed, on the end of which the rotatable head 7 is mounted, carrying the gripper 8 on itself,

the casing of which is the transported article 9. The swivel head 7 is connected by a flexible coupling 10 to a turning mechanism 5, which is common for turning the arm 6 around the column 1 and the head 7 relative to the arm 6,

The turning mechanism 5 comprises a drive gear 11, kinematic devices associated with a driving motor 12, wheels 13 and 14 with sections 15 and 1b of cut teeth, box 17, pipe 18, flexible connection 10, and a fixing device for sections 15 and 16 with teeth cut out relative to the arm 6, made in the form of a double-arm lever 19 hingedly mounted on the tube 18, containing rollers 20 and 21 at the ends.

The wheel 13 has a groove 23.5 in which a flexible coupling 10 is placed, rigidly fixed on this wheel. The flexible coupling 1U passes through the guide rollers 23 to the clamp 8, where it is rigidly fixed on the head 7. When turning the wheel 13 through a flexible link b movement is transmitted to the grip 8, it is rotated and, therefore, the product 9. The wheel 14 is stationary behind

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fastened on the box 17, and when it is run in by the driving wheel 11, the tube 18 and the investigator-I turn the arms 6 relative to the column 1.

In order for the drive wheel 11 to rotate the wheels 13 or 14 alternately, sections 15 and 16 with cut teeth are made in them. When the drive wheel 11 is in the area of the section 15. (Fig. 5), the wheel 14 is driven in and, consequently, the hand 6 is turned.

In this case, the section 15 with the teeth cut out during rotation is opposite to the driving wheel 11, i.e. the wheel 13 rotates around the box 17. This process takes place until the arcuate groove 24, which is made on the face surface of the wheel 13, rests on the additional pin 25 mounted on the face surface of the wheel 14 (Fig. 4). Having reached the section 16 with the teeth cut out, the wheel 14 is disengaged from the drive wheel 11, and the turn of the hand 6 is stopped. In this case, the wheel 13 engages with the drive wheel 11 and the tongue 8 is rotated with the product 9 fixed on it.

On the pipe 18 there is a double-arm lever 19 with rollers 20 and 21, and on wheels 13 and 14 there are treadmills 26 and 27 with locking recesses 28 and 29, along which these rollers roll. When turning the hand 6, the roller 22 is on the treadmill 27 and rolls it, and the roller 21 is in the recess 26 and fixes the wheel 13 relative to the driving wheel 11 (Fig. 5). When the gear engages from the wheel 14 to the wheel 13, the roller 22 on the treadmill 27 fixes the position of the wheel 14 relative to the drive wheel 11, and the roller 21 emerges from the recess 28 on the treadmill 26 and rolls it, while fixing the position of the hand 6 relative to the column 1.

Thus, switching of the rotational drive of the hand 6 on the rotation of the transported product 9 is provided. When changing the direction of rotation of the drive motor 12, the process of rotation of the arm 6 and the body of the gripper 8 with the product 9 occurs in reverse order.

The manipulator works as follows.

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FIG. 7

Claims (1)

Claim A manipulator containing a fixed column 25, a movable carriage rigidly connected to the hand, a movable grip located in the housing, characterized in that, in order to reduce energy consumption through the use of a single centralized drive of moving elements, it is equipped with two coaxial gear sectors and their fixation device, a single drive carriage rotation and. the gripper mounted on this carriage, while the drive contains a drive gear kinematically connected to the gear sectors, one of which is rigidly connected to the column and has a pin on the end surface that enters into an arcuate groove made on the end surface of the second gear sector, and the last kinematically connected with the housing, a movable grip with the help of an additional flexible connection, and the device for fixing the gear sectors is made in the form of a two-arm lever with rollers pivotally mounted on the carriage, to Each of which is kinematically connected with the corresponding surfaces of the gear sectors having locking recesses for the corresponding rollers of these levers. FIG. 2 AA ^{1S 77 of} FIG. w i 407788 FIG. 6