SU1414641A1 - Manipulator drive - Google Patents

Abstract

The invention relates to the field of robotics and can be used to carry out linear movements in automatic cycle manipulators. The aim of the invention is to improve the dynamic performance and increase reliability. This is achieved by using a differential threaded joint in adjustable supports, 5, which allows for precise adjustment of the clearance between the movable guide 2 and the adjustable supports. The tensioning device 7 of the contact belt tracks 6 placed between the movable guide 2 and the adjustable supports 5 contributes to; their tight fit along the entire length to the movable rail 2. 1 Cp f-ly, 4 ill.

Description

FIG.

The invention relates to robotics and can be used; for carrying out linear movements, in cyclic automatic manifolds.

I The purpose of the invention is to improve the dynamic characteristics and increase reliability by adjusting the gap between the movable guide: and the rolling bearings.

: FIG. Figure 1 shows the drive of the torus, general view; in fig. 2 shows section A-A in FIG. one; in fig. 3 -; node I in FIG. one; in fig. A - view B I in FIG. 3

I The manipulator actuator contains a power cylinder 1 (engine), located inside the movable guide I2 and fixed pivotally between the movable guide 2 and the fixed stand 3 by means of an adjustable bracket 4, adjustable roll supports 5 mounted on a fixed stand 3 by means of a differential threaded joint I, a contact belt track 6, and a device I 7, tension the contact belt tracks 6, which are fixed i on the movable guideway 2. i Adjustable rolling supports 5: 8 rolls, which are fixed on the axes 9; in the cages 10. The latter have a thread 11 and are connected to nuts 12, which have an internal 11 and an external: 13 threads. The inner thread 11 j has a minimally smaller pitch from the standard row than the outer thread 13. The nuts 12 are connected by means of the outer thread 13 to the cups 14, which are fixed on the fixed rack 3, thereby closing the differential-threaded connection between the glass mounted on the fixed rack 14, a nut 12 and an adjustable rolling support 5 by means of an internal thread 11 and an external thread 13. The cups 14 have longitudinal grooves 15 on their inner surface, which include axes 9 by flats 16 for fixing the position of adjustable p 5 rolling on reversal. For local locking, the cup 14 has a slot 17 and a locking screw 18.

For full dynamic locking of the position of the adjustable rolling support 5 on the nut 12 there is a lock nut

19. In the cups 14 cylindrical guides 20 are made into which the sleeves can move 10. Guides 5 are necessary for receiving lateral loads from the movable guide 2 through the contact strip tracks 6, rolling bearings 8, axis 9, yoke 10. Between

0 clip 10 and bearing 8 on the axis 9 there are distance washers 21.,

Contact strips 6 (Fig. 3) are fastened at one end by two connecting elements, for example, screws 22, to movable guide 2 and the other end to prismatic heads 23 of screws 24 of tension device 7.

Tension device 7 (FIG. 3)

0 and 4) contact tape tracks 6 contains a support 25 fixed by screws 26 on a moving rail 2, screws 24 and nuts 27. Contact tape tracks 6 have ovary

5 grooves 28 for compensation of technological errors when fastening with screws 22 along the entire length through a step after uniform tension by screws 24, nuts 27 and strain gauge

0 checks.

The drive works as follows.

Power cylinder 1 (engine) pushes movable guide 2 with respect to fixed rack 3, resting against adjustable bracket 4. Moving guide 2 with contact belt tape tracks 6 and tension devices 7 moves along their adjustable supports (Fig. 2). 5, mounted on a fixed rack 3. In this case, the adjustable roll supports 5 roll in along the correctly tensioned contact strip tracks 6 made of solid spring steel. The adjustment of the position of the movable guide 2 (Fig. 2) relative to the fixed post 3 and the gap between the movable guide 2 with the contact belt tracks 6 and the adjustable supports 5 is made by rotating the nut 12.

five

0

five

When rotated clockwise one turn, the nut 12 turns into a cup 14 by an amount equal to the pitch of the outer thread 13. The sleeve 10 moves along the cup 14 by values - the pitch of the inner thread 11, the sleeve 10 with the bearing 8 and the axis 9 is advanced by the difference in the pitch of the external and internal thread of the nut 12 per revolution. Such a small movement in one revolution of the nut 12 makes it possible to smoothly adjust and reduce the gaps between the movable guide 2 and the adjustable rolling supports 5. In order to provide longitudinal movement and fixation of the cage 10 from its rotation while rotating the nut 12, the axle 9 flats 16 move in the grooves 15 of the cup 14. So that the outer ring of the bearing 8 does not touch the walls of the cage 10, the washers 21 are fixed on the axis 9 The roller is provided with a screw 18 and a nut 19.

Tensioning of the contact belt tracks is made by loosening the left nut 27 (FIG. 3) and tightening the nut 27 with the right-handed right key. After tensioning, the left nut 27 is tightened to the support 25, fixing the position of the screw 24. All screws 24 are tightened to the same value of the degree of puff.

Claims (2)

1. A manipulator actuator containing a fixed rack with adjustable roll supports mounted on it, a movable guide, housed in a fixed rack and pivotally connected to a power cylinder mounted on a fixed rack, characterized in that, in order to improve the dynamic performance and increase reliability, it is equipped with contact tape paths placed between rolling bearings and a movable guide and connected to the latter are rigidly on one side and on the other hand by means of tensioning them, and each adjustable rolling bearing is made in the form of a glass with internal longitudinal grooves rigidly connected to a fixed stand, the yoke, on the axis of which there is a rolling bearing, the ends of this axis are placed in the grooves of the glass with the possibility of linear movement, the holder being connected to the glass by means of a differential threaded connection, and a fixing element m. 2. Drive POP.1, characterized in that the tensioning device of the contact tape track is made in the form of a screw, installed-. leg on the movable rail with the possibility of adjusting the movement and having a prismatic head, to which the end of the contact tape track is connected, the latter having longitudinal grooves for the connecting elements of the contact tape track with the movable guide. / I- /} 1213 19 ag.2 N "ABOUT to. and