SU1423366A1 - Manipulator module - Google Patents

Abstract

The invention relates to the field of mechanical engineering, in particular to structural elements of manipulators for the automation of various technological processes. The aim of the invention is the expansion of technological capabilities by increasing the degree of mobility of the output telescopic

Description

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link. In order to carry out the translational movement of the link 11, the electromagnet 7 is activated, and the gear disc B engages with the control disc B and the clutch. The rotation of the drive shaft 5 through the additional gear 6 and the second additional gear 10 is transmitted to the screw 9, causing the planetary movement of the screw rollers 12 and, accordingly, the translational movement of the output telescopic link. To implement rotational motion of the one link, the gears

one

The invention relates to mechanical engineering, namely to structural elements of manipulators for automating various technological processes.

The aim of the invention is to expand the technological capabilities by increasing the degree of mobility of the output telescopic link,

Figure 1 shows the kinematic diagram of the module; Fig. 2 shows the execution of the last but one telescopic cup with a curved guide groove. I

The manipulator module consists of a housing 1, in which telescopically arranged links 2 are mounted for rotation around its axis, which are fixed against mutual rotation by means of push-button joints 3 and connected via a controlled clutch 4 to the actuator 5, are fixed on the housing 1, the gear disk of the coupling A is located on the rolling bearings on the outer telescopic link 2 and is connected through an additional gear wheel 6 with the drive 5, the movable gear disc B is also mounted on the outer telescopic link 2 is axially movable thereon by the electromagnetic device 7 for closing or disk A and disk B which is mounted in the housing 1 for axial movement by

A, B and C are opened, the electromagnet 8 is activated, and the second additional gear wheel 10 is brought into engagement with the face gear of the outer telescopic body 2, Next, the rotation from the drive 5 is transmitted to the output link. Different combinations of coupling engagement allow simultaneous rotational and translational movements of the output link. In the presence of a curved groove on the penultimate telescopic link, a screw movement of the output link occurs. 1 z.p, f-ly, 2 ill.

an electromagnetic device 8; Teeth are cut into the side surface of the outer telescopic link 2 facing the actuator to communicate with the screw 9 by means of a second additional gear wheel 10 that is axially mounted on the screw 9 from the electromagnetic device 8 teeth on the side.

The nut of the helical gear consists of telescopic links 11, on the outer surfaces of which, besides the outer link, there is a thread, and on the inner sections there are areas with annular grooves with a length equal to the length of the helical rollers 12, which have circular cutting with the same pitch and are located in the separators 13, moreover, the inner parts of the ends of the separators are made conical and interact with the stop rings 14 mounted on the ends of the threaded thread on the screw 9 and the links x 11.

In the penultimate of the telescopic links 2 (Fig. 2), instead of a straight keyway, a curved guide groove 15 can be made, with which the outer telescopic link of the nut is connected through the slider 16, and the sweep of the groove corresponds to the development of the helix thread to the telescopic links but has the opposite threaded direction.

The manipulator module works as follows.

In order to carry out the translational movement of the output link 11, the device 7 is activated, the gear disc B comes out of engagement with disc A and engages with disc E. Rotation from drive 5 through wheel 6 is transferred to screw 9 and converted into planetary motion of screw rollers 12 and further into translational movement of the telescopic link 11 until the separator 13 reaches the ring 14, after which this pair begins to rotate and the next telescopic link extends.

In order to rotate the output link 11, the gear B is disengaged from the disc B, device 8 is activated, and the second: the wheel 10 is engaged by the side teeth on the side surface of the outer telescopic link 2. Rotation from the drive 5 is transmitted through gear 10 to link 2 and further to link 11.

To perform simultaneous rotational and translational movement of the output link 11, wheel 10 is taken out of engagement with link 2, device 7 is activated, and disk B is brought into engagement with disk A. Rotation from drive 5 through second wheel 10 is transferred to screw 9 and converted to movement 11, and through the gear pair the wheel 6 - the disc A is transmitted to the outer telescopic link, which rotates with an angular speed different from the rotation of the screw 9 due to the reduction in the gear pair the wheel 6 - the disc A. motion of the link 11 and the rotational motion of the links 2.

In the presence of a curved groove 15 on the penultimate link 2 due to

a new movement of the entrance h. the circuit for engaging a gear puppy puppy.

Formula

20

arr

25

Claims (2)

1. Module manipulator jQ housing located gear, screw-driven, and the nut is made of a series of telescopic helical rollers that are fastened 15 to the power of the screw rollers, differing in order to expand the technical capabilities due to the increased mobility of the output link, it is provided with a clutch coupling, fit in the housing and disks movable coaxially with screws, the first of which is rotatably connected with the drive through the telescopic link directly inserted through the gears, the second is set by the possibility of the axial spacing of the nut and kinemat with the first or third dis tions It is set to the possibility of axial Move this on the end face of the telescopic Foot ulcers hydrochloric to the actuator is cut of Heff kinematically for communication via a second additional dome controllably gear to VISION axially guided on this false screw. 2. The module according to claim 1, in connection with the fact that the pre-scopic link kin is connected to the outlet of the body by a link of a nut by means of a connection, the elevation angle of which is equal to the angle of the helix of the nut, but thirty 35 40 45 slider 1§ a predetermined propeller occurs in the opposite direction. The new movement of the inlet link 1 at. the engagement circuit of the gear coupling .4 for the implementation of the translational pegemeshchenp. Formula gaining 1. A manipulator module containing a casing, a wiping gear placed in it, the screw of which is connected to the drive, and the nut is made as a series of telescopic links kinematically connected with a screw with the help of screw rollers, and a coupling characterized in that, in order to expand the technological capabilities by increasing the degree of mobility of the output telescopic link, it is equipped with a controlled clutch, mouthpieces. shnysp in the housing and made in the form of three movable gears coaxial to the screw, the first of which is rotatably mounted on the first telescopic link of the nut and is kinematically connected by means of an additionally introduced gear wheel with the drive, the second is mounted for axial movement on the same link nuts and kinematics are connected to the first or third coupling disk, and the third is mounted in the housing with the possibility of axial movement, while on the face surface of the specified telescopic link, to the drive, a gear rim is cut, kinematically connected with the screw by means of a second additional control gear, which is axially movable and located on this screw. 2. The module of claim 1, wherein the penultimate telescopic link is kinematically connected with the telescopic link of the nut through a screw connection, the helix angle of which is equal to the helix angle of the nut, but has in the opposite direction.  u $ .Z 16 2