SU1431924A1 - Manipulator hand - Google Patents

Abstract

The invention relates to mechanical engineering, in particular to actuating devices of manipulators intended for transferring parts to technological processing positions. The purpose of the invention is to improve the dynamic; characteristics when working with loads of large mass due to the increased rigidity of the structure. The command to move the part, located off on platform 2, is applied to the electromagnet of the brake, which releases the drum, with the help of one driving link 3 of one three-link. From it, through the links of the articulating multi-link, consisting of two symmetric three-linkage, the movement is transmitted to the platform-2, associated with the grip. The balancing mechanism is integrated in the master link 3 of the second tripartite. 5 il. (C (L

Description

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; The invention relates to machine-building equipment, namely, to the operator devices of manipulators, intended for the transfer of parts to technological processing positions.

The purpose of the invention is to improve the dynamic characteristics when working with large weights by increasing the rigidity of the structure.

FIG. 1 presents the kinematic scheme of the manipulator arm; figure 2 - section aa in figure 1; on fig.Z - section BB in figure 1; in Fig.4 section bb in Fig.Z; on fig.Z - section GGD on figure 4,

- The arm of the manipulator consists of the body 1, the cargo platform 2, designed for the squeezing grip. Three pieces 3, equal to them along the length of the driven 4, as well as intermediate links 5 and 6, form two symmetrically arranged from the vertical axis of the flat three-blade mechanisms, fixed with respect to the core, the Leading 3 and the driven 4 links with: one with another rigidly attached to them by toothed toothed sectors 7 and. 8. In the vedup (its link is one (the three-star right motor has an electric motor 9, on the shaft 10 of which the drum 11 of the brake 12 and the pinion gear 13 of the gearbox 14 are fixed, (in this example, a three-stage planetary gearbox). The output shaft 15 of the gearbox 14 is rigidly connected to g ed; - link 3,

In the leading link 3 of the other three-link assembly, a balancing mechanism is assembled, consisting of the axis 16, which is fixed in the housing 1, on which the lead link 3 is attached to the rolling bearings 17 placed in the covers 18. disk 20, as well as antifriction vtu. with the possibility of free rotation about the axis 16 — the intermediate 21 and upper 22 disks of the mechanism are balanced and between which there are anti-friction pads 23,

The disks are interconnected in a manner similar to the spring 24, which are attached to the disks on the fingers 25. The output disk 22 has a protrusion 26 interacting with the protrusion 27 of the lid 18, rigidly connected to p, by a link 3. 3. .siotic wrap of the wasp system

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there is between the g (the movable body 1 and the main link 3. The link of both three linkers are interconnected by the tooth sectors 28.

In this case, the center-to-center distance of this gear joint is equal to the distance between the hinges of the suspension of the loading platform 2 to the follower-links 4.

A connecting rod 30 is attached to the housing 1 on the axle 29, which together with the driving member 3 and the intermediate link 5 forms a hinged parallelogram.

Hand manipulator works as follows.

Starting position - cargo platform 2 below. After the command to move the electromagnet releases the brake pads 12 and releases the drum 11 together with the shaft 10 of the electric motor, which leads to its inclusion. With this shaft 10, gear 13 is transmitted to gearbox 14. Since the output shaft 15 of gearbox 14 is rigidly connected to the control unit by link 3, the latter begins to rotate relative to shaft 10. Lead link 3 through gear sectors 28 rotates the lead link of the second three-dialer. It rotates on the supports 17 with respect to the axis 16 and the housing 1. The toothed links 4 rotate through the toothed sectors 7 and 8. As a result, the loading platform 2 is lifted along a straight line trajectory. In this case, the spring system 24 of the trimming mechanism helps to lift the platform due to the fact that in the initial position of the spring 24 are in the most stretched condition and tend to contract. When the leading link 3 is rotated with the built-in trimming mechanism, the relative angular displacement of the disks 21 and 22 occurs, due to which a considerable working stroke of the spring system is ensured with a small lengthening of each springboard.

After the load platform 2 has occupied the upper position, the engine 9 is turned off, and the brake pads 12 fix the drum 11 with the shaft 10. The arm is now in the vertical, for example, in the transport position.

To lower the loading platform 2, it is necessary to turn on the dvigatel engine on the reverse rotation of the palais I). In this

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In this case, the energy of the OS on the load platform 2 is grudging and the torque of the engine 9 is spent on stretching the springs 24 of the uranium mechanism.

Claims (1)

Invention Formula A manipulator arm containing a body, a flat articulated multi-link articulated with it, a grip and a drive, characterized in that, in order to improve the dynamic characteristics when working with heavy loads by increasing the rigidity of the structure, one link of the multi-link articulation is performed platform and associated with the capture, while the links of the multi-link form two symmetrically located relative to the longitudinal axis of the capture three-link mechanism, each of which contains a master, slave and intermediate z.ten , Wherein the master and slave units are of equal length and further operatively coupled together gears. D actuator and nilr nstrosnogo in ne / .tyiuo-f chnrio olmogo ich rm) ex:) non-M1-hanp.chm1Ya lnigptep with brake and reduktorg. m, rotor axis of rotation which coincided-gk T f. gpariirrui axis connection of the link with the housing, and the input shaft of the gearbox is rigidly connected with the main valve itself, and in the leading link The DRU1 of the three-link mechanism is additionally introduced by the LP1 balance mechanism, produced in the form of discs connected by a spring system to each other and to the driving link of this three-link mechanism, while the leading oGoifx three-link mechanisms are also additionally kinematically connected with each other by gears the axial distances between which are equal to the distance between the hinges of the platform mounting, and the housing is additionally connected by means of the connecting rod to the hinge one of the three-tier mechanisms and forms with it a paraplelogram mechanism. BUT 12 eleven QOi / 8. 2 t t t / 3 flf I I I / 7 / FIG. 420 FIG. five