SU1484723A1 - Manipulator - Google Patents

Description

The invention relates to mechanical engineering and can be used in the automation and mechanization of production processes in various industries, as well as in remote manipulators working in areas of radioactive radiation,

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in space. The aim of the invention is the expansion of technological capabilities by increasing the number of degrees of mobility of the actuating device. For this, the manipulator has a series of modules 2 connected in series with each other. Each module 2 is a housing 4, a drum 5 from which a flat elastic band 6 is wound, forming a sliding element 7 in the form of a thin-walled cylindrical profile with overlapping edges, passing through a guide mechanism including two friction rollers and a guide truncated cone. The drum 5 is kinematically connected with the shaft of the individual drive 11. One end of the flat elastic band 6 is fixed

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on the drum 5, and at the other end of it, a croisstein 14 is installed with the possibility of rotation around the axis of the sliding element.7 of the previous module 2 from a rotational drive 15 placed

on the connecting flange 16. In the crown matte 14 on the pins 17 a subsequent module 2 is installed with the possibility of rotation from the rotational drive 18.

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The invention relates to mechanical engineering and can be used in the automation and mechanization of production processes in various industries, as well as in remote manipulators working in areas of radioactive radiation in space.

The purpose of the invention is the expansion of technological capabilities by increasing the number of degrees of mobility of the actuating device.

FIG. 1 shows the manipulator, general view; in fig. 2 - the manipulator. ? 5 when folded; Fig, 3 ^ sliding element of the manipulator; FIG. 4 is a section A-A in FIG. 3; FIG. 5 is a section BB in FIG. 3,

The manipulator consists of the base „„ 1, a series of modules 2 connected in series and an actuating device 3, for example a gripping device. Module 2 is a housing 4, a drum 5, from which a flat elastic tape 6 is wound, forming a sliding element 7 in the form of a thin-walled cylindrical profile with overlapping edges, passing through a guide mechanism that includes two friction rollers 8 and 9, and a guide a truncated cone 10 mounted on the housing 4. Moreover, the drum 5 is kinematically connected with the ball of an individual drive 11, on which a 35 pinion gear 12 is mounted, which is in engagement with the driven gear 13, on the axis of which located friction roller 8.

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The roller 8 works in tandem with the friction roller 9 which is spring-loaded relative to the body 4, and one end of the flat elastic belt 6 is fixed on the cylindrical drum 5, and 45

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on the other end of the bracket is installed 14 with the possibility of rotation around the axis of the sliding element 7 of the previous module 2 from the actuator 15 rotation, placed on the connecting flange 16, B bracket 14 on pins

17 is installed subsequent module 2 can be rotated from the drive

18 turns. The first module 2 is installed in the bracket 14, which can be rotated around the vertical axis from the rotational drive 15 mounted at the base 1, and the actuator 3 is installed at the end of the sliding element 7 of the last module 2.

The manipulator works as follows

In the initial state, the sliding elements 7 are wound on the drums of the 5 modules 2. By switching on the individual drives 11, the drums 5 are driven with the flat elastic tape 6 wound on them, which passes between the friction rollers'

8 and 9 with a guided truncated stem. 10 forms a sliding element 7, which is a thin-walled cylindrical profile with overlapping edges. Thereby, in the modules 2, the sliding elements 7 are advanced, each by its own specified size. Simultaneously with the individual drives 11, the drives of rotation 15 and turn 18 are triggered, orienting the sliding elements 7 in predetermined directions, thereby giving the manipulator the complex configuration necessary for the actuator 3 to reach a given point in space. Changing direction? rotation of the actuator 11, 15 and 18, the actuator 3 can move along a complex path.

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Combining consistently the same type of modules, you can achieve high mobility and maneuverability of manipulators, which expands their technological capabilities.

Claims (1)

Claim A manipulator comprising a base, a module in whose case a drum with an individual drive is installed, a flexible element fixed at one end on the drum and made in the form of a flat elastic band forming in the extended condition a thin-walled cylindrical profile with overlapping edges and a guide mechanism including two friction a roller, one of which is kinematically connected with a drum rotating drive, as well as an actuating device, characterized in that, in order to expand technological capabilities beyond by increasing the number of degrees of mobility of the actuator, it is provided with identical modules connected in series with each other, each module being provided with a connecting flange placed on The free end of the elastic band, a bracket mounted by means of a pin on the connecting flange of the previous module, a rotational drive bracket mounted on the flange, 15 the output element of which is connected with the trunnion of the bracket, and the drive of the swing of the housing, placed on the bracket not, the output element of which is connected with one of the trunnions, through which 20 housing mounted on the bracket, moreover, the swing axis of the housing and the rotation axis of the bracket are mutually perpendicular. 1 1484723