SU1491696A1 - Device for of manipulator working member - Google Patents

Abstract

The invention relates to the field of mechanical engineering and can be applied in a manipulator for the mechanization of laser hardening processes of products such as rotation bodies. The purpose of the invention is the expansion of technological capabilities by providing a smooth change in the speed of rotation of the manipulator arm. A smooth change in the speed of rotation of the manipulator arm is obtained by alternately braking with different braking torque or drove 8, or the central gear 11, carried out through spring-loaded cross members 20, the outer conical bevels of which interact with the inner conical bevels of the drive drum 23. a threaded kinematic pair with a sleeve 22 located between it and the cross arms on the rolling bearings 19 and is displaced along its thread relative to the crossbar 20. Due to this displacement, the braking torques on the carrier wheel 8 and 11. 5 yl.

Description

K P

10 13

1 I 18 W th

9

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4 WITH

05

with

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The scientific research institutes of the manipulator are obtained by alternately braking with different braking torque either drove 8 or the central gear 11 through spring-loaded cross members 20, the outer conical bevels of which interact with the inner conical bevels of the drive drum 23. Drum 23

forms a threaded kinematic pair with a sleeve 22 located between it and the crossbars on the rolling bearings 19, and is displaced along its threads relative to the crossbars 20. Due to this offset, the braking moments on the driver 8 and the wheel 11 change. 5 ill.

The invention relates to a machine building industry and can be applied in a manipulator for mechanization of laser hardening processes of products such as rotation bodies.

The purpose of the invention is the expansion of technological capabilities by providing a smooth change in the speed of rotation of the manipulator arm.

FIG. 1 given drive, general view; in fig. 2 is a section. —A in FIG. I; in fig. 3 - installation site of the workpiece; in fig. 4 is a section BB in FIG. 3; in fig. 5 - kinematic drive circuit.

The rotational drive has a gearmotor 1, which is equipped with a drive shaft 2 installed in sub-bearings 3, with a cantilever central gear wheel 4 of the planetary mechanism, kinematically connected with satellites 5 mounted nwa x 6 in supports 7, which are mounted in the drive 8 fixed with its shaft 9 in the supports 10. The supports are fixed in the central gear wheel 11 having an inner rim in contact with the satellites 5, the shaft 12 of which is the output element of the drive and rests on the support 13. It is driven shaft 12 has a square cross section and connected to the sleeve 14 provided with a square hole and the external thread, with which it forms a kinematic pair with a nut 15.

On the gripper 16, a part 17 is fixed, intended for processing, for example, for laser-chasmen processing. The cylindrical surfaces of the carrier 8 and the wheels 11 interact through the respective springs 18 and the ball bearings 19 with cross-pieces 20 having external conical surfaces K. The cross-pieces 20 with the help of the ball support 21 are in contact with the threaded sleeve 22 and thereby with a thread-connected rotating drum 23. On its outer side there is a toothed sector 24 engaging with a toothed wheel 25 of an engine 26 mounted on the body 27 of the device.

The drive works as follows.

The power from the gear motor 1 through the drive shaft 2 and the Central gear

five

the wheel 4 is transmitted to the satellite 5, from which part of the power is transmitted to the carrier 8, and part through the central gear 11 to the driven shaft 12 of the drive. 5 Cree fixed carrier 8 takes place simple transmission. When the central gear 11 is stopped, a planetary gear is obtained. By braking the carrier 8 or wheel 11, the required range of adjustment of the rotation speed of the driven shaft 12 can be achieved.

In order to change the ratio of the brake moments of the carrier 8 and wheel 11, it is necessary to apply power from the engine 26 to the wheel 25 engaged with the toothed sector 24, as a result of which the drum 23 is rotated to the required angle and its translational relative to the threaded sleeve 22 and conical k surfaces traverse 20. At the same time

the cross arms 20 rotate with respect to their supports 21, adjusting the magnitude of the braking moments of the carrier 8 and wheel 11 by varying the force of pressing the springs 18 through the supports 19. Thus, as the drum 23 moves from the carrier 8 to the gear wheel 11, the force of compression of the springs decreases and, therefore, its braking torque decreases, and the force of pressing the springs to the carrier 8 increases and, consequently, its braking torque increases. The law of drum movement depends on the particular profile of the part being processed, for example laser, and is recorded in the computer memory controlling the operation of the drive.

Further, the power is transferred from the tail square part of the driven shaft to the sleeve 14, which has an external thread, which simultaneously rotates and translates relative to the nut 15 fixedly mounted, for example, on the manipulator arm.

Thus, the part 17 mounted on the gripper 16 of the sleeve 14, kinematically connected to the drive shaft 12, rotates at a variable speed and moves progressively.

Claims (1)

5 Formula of Invention The actuator of the manipulator's actuator containing the device located in the plan5 0 0 the tare mechanism, the output shaft of which is associated with the working body, and the input mechanism with a coaxially located engine, characterized in that, in order to expand technological capabilities by ensuring a smooth change in the rotation speed of the manipulator of the manipulator, it is equipped with a driving drum (- coaxial input and output shafts of the planetary mechanism and F having conical bevels on the inner surface, as well as traverse arms spring-loaded relative to the central gear wheels of the planetary mechanism, having external conical bevels interacting with the bevel of the drum; 20 27 Fi.2 shig.z 25 hch 6-6 FIG.