SU1505772A1 - Manipulator arm - Google Patents

Abstract

The invention relates to mechanical engineering, namely, manipulators for gripping and orienting parts with respect to process equipment, as well as their transfer to different points of the serviced space. The purpose of the invention is to simplify the design by reducing the number of driving mechanisms. The arm of the manipulator contains a mechanism for the extension of the tong 8, made in the form of a power cylinder with a hollow rod 4, inside of which is placed a drive of the rod 5, also made in the form of a power cylinder. The front part of the rod 5 has a cam 13 and is kinematically connected with the gripper lips 14. The cam 13 is provided with profile grooves 18 and protrusions 17, which provide a predetermined law of sponge closure and gripper rotation. 1 il.

Description

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The invention relates to the field of engineering, namely to manipulators for gripping and orienting parts with respect to process equipment.

The aim of the invention is to simplify the design by reducing the number of drive mechanisms.

The drawing shows a hand manipulated torus.

The arm of the manipulator contains a mechanism for pulling the tong, made in the form of a power cylinder consisting of a sleeve 1 with a cover 2, a piston 3, a hollow flap 4, inside of which there is a drive rod 5, made in the form of a piston 6,

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the copier 13, while the jaws 14 of the gripper 8 connected to them are closed. The fingers 12 of the sliders 11 cooperate; comfort with the rectilinear sections of the profile grooves 18. If it is necessary to rotate the gripper without retracting it back, ve: the dose rate is determined so that the rod 7 moves back to the position when the fingers 12 of the sliders 11 pass through along the helix, the section of the grooves 18, stopping on a straight section so that the gripper jaws 14 remain closed.

Upon further movement of the rod 7, the slide blocks 1 1 interact with the protrusion 17

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rod 7. At the front end of the rod 4 15 of the copier 13, the slide blocks 11 are moved apart and the gripper 8 consisting of the body 9, the jaws 14 connected with them open, mounted on the bearings 10, the slide blocks 11 with the fingers 12 of the copier mechanism entering it engages with its cam 13 placed at the end of the rod 5. The slides 11 are connected with the jaws 14 and are pressed by the springs 15, the pressing force of which is adjusted by the nuts 16.

The copier 13 has protrusions 17, forming an ei o stepped profile, and profile grooves 18, which have portions. 25 with spring-loaded sponges hingedly mounted along a helical line and associated with areas parallel to the gripper axis.

Hand manipulator works as follows.

The gripper is returned by supplying the working fluid to the cavity 20, while in the cavities 22 and 23 the pressure required to maintain the specified gripper 8 rotation law must be maintained.

Claims (1)

Invention Formula A hand manipulator containing a gripper on the hollow rod of the ram of its extension and the sponges of which are kinematically connected with the output end of the rod that is concentrically placed in the cavity of the rod, the other end of which is connected with When (the required dose of the working 30 is driven by its movement, and the copying of the liquid into the cavity 19 njTOK 4 with the tongue moves forward to the specified position, after which the working fluid is supplied to the cavity 20, from where it flows through the channel 21 to the cavity 22 the drive rod 5, the rod 7 of which rotates back to the desired position. The stroke of the rod 7 is determined by the dose of the working fluid. The sliders 11 due to the force of the springs 15 move to the axis A copier and fingers, characterized in that, in order to simplify the design, the fingers of the copier mechanism are attached to the grips, and its copier is made in the form of profile grooves and protrusions placed on the output end of the shaft with the possibility of their interaction with the fingers to provide the specified sponge closure law and grip rotation. 0 the copier 13, while the jaws 14 of the gripper 8 connected to them are closed. The fingers 12 of the sliders 11 cooperate; comfort with the rectilinear sections of the profile grooves 18. If it is necessary to rotate the gripper without retracting it back, ve: the dose rate is determined so that the rod 7 moves back to the position when the fingers 12 of the sliders 11 pass through along the helix, the section of the grooves 18, stopping on a straight section so that the gripper jaws 14 remain closed. Upon further movement of the rod 7, the slide blocks 1 1 interact with the protrusion 17 5 of the copier 13, the sliders 11 are moved apart and the jaws 14 connected with them are opened, the copier 13, the sliders 11 are moved apart and the jaws 14 connected to them are opened, with spring lips, articulated The gripper is returned by supplying the working fluid to the cavity 20, while in the cavities 22 and 23 the pressure required to maintain the specified gripper 8 rotation law must be maintained. Invention Formula A hand manipulator containing a gripper with spring lips, articulated on the hollow rod of the ram of its extension and the sponges of which are kinematically connected with the output end of the rod that is concentrically placed in the cavity of the rod, the other end of which is connected with  driven, and a copier mechanism with a cam and fingers, characterized in that, in order to simplify the construction, the copier’s fingers are fixed on the grips jaws, and its copier is made in the form of profile grooves and protrusions placed on the output end of the shaft with the possibility their interaction with the fingers to ensure a given law of jaw closure and gripper rotation.