SU1521578A1 - Gantry-type manipulator - Google Patents

Abstract

The invention relates to mechanical engineering and can be used to automate technological processes, in particular for work in the integrator's cabin with a precision magnetic field. The purpose of the invention is to simplify the control system. For this, the actuator for moving a mechanical arm with an executive body has individual motors 20-23, kinematically connected with corresponding double polyspasts 15, 17, 18 and 19. Each polyspast is twofold, with the moving blocks of these polyspasts combined into groups, the number of blocks in which corresponds the number of degrees of mobility. 2 Il.

Description

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FIG. 2

The invention relates to mechanical engineering and can be used to automate technological processes, in particular, for work in the integrator cabin with a precision magnetic field.

The purpose of the invention is to simplify the control system.

FIG. 1 shows the manipulator, general view; in fig. 2 is a diagram of a drive for moving a mechanical arm and an actuator.

The manipulator consists of a longitudinal carriage 1, a transverse carriage 2, a mechanical arm on which an additional carriage 3 is mounted, carrying a drum 4 s

and pre-tensioning ropes 9-14.

The device works as follows.

Movement along each of the coordinates X, Y, Z and a is carried out by its engine: by X - by engine 20, by Y - by engine 21; along Z — engine 22, along a — engine 23. For example, to move along the O coordinate X, the engine 20 turns on, moves the pulley 15, simultaneously pulling the ropes 8, 10, 12, and 14 simultaneously. In this case, the carriage 1 moves the carriage 1 is stationary, and by the re-fixing unit (sensor) 5, the carriage 2 is reversed. When the engine 22 acts with the product 6, the carriage 3 moves, the carriages 1 and 2 are stationary. When the engine 23 is operated, the drum 4 is moved, the carriages 1, 2 and 3 are not connected to the drum 4, a flexible cable body 7 with a shock absorber and a flexible element (rope) 8 of the drive are fixed. On the carriage 1, the drive ropes 9 and 10 are fixed, on the carriage 2 - ropes 11 and 12, on the additional 20 carriage 3 of the mechanical arm - ropes 13 and 14. The ropes 8, GO, 12 and 14 are tucked in a pulley 15. At the descent from a pulley 15 the rope 10 is fixed on the fixed base 16, and the ropes 8, 12 and 14 are tucked in 25 pulley 17. At the descent from the pulley 17, the rope 12 is fixed on the pedestal 16, and the ropes 8 and 14 are tucked into the polyspast 18. At the descent from the pulley 18 rope 14 fixed on the base 16, and the rope 8 is tucked into the chain hoist 19 and is attached to the base 16 when it leaves it. Each of the chain hoists 1 5, 17, 18 and 19 is double, and the moving blocks of these pulley blocks are combined into groups, the number of blocks in which corresponds to the number of degrees of mobility, and kinematically connected with the corresponding individual motors 20-23.

2023 engines are kinematically associated with

sensors 24 - 27 movements. Ropes 9, 11 and 13 are connected with counterweights 28, 29 and 30, balancing carriage 1 and 2,). And 1pt.m1)) carriage 3 mechanical ru30

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Claims (2)

Invention Formula A portal-type manipulator containing a base, movably mounted on it and successively arranged longitudinal and transverse carriages, a mechanical arm fixed on the transverse carriage and a supporting executive body mounted on an additional carriage, a movement actuator of the mechanical arm and executive body having a transmission with a flexible coupling a system made of blocks, a drum and flexible elements, as well as a control system, characterized in that, in order to simplify the control system, the drive escheni mechanical arm and actuator body is provided with individual motor .mi and system of double pulley, and movable pulley blocks these combined in groups, the number of blocks corresponding to the number of degrees of mobility, and is kinematically connected to the respective individual motors. and pre-tensioning ropes 9-14. The device works as follows. Movement along each of the coordinates X, Y, Z and a is carried out by its engine: by X - by engine 20, by Y - by engine 21; Z - motor 22, and a - motor 23. For example, to move along coordinate X, motor 20 is turned on, which moves polyspast 15, simultaneously pulling the ropes 8, 10, 12 and 14. In this case, carriage 1 moves. 1 is fixed and the carriage moves 2. When the engine 22 is operated, the carriage 3 moves, the carriage 1 and 2 do not vizny. Invention Formula A portal-type manipulator containing a base, movably mounted on it and successively arranged longitudinal and transverse carriages, a mechanical arm fixed on the transverse carriage and a supporting executive body mounted on an additional carriage, a movement actuator of the mechanical arm and executive body having a transmission with a flexible coupling a system made of blocks, a drum and flexible elements, as well as a control system, characterized in that, in order to simplify the control system, the drive escheni mechanical arm and actuator body is provided with individual motor .mi and system of double pulley, and movable pulley blocks these combined in groups, the number of blocks corresponding to the number of degrees of mobility, and is kinematically connected to the respective individual motors. / J 3 figure 1