SU1583283A1

SU1583283A1 - Module for resonance manipulator

Info

Publication number: SU1583283A1
Application number: SU884466377A
Authority: SU
Inventors: Владимир Степанович Семеноженков; Михаил Михайлович Духанин
Original assignee: Воронежское научно-производственное объединение упаковочного машиностроения
Priority date: 1988-07-27
Filing date: 1988-07-27
Publication date: 1990-08-07

Abstract

Изобретение относитс к машиностроению и касаетс манипул торов резонансного типа, может быть использовано дл автоматизации и механизации основных и вспомогательных операций в перерабатывающей, химической, станкоинструментальной и других отрасл х промышленности. Целью изобретени вл етс расширение технологических возможностей за счет обеспечени посто нства времени перемещени звена из одного крайнего положени в другое независимо от массы объекта манипулировани . Дл медленного перемещени звена 1 используетс основной аккумул тор механической энергии, включающий пружину 11, расположенную между опорными шайбами 12 и 13. Зар д и разр д аккумул тора происход т при повороте вала 5 двигател 6, вывод щего из положени неустойчивого равновеси систему рычагов 3 и 4. Дл быстрого перемещени используетс дополнительный аккумул тор механической энергии, включающий пружину 17, ввод в действие которого осуществл етс после расфиксации опорной шайбы 18 относительно т ги 22, жестко св занной с опорной шайбой, посредством упора, перемещаемого пневмоцилиндром 24. 2 ил.The invention relates to mechanical engineering and concerns resonant type manipulators, can be used to automate and mechanize basic and auxiliary operations in the processing, chemical, machine tool and other industries. The aim of the invention is the expansion of technological capabilities by ensuring the constancy of the movement time of the link from one extreme position to another, regardless of the mass of the object of manipulation. To slowly move the link 1, the main battery of mechanical energy is used, including a spring 11 located between the bearing washers 12 and 13. The charge and discharge of the battery occurs when the shaft 5 of the engine 6 rotates, the system of levers 3 withdrawing from the unstable equilibrium position 4. For the fast movement, an additional battery of mechanical energy is used, including a spring 17, which is put into operation after unlocking the bearing washer 18 relative to the bar 22, which is rigidly connected to the bearing washer. by means of the stop, moved by pneumatic cylinder 24. 2 Il.

Description

2020

Фиг. 2FIG. 2

Claims

SUMMARY OF THE INVENTION A resonant manipulator module comprising a link mounted on the base with a drive of its reciprocating movement and a main accumulator of mechanical energy of the link, characterized in that, in order to expand technological capabilities by ensuring the constancy of the time the link moves from one extreme position to another, regardless of the mass The object of manipulation, it is equipped with at least one additional accumulator of mechanical energy, stops located on the link and In this case, an additional accumulator of mechanical energy is made in the form of an elastic element mounted on a link between its two stops, two support washers located between the ends of the elastic element and the stops of the link with the possibility of interaction of these washers with the stops located on the base, traction, rigidly associated with one of the supporting washers, and a controlled stop mounted on the rod with the possibility of interaction with the second supporting shab.