SU524686A1 - Manipulator - Google Patents

Description

one

The invention relates to the field of engineering, namely to manipulators for in zones of radioactive radiation, under water, in space, etc., where feedback is required by a gripping force.

A force feedback manipulator is known in which information on the force on the jaws is obtained from sensors installed in the gripper zone.

The proposed manipulator differs from the well-known in that, in order to increase the reliability and accuracy of the forces on the driver and actuator mechanisms, the kinematic connection of the jaws with the power CYLINDER

Rum and sensors are made in the form of a toothed rack mounted on the cylinder of this cylinder with the possibility of movement and spring-loaded towards the working stroke of the jaws, and one on the feedback sensors is connected to the rod.

The drawing depicts the writeable manipulator with a gripper having reversed ones. communication by force.

The manipulator consists of master mechanism 1, which has a loader 2 to create

Daniia braking force perceived by the hand of the operator, the electronic unit 3, connected by the actuator 4 to the power cylinder 5, on the rod 6 of which is mounted with the possibility of movement of the gear rail 7, connected by the pull 8 to the position sensor 9. Axial stop rod 6 and The rails 7 are made by the spring 1O installed in the glass 11, connected by the pull 1.2. with the sensor stroke 13. Gears 14, coupled with the rail 7, are connected by levers 15c jaws 16 capture.

Works manipulator as follows

Claims (2)

By turning the driver mechanism 1, the operator, via the electronic unit 3, drives the control signal to the actuator 4, as a result of which the hydraulic fluid is supplied under the hydraulic cylinder piston, causing it to move to the left. At the same time, the brush moves with the cup 11. At the same time, the cup 11 presses on the spring 10, and that in turn on the rail 7, causes it to move, turning the gear 14 and closing the gripping jaw 16. At the same time, a signal proportional to the movement of the rail is sent to the electronic unit 3 via the locking position control channel from the position sensor 9 connected to the rail 8 by the rail 7. Thus, the position sensor 9 acts in this case as a feedback sensor on a position in the following hydraulic drive. If there is no object between the lips 16, they are closed unhindered. In this case, the cup 11 and the rail 7 have the same stroke and the sensors 9 and 13 associated with them produce the same signals. Summing up in the electronic unit 3 at the output, the signals from the sensors form the signal O, supplied to the driver 1 2. Thus, the operator will not feel the effort to capture. In those cases when there is an object between the lips 16, they begin to compress it. In this case, the movement of the foot 16, gears 14 and, accordingly, the reiki 7 is stopped, and the rod 6 and the bowl 11 continue to move, compressing the spring 10. As a result, the difference in the strokes of the staff 7 and the bowl 11 appears, and accordingly the signals From sensors 9 and 13. Summing up in the electronic unit, the signals from sensors 9 and 13 form a signal i proportional to the degree of compression of the spring U and, accordingly, the force on the jaws 16. The input to the driver 1 to the load 2, the signal n causes There is a braking moment perceived by the arm of the oprashor. Due to the fact that working with fragile objects requires compressive forces from zero to 81O, kg, it does not make sense to grip by large forces. In those cases when it is necessary to work with a heavy object, the operator enters the control signal, overcoming the force of the braking moment in the loader. With this signal, the hydraulic actuator moves the stem to select the entire spring deflection. The glass is pressed against the rail and all the power of the hydraulic cylinder is transferred completely to the jaws. In this case, a constant 1 "signal is output to the loader; The stroke sensor is practically excluded from operation, and the position sensor operates only as a position feedback sensor, forming in the electronic unit a signal Cj into the tracking system. Claims of the invention A manipulator comprising a force feedback mechanism and an actuator, for example, with a lever arm, whose sponges are kinematically connected with the cylinder of the actuating cylinder and with feedback sensors, in order to increase reliability and the accuracy of matching the forces on the driver and actuators, the kinematic connection of the jaws with the power cylinder and with the sensors is made in the form of a toothed rack mounted on the stem of this cylinder with the ability to move and Inonii working stroke towards the jaws, and one of feedback sensors connected to schtokom. /50 71