SU727421A1 - Manipulator - Google Patents

Description

(54) MANIPULATOR

one

The invention relates to mechanical engineering, in particular, to industrial robots equipped with manipulators, and can be used to automate production of several processes in the primary areas of the national economy.

A manipulator is known that contains a mechanical arm with a drive for longitudinal movement and a mechanism for an intermediate positioning mechanism, inserted in the form of a rotatable drum with stops and a damping device in contact with a fixed stop fl.

However, the presence of a large number of moving parts in such a manipulator degrades positioning accuracy.

To reduce the weight of moving parts and increase the accuracy of positioning, the proposed manipulator with a base is mounted on the housing, and the drum is fixed stationary in the axial direction, with the stops installed with the possibility of their axial movement and interaction through the bar with the damping device and with a fixed stop.

FIG. 1 shows the proposed manipulator, general view; in fig. 2 shows the intermediate positioning mechanism, i

Claims (1)

The manipulator consists of a housing 1, in which a mechanical arm 2 is installed with a longitudinal drive re-measured, performed in the form of a pneumatic cylinder 3. At one end of the mechanical arm 2, a working head 4 is fixed, and on the other, an emphasis 5. Mechanism 6 is fixed on the manipulator case intermediate positioning with an axis 7 carrying a drum 8 with twelve adjustable stops 9 and springs 10. At one end of the stops 9 there are support nuts 11. In the case 6 there is a strap 12 having the possibility of moving parallel to uke 2, and a damping device 13 and a fixed stop 14 mounted on its movement path. On the case 6, a rail 15 is also installed with a sniper & mocylinder 16 and wheel 17, interacting with a ratchet 18 connected to the drum 18. The manipulator is as follows. Achievement of the necessary points needed for ShchyuyoGuyan is installed in the drum 8 in the required sequence of stops 9 of various lengths. The adjustment is carried out by nuts 11. In the initial state, the mechanical arm 2 is in the leftmost position, and the rail 15 with the dog 17 in the lowest position . When air is supplied to the left pneumatic chuck 16, the mechanical arm 2 begins to move to the right, and the rail 15 goes up, the dog 17, engages with the ratchet wheel 18, rotates the drum 8 at the dividing angle, sets the next stop 9 on the movement of the stop 5. Last, moving it with a mechanical arm, comes to the stop 9, presses it to the ke 12 plane, and the bar goes to the moving yiiopy 14. This will dampen the device 13. With the reverse movement of the arm 2 1-6 sdukh p6d (ats into the right cavity of the cylinder 3 and left 1 4. cavity pnevmosh1linder 16, re the rail 15 with the pawl 17 is down. The spring 10 pushes the stop 9 to the left, and the damping device 13 pushes the bar 12 to its original position. Next, the manipulator operation cycle is repeated. Formula of the invention A manipulator containing a mechanical arm with a longitudinal movement drive and an intermediate positioning mechanism made in the form of a rotating drum with stops and a damping device in contact with a non-movable stop, characterized in that, in order to increase the accuracy of the fitting and reduce the weight of the moving parts, it is provided with a bar mounted on the body, and the drum is fixed motionless in the axial direction, with the stops installed with the possibility of their axial re-evaluation and interaction; through the bar with a damping device and with a fixed stop. Sources of information taken into account in the examination 1. Hand B. U. and others. Simplified system for precise positioning of industrial robots. Translation number 1076, 1972. -E