SU737207A1 - Manipulator - Google Patents

Description

The rum is placed with the possibility of longitudinal shifting, and the lever 18, rotatably mounted on the bearings / 9. in a fixed casing 20. A torsion /) with its end 10 is rigidly connected to the lever 19. The other end of the torsion 12 is rigidly connected with the fixed casing 21 through a gear coupling.

The moment of imbalance Mrot weight Q hands 14 depends on the angle and rotation of the lever 3 and is calculated by the formula

  QR sina,

(one)

where R is the distance between the axis of swing of the lever and the rotation of the arm. The parameters of the torsion (its diameter d, length I are calculated from the condition of unloading the drive from the moment of unbalance of the arm.

.W ...

(2)

d

where M „ax is the maximum moment of imbalance in kgcm; t is the permissible torsional stress in kg / comp.

.G- / p 0.1 Gd

 {)

g.

  Max

where akax is the maximum angle of rotation of the lever 3 from the neutral position in radians; G - modulus of shear elasticity

in kg / cm; IP - 0.1 d - polar moment

inertia of torsion section. Molecular moment of Moore, arising from the twisting of the torsion, is determined as follows:

a-C- / p,.

Moor

 lh

/

: g g

where is the constant coefficient / C -.--.

If the weight Q of the arm 14 is large, the length of the torsion, calculated by the formula (3), may be very large and will increase the size of the manipulator. In this case, the connection of the hub 3 with the torsion can be performed through a reduction gear (Fig. 3 and 4), which allows to reduce the length of the torson.

The gear ratio between the axles of swing of the lever 3 and the torsion //, where

a ib-linear dimensions (Fig. 4), the moment of twist of the thoraion in this case,

but

and the angle of twist torsion f,.

Substituting the values of M- and I) T into formulas (2) and (3) and excluding d, but the following expression for the gear ratio is:

/ F

by which it is possible to calculate the if value, given by the admissible value of the torsion length.

Rabdta manin tor is as follows. When the swing drive of the lever 3 is turned on, the rotation from the engine 8 is transmitted by means of a gear 7 to the lever 3, which rotates to the right

or the left side of the neutral position (equilibrium position). The lever 3 produces a twist of the end 10 of the torsion 11, due to which a moment occurs on it, which perceives the weight of the manipulator arm and relieves the drive of the swing of the lever 3.

Claims (2)

1. A manipulator containing a fixed base, a turntable with a lever and a hand with a gripping device hinged at the end of the lever can be rotated about an axis parallel to the axis of swing of the lever, characterized in that, in order to reduce the power of the actuator drives, on the axis swing arm is located A torsion bar, one end of which is rigidly connected to the lever, and the other fixed to the turntable. 2. The manipulator according to claim 1, distinguishing and if so that, in order to decrease the length of the torsion, one of its ends is connected to the lever through a reduction gear. The source of information taken into account in the examination: 1. Copyright certificate ° 484173, cl. B 66 C 23/72, 1973.