SU754126A1 - Module-type position drive for manirulator - Google Patents

Description

(54) MODULAR POSITIONING OPERATING DRIVE

I

The invention relates to positional linear actuators for industrial manipulators and can be used for precise positioning of the tool member.

The known design of the electro-hydraulic mechanism of discrete action, consisting of a chain of hydraulic cylinders with different strokes 1.

The disadvantage of this design is the presence of movable hoses for supplying the working medium to the hydraulic cylinder, which reduces the reliability of the device.

A positional digital actuator for a manipulator is also known, which contains a cylinder with associated forces located in it, each of which is twice as long as the previous one.

The disadvantage of this drive is the complexity of the design due to the presence of a bulky device for controlling the flow of the working medium, the need for long cylinder length processing, the difficulty of replacing and repairing parts.

The proposed design differs from the known drive design assemblies of individual modules with identical seating elements, each of which is a section with one or several pistons, and the length of the working surface of each section is equal to the sum of the lengths of the elements in it, and their , and the difference between the length of the piston and the width of the sealing lip is equal to its stroke.

This achieves an increase in reliability, manufacturability and improved operating conditions.

FIG. 1 shows a sectional positional drive; in fig. 2 - a variant of the drive with a module containing two pistons; in fig. 3 - drive variant without one of the modules; in fig. 4 - sectional module removed; in fig. 5 - view

5A of FIG. four.

The modular positional actuator actuator consists of modules that are attached to each other (Fig. 1-3), each of which (Fig. 3, 4), except the rightmost one, contains section 1 and piston 2

20 removable fungus 3, stop 4 and cover 5. A removable output rod 6 is attached to the piston of the rightmost module instead of a fungus. A slot 7 is made in each piston. The pistons are connected with it and the fungi.

The seats for joining the cylinders with each other, as well as the fungi and the output shaft with the pistons, are the same. The difference between the piston length and the sealing width is equal to its stroke. The length of the inner working surface of each section is equal to the sum of the lengths of the pistons found in it and their strokes, and the difference between the length of the piston and the width of the sealing lip is equal to its stroke.

The drive works as follows.

Working space is supplied to cavity B, which reverses, constantly under pressure P. In this case, all pistons 2 move together with the rod 6 to the extreme left position. The end of the stem in this position is shown in FIG. 1 dotted line. To move the rod 6, for example, to the extreme right position, it is necessary to feed the working medium under the same pressure P in cavity C, D, E and E. At the same time, all the particles move to the extreme right position up to the stop in the corresponding fungi 3. Moving to the right is provided that the frontal area of each of the pistons is twice the cross-sectional area of the rod. This allows, with equal pressures applied in the cavity, to obtain equal forces during the forward and reverse course.

To obtain intermediate fixed positions with discreteness L, it is necessary to dry the working medium under pressure P into the corresponding cavities. For example, when supplying the working medium in cavities D and D, the stem will move to the right of its extreme left position by an amount of 6L.

Claims (2)

1. USSR author's certificate number 336432, cl. F 15 B 15/26, 1970. 2. USSR author's certificate number 568757, cl. F 15 V 11/12. FIG. g