SU764974A1 - Manipulator - Google Patents

Description

one

The invention relates to manipulators having means for balancing the hand and can be used, for example, in manipulators trained by manually moving the actuator along the desired trajectory.

An industrial robot is known, comprising a base and a mechanical Q arm consisting of articulated links 1.

A disadvantage of the known manipulator is the lack of precision in balancing and, due to the presence of 15 pressure control systems, the complexity of the design.

The purpose of the invention is to simplify the design and improve the accuracy of the balance .20

The goal is achieved by the fact that the guide carriages are located on the turntable, the power cylinder is rigidly mounted on the carriage in an upright position, 25 is pivotally connected to the mechanical arm and is supplied with a constant pressure source.

FIG. 1 shows the manipulator, general view; in fig. 2 shows section A-A in FIG. one.

(54) MANIPULATOR

The manipulator consists of a base 1 with a turning table 2, on which lever 3 arms 4 of the manipulator are pivotally attached. Guides 5 are made on the table, in which the cutter 6 moves, carrying a vertical power cylinder 7, the casing of which is pivotally connected to arm 3 of arm 4. The power cylinder is connected to a constant pressure system (not shown).

Using actuators installed in the joints (not shown), and in the training mode, manually, the working body 8, for example, the welding head, moves the working body along the desired trajectory. In this case, the lever 3 takes on different angular positions, the carriage 6 moves along the rails 5. In any position of the lever 3, a constant ratio of distances and b are provided, which are the arms of the force P (balancing) and q (arm weight) respectively.

With a constant weight of the arm, which is typical of manipulators used for welding, painting, etc. precise balancing of the arm is ensured by constant strength and respect

Claims (1)

Claim A manipulator comprising a rotary table, a mechanical arm, consisting of articulated links, dyne for the table through the guide rails and the power balance of the balancer with the carriage, movable along the rocker in the swing plane, distinguished by the fact that, in order to simplify the design and to improve the accuracy of balancing, the guide carriages are located on the rotary table, the power cylinder is rigidly mounted on the carriage in a vertical position, pivotally connected to a mechanical arm and is equipped with a constant pressure source.