SU541664A1 - Manipulator - Google Patents

Description

one

The invention also applies to machine building, in particular, to devices dp the transfer of products from one point to another in the process of machining or assembly.

Known manipulators containing

mounted with a vertical movement and rotation around the vertical axis of the column, on which the mechanical arm is fixed. Generally not wealth. These manipulators are the increased drive power of the vertical movement, which is necessary to overcome the frictional forces in the vertical directional forces arising from the lateral forces from cantilever loading of the arm 1,

The purpose of the invention is to reduce the drive power of the vertical movement by eliminating lateral forces in the vertical guides, causing the appearance of friction forces that prevent the vertical movement of the struts.

This is achieved in that the base containing the vertical guides

The girders are rotatably rotatable around a vertical axis, the mechanical arm is connected to the racks hingedly, and racks attached to the racks are kinematically connected with a vertical displacement drive, for example, by means of gears connected by a rigid shaft.

The drawing shows the proposed manipulator, obgdiy view.

In the stationary case 1, the base 3 is mounted for rotation around the vertical axis of the base 3 with guides 4, in which the vertical posts 5 are mounted. On the uprights 5, the sliding arm 8 is fixed with the help of joints 6 and 7 9. Stools 5, which interact with shchestrennye 11, interconnected by a rigid shaft 12 and connected with a drive, of vertical displacement 13, made, for example, in the form of an electric motor with a worm gearbox and mounted 3. The manipulator also includes a base rotation actuator 14, an arm extension actuator 15 and a clamp actuator 16. The manipulator works as follows. When the part is seized by gripping, 9 at the end of the arm 8, a vertical consolidation of the load occurs, which is balanced by the vertical forces in the engagement of the rails 10 with the gears 11. The locking forces are perceived by the shaft supports 12 connected to the base 3 and are not transmitted to guides of 4 vertical posts. When the cantilever load changes or is released, the forces are redistributed in the gears of the rails 10 with the gears 11, and the guides 4 remain unloaded from the forces compensating the cantilever load. 4 o r e t A manipulator containing a base, vertical stands mounted in guide bases with the possibility of vertical movement, fixed, on the stands a sliding mechanical arm with a grip and a drive of vertical movement of the racks, so as to reduce the drive power, the base is mounted rotatably around a vertical axis, the mechanical arm is connected to the uprights, and the racks attached to the drive are kinematically connected to the uprights. Sources of information taken into account in the examination: 1. Copyright certificate № 107213, M, CL, B 23 Q 7/04, 17.09.56.