SU177749A1 - SHPAG MANIPULATOR - Google Patents

Description

There are known lead manipulators containing a rod split in a ball bearing, a control handle and an actuator, the interaction between which is carried out using flexible connections (cable or tape). In such manipulators, communication is flexible during operation and quickly fails.

The peculiarity of the described manipulator is that in the context of the link between the actuating mechanism and the control knob, there are rigid independent connections of the knob elements with the actuator elements consisting of a connecting rod located on both sides of the connecting rod. .

With this arrangement, the manipulator ensures the transfer of swing movements in any direction to the executive mechanism, as well as increased reliability and ease of operation.

FIG. 1 shows a general view of the manipulator; in fig. 2 — control knob (node A in FIG. 1); in fig. 3 is a section of the manipulator along the lipia B. FIG. one; in fig. 4 shows a section along the line B-B in FIG. 2

A steeple manipulator consists of the following main elements: tubular telescopic rod 1 located on a ball or some other support, control handle 2, actuator 3. Inside the body 4 of the rod / passes: pipes 5 and 6 of the spatial swing of the actuator, tube 7 of the tool rotation mechanism; and shaft 8 of the clip clamp rotation mechanism.

The rod / and the pipes 5, 6 and 7 located in it and the shaft 8 are provided with plugs at both ends, which are connected to the corresponding forks of the control handle and the actuator via intermediate rings (not shown in the drawing).

The control knob includes a handle 9

an operator, a lever 10, a tug 11 and a conic sector 12, a gear shaft 13, a pipe 14 and a housing 15. A control handle body, a gear shaft 13 and a pipe 14 have cardan forks that are connected to the housing 4, a pipe 7 and shaft 8.

Two shafts 16 and 17 (located in planes at an angle of 90), which on the other side of the hinge are attached to pipes 5 and b of the rod /, are connected to the body of the Sharpyre control handles.

The P1-full mechanism consists of a body 18, a pipe 19 and a shaft 20, which with the help of the forks are connected to the forks of the body 4, the pipe 7 and the shaft 8. On the shaft 20 a square falls (not shown in the drawings), which comes in a quad with a glass on which a replaceable tool is put on.

Two bars 22 and 23 are pivotally connected to the housing 18, which are pivotally attached to the pipes 5 and 6 of the rod with the other end.

The manipulator drains; it rotates the clamping tip and tool, rotates the brush in any direction, rotates the manipulator itself in the ball or some other support and the translational movement of the rod in the support.

Vrash, the clamping tip is transmitted from the lever JO through tgu 11, the conical sector 12, the shaft 13, the cardan hinge, the shaft 8, the cardan hinge, the shaft 20.

The tool is raised from the handle 9 connected to the pipe 14, through the hinge of the cardan movement is transmitted to the pipe 7, then through the hinge of the cardan to the pipe 19 and the stack 21.

The swinging of the brush in the plane of the drawing (see Fig. I) is transmitted from the body of the engine 16 through the translational movement of the pipe 5, the pipe 22 to the body 18 of the actuator.

When the brush is rocked in the perpendicular plane of the drawing, the movement is transmitted from the body of 15 tons to 17, through the translationally moving tube and from the 23 to the body of the actuator. Rolling of the brush in any other plane occurs as a result of simultaneous movement of t 16, 17, pipes 5, 5 and t g 22, 23. The swinging movement of the manipulator, its rotation in the support, and also the translational movement in it depend on the design of the support.

Subject invention

A steep manipulator containing an actuator, a control handle and a hollow connecting rod located in a ball-support, characterized in that in order to ensure the movement of the executive mechanism in any direction and increase reliability and ease of control, there is a connection between the actuator and the handle of the control is made in the form of pull-in and concentric pipes located inside the hollow rod connecting the handle elements with the corresponding elements of the actuating mechanism Cardi mechanisms, one in the other.

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