The module manipulator |
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IPC classes for russian patent The module manipulator (RU 2028928):
 
 The module manipulator / 2022773
 Trunk manipulator / 2009884
The invention relates to mechanical engineering and can be used in industrial robots for painting works
 Robot module for resistance spot welding / 2304498
Invention relates to resistance spot welding device for manufacture of spacer grids of nuclear reactor fuel assemblies. Provides robot module includes welding machine, industrial robot with welding gun with electrodes installed on robot arm, control system and tables with device for fastening spacer grid to be welded. Device for fastening spacer grid to be welded is made in from of multijaw chuck with jaws enclosing perimeter of said grid. Electrodes of welding guns have spherical working surface and they are provided with cylindrical connecting element. Said connecting element is arranged in electrode holder at angle to perpendicular drawn to welded surfaces. Multijaw chuck is provided with platform with reduced height sections. Slots are made on jaws enclosing perimeter of spacer grid.
 Robot module for resistance spot welding / 2325979
Invention relates to nuclear power, in particular, to production of power reactor fuel element spacer lattice using a robot module for resistance spot welding. The module incorporates a welding machine, an industrial robot with tongs fitted on the robot arm and fixing the electrodes, a control system, a table accommodating an attachment device for spacer lattice to be welded, the said device being made in the form of multi-jaw chuck with jaws enveloping the lattice perimeter. The chuck is provided with a platform with a blind hole to receive a sleeve. The hole depth corresponds to the size the sleeve extends by relative to the lattice cell. The said platform incorporates the spacer lattice locks, spacer lattice reference point and a spring-loaded bar. The locks allow their arrangement in the lattice cells. The reference point allows its arrangement in one of the spacer lattice channel holes. The bar is fixed on the platform and can move towards the sleeve. There are base elements arranged on the bar face to enter the sleeve slot.
 Spatial irregular-shaped items machining device / 2353502
Invention refers to engineering industry, and can be used for grinding, polishing and milling spatial polysurfaces of details, and namely propeller blades, working part of gas, steam or hydraulic turbine blades. At the device bottom there arranged is the point for installing the machining tool with the tool rotary drive, and the point for installing the machined item in the form of multilink manipulator. There provided are two mechatronic modules of rotary and translational movements - machined item movement module and cutting tool rotary drive movement module. Each module consists of a housing, splined bush, nut and outlet shaft. Stators of two synchronous electric motors are fixed on the housing, rotor of the one synchronous electric motor - on splined bush, and rotor of the other synchronous electric motor - on the nut. Outlet shaft is connected by means of a rectilinear kinematic pair made in the form of a spline connection to splined bush, and by means of a screw pair - to nut. Outlet shaft is hollow. Nut and splined bush are connected to the housing by means of turning pair made in the form of ball bearing or slide bearings. All kinematic pairs of each mechatronic module of rotary and translational movements have a common axis. There provided is at least one kinematic pair with the appropriate drive which is intended for moving the cutting tool rotary drive movement module housing relative to machined item movement module housing.
 Manipulating platform / 2365488
Manipulating platform comprises following components: frame; spherical mechanism with turning motor on vertical axis and two arc motors on horizontal axis, with aspect sensors, with platform mounted in plane of rotation of turning motor between two pairs of arc motors with orthogonally related planes of rotation; cross-slide table with linear motor which table is mounted in parallel and movably relative to the platform; control signal units. Inductors of one pair of arc motors are immovably mounted on the frame diametrically; their movable arc magnetic cores are pivotally mounted on turning motor stator structure along corresponding horizontal axis. Inductors of the other pair of arc motors are mounted on the frame diametrically pivotally; their movable arc magnetic cores are mounted on turning motor stator structure immovably along the other horizontal axis; movable part of linear motor is pivotally fixed directly on the cross-slide table. Inductor of linear motor is immovably mounted on turning platform between frame and inductors of arc motors pivotally mounted on the frame. There are flexible conductors spiraled into harness. Between the inductor and arc magnetic core of one of the arc motors pivotally mounted on the frame, there are flexible conductors settled into harness curved along sinusoid.
 Method for multialternative optimisation of automation modules of structural synthesis of mechatronic modular robots / 2493577
Method for multialternative optimisation of automation modules of structural synthesis of mechatronic modular robots is proposed, in which at performance of synthesis of the multiinvariant model structure of mechatronic modular robots, and further fixation of obtained optimum solutions, a variety of design elements is considered and corresponding alternative variables are entered by presenting discrete numbers corresponding to those elements in binary notation; after that, the number of modules combined in one robot, mainly without distinct structure are marked, and connection of every new module is provided to earlier assembled ones along the chosen direction and coupling of its first interface platform is performed to one of the free ones on any other structural members occupying the closest extreme position in this or that row; after that, alternative variables are entered; at that, for optimisation structural synthesis there chosen are values of alternative variables
 Mechanotronic modular robot / 2514925
Invention relates to machine building, particularly, to robotics. Proposed robot consists of at least two articulated modules. Articulation of every new module with preassembled one (ones) is performed in selected direction by coupling of its first interface site with one of free structural elements in extreme position in one or other line. Alternative variables for algorithms of control over mechanotronic modular structure for description of periodic law parameters are selected proceeding from the following ratio: Angle=A+Bsin(ωt+φ), where A is the magnitude of generalised coordinate relative to which periodical motion occurs; B is the amplitude of periodic oscillation of generalised coordinate. Total magnitude |A|+|B| may not exceed the maximum tolerable deviation of the module generalised coordinate, while φ is the displacement. In compliance with one version for optimised structural analysis, selected are alternative variables
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(57) Abstract: Usage: to automate the loading and unloading process equipment. Outer frame 1 is made in the form of a half ring and connected with a vertical shaft. The inner frame 5 elliptical is located in the bearings of the outer frame. In the inner frame placed hiromoto 7, and the vertical shaft of a control motor. With internal frame connected to the mechanical arm and the guide 9 managing cargo 12. When operating the manipulator hiromoto reported greater frequency of rotation. When the application of torque to the vertical shaft or axis of the inner frame mechanical arm with a cargo makes a move. Upon termination of the torque arm with load stops, movement of inertia is absent. This provides a higher accuracy of positioning of the transported cargo. 3 Il. The invention relates to mechanical engineering and can be used to automate the loading and unloading process equipment. Known industrial robot (ed.St. N 776912), CL 25 J 9/00, 1980) containing the base with the installed device rotation with the shaft by hand, jagged-d Position of the cylinders is regulated by stops. When applying air to one cylinder axial movement of the rod through the actuator is converted into rotational movement of the shaft with her hand. Hand occupies the desired position. The positioning of the hand is defined by stops, smooth stop is provided by the damper. The disadvantage of the robot described construction is that it provides the rotation of the hands only in the horizontal plane, i.e., has limited technological capabilities. In addition, the inertia and complexity of the drive leads to a low accuracy positioning. Closest to the invention is an industrial robot, comprising a vertical shaft with reverse drive rotation, brake device, a mechanical arm actuators lifting-lowering and extension module rotation of the brush and shift Shatov. Drive rotation of the vertical shaft includes air motor, which shaft coupling is connected with a vertical shaft of the robot. Lifting (lowering) of the arms by means of pneumatic cylinder. Braking device made in the form of dampers, carriage and retractable stops interacting with the shaft through the adjustable stops. When working robot vertical shaft rotated by about the hands in the right position, grip the workpiece, for example, and transfer it to the desired location. As disadvantages of the robot should be noted the complexity and inertia designs drives rotation of the shaft and lifting (lowering) of the hands and the brake device; low precision positioning of the hands. The purpose of the invention is the improvement of positioning accuracy and simplify the design of the module manipulator. This is achieved by the fact that the device vertical shaft is made in the form of a cylindrical carrying the rotor of the control motor shaft, narashima connected to the outer frame, made in the form of half rings, the bearings of which is placed with the possibility of free rotation of the inner frame elliptical shape having continued in the same direction as the mechanical arm with a gripper, which are balancing the load, the other in the form located opposite to a mechanical arm, a cylindrical guide bearing on yourself managing cargo and the solenoid to move the cargo, and inside internal frame rotation in the bearings placed gyrometer. The execution of the module structure of the manipulator in the form of a vertical shaft and an inner frame with the possibility of free rotation of the other rotating, allows you to perform reverse rotation of the vertical shaft under the application of a torque by moving cargo and lifting and lowering the mechanical hands under the application of a vertical shaft torque from the steering motor and also to exclude the movement of inertia after the termination of the control points. In Fig. 1 shows a General view of the module of the manipulator of Fig.2 is a view along arrow a in Fig.1; Fig.3 is a view along arrow B in Fig.1. The module manipulator includes an outer frame 1, made in the form of half rings, narashima connected to a vertical shaft 2, mounted on poles, are accommodated in the housing 3. Below the ring on the shaft 2 has a steering motor (actuator rotation) 4. The rotor is seated on the shaft, and a stator connected to the housing 3. The module manipulator has an internal frame 5 elliptical, which is located in the bearings 6, secured in the outer frame 1. In the inner zone of the frame 5 is placed hiromoto 7, the rotor of which is located in the bearings installed in the body frame. Frame 5 in the direction of the major axis of the ellipse has a mechanical arm and located opposite thereto, a cylindrical guide 9. Mechanical arm 8 terminates to shift with the aim of balancing the center of gravity of the frame 5 relative to the center O. On the guide 9 is placed a spring-loaded managing the load 12 and the solenoid 13. In the module also provides the drive Tong and in addition, the drive movement of the module. The module manipulator operates as follows. The rotor gyromitra 7 reported greater frequency of rotation (n 15000 1/min). When a voltage is applied to the control motor 4 occurs the moment about the vertical axis Z of the module, which causes precession of the rotational movement (clockwise or clockwise depending on the sign of the moment) internal frame 5 relative to the axis X. with her moves and the mechanical arm 8 with a portable cargo in the vertical plane. When the application control point in a clockwise direction, for example, the arm 8 will be omitted floating cargo. Moving solenoid 13 managing cargo 12 along the cylindrical guide 9 relative to some equilibrium position in one direction or another, cause a precessional motion of the outer frame 1 around the Z axis, and with it the movement of the transported cargo in a horizontal plane. If the torque from the load 12 will be directed, for example, clockwise relative to the X-axis, then the hand with the portable cargo Boo is moving portable cargo is spherical. Supply voltage to the solenoid 13 of the steering load 12 and the control motor 4, which causes the movement of the mechanical arm in the horizontal and vertical planes, is carried out under the program. The MODULE MANIPULATOR comprising a vertical shaft with a drive of its rotation, mounted in the support housing, the mechanical arm with the drive of the lifting-lowering, characterized in that it is equipped with an outer frame made in the form of semi-rigidly connected with a vertical shaft, the inner frame ellipticheskoi form, is placed in the bearings of the outer frame with the possibility of free rotation, and gyromotion located in the bearings of the inner frame along the major axis of the ellipse, as well as load balancing, managing cargo and a solenoid arranged outside the inner frame on the advanced guides made, the axes of which coincide with the axes of the supports under hiromoto, at one rail, are mechanical arm and balancing the load, and on the other a solenoid and associated with managing weight.
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