Manipulating platform |
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IPC classes for russian patent Manipulating platform (RU 2365488):
 
 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.
 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.
 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.
 Actuator linear displacement / 2211523
 Module rotation / 2176951
The invention relates to manipulators designed to perform loading and unloading operations in forging production, and can be used for laying (extract) parts in the working area of the processing machine
 The robotic module for resistance spot welding / 2138376
The invention relates to welding, and is intended for the manufacture of the spacer grids of the fuel assemblies of nuclear power plants
 The manipulator platform / 2093344
The invention relates to robotics and can be used in handling systems automated technological complexes that require precise movement of the parts of the blanks on complex curved or spherical surfaces for welding, cutting, surface hardening, etc
 The module manipulator / 2028928
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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FIELD: mechanical engineering. SUBSTANCE: 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. EFFECT: increase in torque moment and operation reliability. 3 dwg
The invention relates to robotics and can be used in handling systems automated technological complexes that require precise movement of the parts of the blanks on complex curved or spherical surfaces for welding, cutting, surface hardening, etc. Known manipulators designed for the attachment, migration and installation of welded parts in the positions required to meet the requirements of technology and accessibility of welding. The positioning of the welded parts is done automatically from the control system, discretely, at certain distances and angles (automation engineering: Textbook. allowance for machinists. spec. universities / Abuda, Hanowski, Vsechny etc. / Under. edit Auidience. M: The High. HQ., 1991, str.291-292). The disadvantage is the small number of degrees of freedom of the desktop and the lack of opportunities for continuous transportation of workpieces or parts to ensure welding, cutting, heat treatment, etc. complex curved and spherical surfaces with high precision. The closest in technical essence to the invention is a manipulator platform for RF patent No. 2093344, provided with the annular housing, the control blocks for each channel drives, spherical mechanism with an arc e is extradigital, plane rotary motion which is perpendicular to the plane of the ring body. Arc cores one pair of stationary engines are mounted on the annular body, the other pair is installed in it articulated. In the plane of the ring between the pairs of inductors arc electric motors mounted platform having pairs on perpendicular axes corresponding to the axes of the arc motors, inductors torque of the electric motor and the magnetic-rotor compound table, and one pair of inductors platform still connected with a pair of inductors arc motor connected pivotally to the body, another pair of inductors are connected pivotally with a pair of inductors arc electric motors connected to the body motionless, cross table is mounted stationary relative to the magnetic circuit of the rotor by the alignment perpendicular to the plane of the table, it includes the magnetic linear motors, inductors are mounted on the magnetic circuit of the rotor. The invention provides a moving part three rotational and one translational motion. The purpose of the invention is the increase in torque and reliability. This objective is achieved in that the inductors arc motors are mounted on greater radiosurgical of the magnetic circuit, the coils of one pair of arc motor still mounted on the housing in mutually diametrically position, the movable arc cores are mounted on a structure of the stator of the rotary motor is articulated on the corresponding horizontal axis, the other pair of inductors arc electric motor pivotally mounted on the housing in mutually diametrically position, the movable arc cores are mounted on a structure of the stator of the rotary motor is still on the other horizontal axis, the movable part of the linear motor is hinged directly on the cross table, the coil of the linear motor is still mounted on the rotary platform, between the body and inductors arc electric motors mounted on the housing hinge, flexible conductors, arranged in a spiral harness between the inductor and arc magnetic circuit of one of the arc electric motors mounted on the housing hinge, flexible conductors, arranged in a harness, curved on the sine wave. Figure 1 presents the block diagram of the control device; figure 2 is a kinematic diagram of the manipulator platform; figure 3 is a view in section on the platform with cross table and a linear motor. The manipulator platform provides us the device control 1 (1), including block 2 drive rotation of the cross table 3 relative to the vertical axis Z, the blocks 4 and 5 arc electric swing crusade table 3 with respect to the axes X and Y, unit 6 electric linear cross table 3 along the Z-axis and spherical electromechanism XYZ. The motors of axes X and Y contain, respectively, the inductors 11 and 12, mounted movably by the alignment of magnetic circuits 13 and 14 arc motors. The inductors 11 and the horizontal axis X is stationary, and the inductors 12 along the horizontal Y-axis hinge, connected to the housing 15. The cores 13 and 14 arc motors are mounted on the stator 16 of the rotary motor in pairs in perpendicular planes, and the cores 13 of the arc motors by means of the swivel connection 17, the magnetic circuit 14 is stationary. In the arc electric motor on the X axis, coaxially with the axis, and the arc motor Y-axis, coaxially with the axis, the sensors of the angular position 18. The stator 16 of the rotary motor (figure 2) contains the inductors 19, the stator 16 by means of circular slideway mounted the rotor 20 of the rotary motor. On the rotor 20 by means of spline connection 21 is mounted a crusade table 3, which is mounted in bearings 22 of the magnetic core 23 linear electr the engine. The inductor 24 of the linear electric motor fixedly mounted on the stator 16. Coaxially with the rotor 20 of the rotary motor Z-axis is mounted a sensor of angular position 25. Coaxially with the magnetic core 23 of the linear motor on the Z axis1mounted the linear position sensor 26. The manipulator platform works as follows. Items with a spherical or curved workpiece surfaces should our teams in the focal plane of the laser beam relative to a stationary light spot of the laser. These complex movements are provided by the actuators of the manipulator platform that allows you to manipulate the cross table 3 with details on signals from the control unit 1 depending on the set of the control program. The control signals required to move the cross table 3 in the X, Y, Z, and Z1accordingly, proceed to the inputs of the inductors 11, 12, 19 and 24 of the motors. Arc, rotary and linear motors respectively rotate and move cross table 3 by the specified amounts. The feedback signals from the position sensors 18, 25 and 26 are used in the feedback of the actuator coordinates. The proposed device enhances the automated laser system with a coordinate table and provides details of the three doctors who athelny and one translational motion. The technical effect is obvious, and the economic effect at this stage to estimate not possible. The manipulator platform, comprising a housing, a spherical mechanism with a rotary motor on the vertical axis and two electric motors on the horizontal axis, with the sensors of angular positions, a platform mounted in the plane of rotation of the motor between the two pairs of arc motors with mutually perpendicular planes of the turns, cross table with a linear motor mounted parallel to and movable relative to the platform, blocks control signals, characterized in that to increase torque and reliability of the coils of one pair of arc motor still mounted on the housing in a mutually diametrically position, the movable arc cores are mounted on a structure of a stator of the rotary motor articulated on the corresponding horizontal axis, the other pair of inductors arc electric motors mounted on the housing in a mutually diametrically position articulated, movable arc cores are mounted on a structure of the stator of the rotary motor is still on the other horizontal axis, the movable part of the linear motor churn the RNO directly attached to the cross table the coil of the linear motor is still mounted on the rotary platform, between the body and inductors arc electric motors mounted on the housing hinge, flexible conductors, arranged in a spiral harness, between the inductor and arc magnetic circuit of one of the arc electric motors mounted on the housing hinge, flexible conductors, arranged in a harness, curved sinusoidal.
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