MANIPULATOR FOR FACING WORK Russian patent published in 1994 - IPC

FIELD: construction. SUBSTANCE: manipulator for facing work has base, made as carriage with pole 1, on which mechanical hands 3 are hinged. Each of mechanical hands has main and auxiliary operational organs, hinged to pantographic system, that has copying mechanism 13 and drive of movements. Each of hinges 3, 14, 15 is made as two forks, set on intermediate member with capability of their regulated turning relatively to its axis and two rods, hinged to forks and mounted with capability to change their positions relatively to axis of pole. Copying mechanism of each mechanical hand is placed inside pantographic system and presents two hinged to each other rods, ands of which are hinged to links of pantographic system. Drive of movement of pantographic system is made as engine, located on platform, fixed so as to be capable to turn on one of rods of hinge, gear and screw transmissions. Screw of screw transmission is connected with engine and nut, using gear transmission, - with hinge, that connects rods of copying mechanism 13. Hinges 3, 14 and 15 are connected to each other by rigid link, made in the form of two posts, mounted with capability to turn around their axes, and four connecting rods, that are hinged to each other and to pins of hinges. Ends of rocking levers are connected to hinges of operational pantographic system by two posts on one side and by two connecting rods on another side. One of two connecting rods is connected with main operational body, another one - with hinge, that connects pantographic systems with each other. Main operational organ has matrix with longitudinal and transversal partitions, fixing plate, mounted on edges of matrix fixing rods and mechanisms to keep facing members. Mechanism to keep facing members is made of bushes, mounted on longitudinal and transversal partitions and flexible transmissions. Auxiliary operational organ is made of organs of matrix filling, each of which has cassette with detachable mechanism feeding of facing members. Besides, base of facing work manipulator has spacer. EFFECT: automatization of facing work on surface. 4 cl, 16 dwg