MANIPULATOR-PLATFORM Russian patent published in 1997 - IPC

FIELD: robotics engineering. SUBSTANCE: this can be used in manipulation systems of automatic technological complexes where required is exact movement of article blanks along intricate curvilinear or spherical surfaces for welding, cutting, surface hardening, etc. Manipulator-platform has control units for each electric drive channel, spherical electrical mechanism with arch-shaped electric motors with their planes of turning movements being perpendicular to plane of annular body. Arch-shaped magnetic circuits of one pair of motors are mounted stationary on annular body and those of other pair are mounted pivotally. Installed in movable part of spherical mechanism in plane of ring between two pairs of inductors of arch-shaped electric motors is platform carrying pairs of interperpendicular according to axes of arch-shaped electric motors of inductors of driving electric motor and magnetic circuit-rotor with cross-like table. By one pair of inductors, platform is stationary connected with pair of inductors of arch-shaped electric motor pivotally connected with body, and by other pair of inductors it is pivotally connected with pair of inductors of arch-shaped electric motors connected with body stationary. Cross-like table is mounted movably relative to magnetic circuit-rotor by means of guide members which are perpendicular to table plane. Installed on table are magnetic circuits of linear motors, and their inductors are installed on magnetic circuit-rotor. Device insures movement of article by three rotational and three advance motions. EFFECT: high efficiency. 5 dwg