LEVER-POLYSPAST DRIVE OF MANIPULATORS HINGES Russian patent published in 2021 - IPC B25J9/06 B25J17/00 B25J18/00 

FIELD: mechanical engineering.

SUBSTANCE: invention relates to mechanical engineering, namely to the creation of light, highly mobile manipulators with high power-torque characteristics. The invention consists in the use of cable drives of hinge assemblies multilink manipulators of the effects of leverage, creating the optimum angles of application of tractive force of cables to the elements of the hinge assembly, and effects of the use of polispasts to increase traction force of cable without increasing the torque on a shaft of a winch device of the cable drive. These two effects will eliminate the phenomenon of a decrease in the magnitude of the moment of forces created by the cable drive on the movable element of the hinge assembly. Thus, an increase in the efficiency of the manipulator is achieved by maintaining high power-torque characteristics in all configurations of the multi-link manipulator. To achieve a technical result, the design of the hinge assembly includes an additional lever with a pulley or pulleys installed on it, in which the cable drive is stored and as a result, the angle between the direction of the cable pull and the geometric axis of the specified element of the hinge assembly increases. In addition, the driving cable is stored in pulleys additionally installed in the fixed and movable elements of the hinge assembly and polispasts are created that multiply the traction forces of the cable applied to the movable element of the hinge assembly.

EFFECT: technical result is the creation of anthropometric manipulator of android robot with kinematic and power-torque characteristics, superior to kinematic and power-torque characteristics of the human hand at a comparable weight and dimensions.

3 cl, 4 dwg