MANIPULATOR Russian patent published in 1994 - IPC

FIELD: mechanical engineering. SUBSTANCE: supports 2 and 3 with tips 4 and 5 are set in adjacent canals 38 in beginning of work. Sensor 37, set coaxially in the third canal 38, being under control at the time, is moving inside it and controls it. Sensor 37 transfer to next controlled canal 38 is exercised step by step. For the purpose one of supports, for example support 3, is brought to extreme upper position by drive 6. Then drive 31 of executive block 1 is activated. In case of error of turning angle conical tip 5 of support 3 is lowered into canal 38 for the lesser depth, than tip 4 of already oriented support 2. Accordingly control system 30 receives smaller size signal from adjustable resistor 29, than signal from resistor 28 . Control system 30 generates signal for additional turn of executive block 1 by drive 31. Correct direction of additional turn is checked during repeated automated lowering of support 3 in canal 38. Size of signal is analyzed by control system 30, which determines direction of additional turn of executive block 1. So error of support 3 position is corrected and it is accurately set in corresponding canal 38. Sensor 37 goes back to its initial position to control next canal 38. Then cycle is repeated. EFFECT: increase of reliability and accuracy. 3 dwg