| 摘要 |
FIELD: railway road transport vehicle. ^ SUBSTANCE: manipulator includes hand with working organ, positioning apparatus, control system. Hand is mounted on movable base with possibility of translation and rotation. Working organ is in the form of automatic clutch grip being reciprocal head part of housing of railway road automatic clutch77 provided in addition with gripping mechanism having two gripping levers and with drive unit jointly mounted in housing. Upper double-arm lever is jointly mounted on body of grip, its one arm is kinematically joined with drive unit. Lower single-arm lever is jointly mounted on housing of drive unit. Said lever is joined through tie rod with first lever; it includes automatic pneumatic valve arranged in circuit of grip body and device for locking drive unit of gripping mechanism. Positioning apparatus is made with possibility of discrete reversing rotation of grip. It is in the form of two mutually balanced hydraulic cylinders with pneumohydraulic accumulators whose rods are kinematically joined through common gearing with hand and whose hydraulic cavities are communicated with pneumohydraulic accumulators of rotation drive unit. The last is controlled by pneumatic system. Positioning apparatus may be centered by means of drive unit jointly mounted between column and carriage. Control system of manipulator is interactive one. ^ EFFECT: possibility of positioning working organ in different planes and automatically gripping article at simultaneous locking of it in grip at emergency condition. ^ 5 cl, 5 dwg |
