| 摘要 |
FIELD: gyroscopes of adaptive robots. SUBSTANCE: gyroscope of adaptive robot built in its manipulator includes three gyroscopic axes, namely: true rotation axis frontally turned in its initial position towards maximum projection of tracking path; precession axis for latitude tracking and nutation axis for meridional tracking which is normal relative to true rotation axis and also forth axis of inclination of normal line passing through axial powered tool normally relative to lines tangent to bendings of tracked path of points for working article with arbitrary curvature. Each axis is provided with its own rotary drive unit and braking device, with angular and phase pickups for measuring rotation angles set by means of tactile probes arranged in front and behind of powered tool along tracking motion. It is possible to change vertical position of precession axis to horizontal position when true rotation axis is frontally turned to horizontal maximum projection of tracking path. Gyroscope has stator and rotor; the last rests through satellites upon stator gyroscopic ring and rests by its shaft upon bearing assembly of stator cover joined with stator gyroscopic ring by means of braces. Axis of rotor is coincided with true rotation axis of gyroscope and it is normal relative to inclination axis of line normal to lines tangent to bendings of article; said inclination axis passes through center of carrier supporting powered tool and satellites of second gyroscopic ring that is joined rigidly and diametrically with rotor axis. EFFECT: possibility for automatically keep position of normal line providing enhanced quality of working. 5 cl, 3 dwg |
