Patent UA-105279-C2 (UA)
Title: Manipulator for blast cleaning
Inventor: HORYK OLEKSII VOLODYMYROVYCH
IPC: B25J11/00
Filed: 2012-09-07
Abstract: The invention relates to the field of chemical engineering, namely to the devices for cleaning degreased cavities of all-welded bodies of chemical apparatuses made in the form of a cylindrical shell with welded elliptical bottoms, one of which has a central hatch, from scale, rust, welding flux, old protective coating etc. A manipulator for blast cleaning comprises a vertical rack with installed holder, which forms a sliding with a horizontal bar bearing a mechanical arm made in the form of a rod with a screw gear rack, said rod forms with the rod a two-degrees-of-freedom kinematic pair of rotary translational movement and is an outlet link of the two-degrees-of-freedom actuator of rotary translational movement of the mechanical arm, which is designed as a flange stud, which by its outer surface forms a rotating pair with a rod and has two through holes, whose axes are crossed at a right angle, a central hole along the axis and a tangential hole in the flange, through which a stock is passed, and through a central hole a shaft passes for changing the outreach of the stock with a pinion secured on the console and engaged with a gear rack threaded on the stock. On the back side of the horizontal rod a servomechanism is mounted, which is configured similarly to the two-degrees-of-freedom actuator of rotary translational movement of the mechanical arm, the actuator of rotary translational movement of the mechanical arm and servomechanism are interconnected by a transmission shaft and a flexible link, wherein the transmission shaft through gears connects the shafts to change the outreach of rods, and a flexible link through pulleys connects trunnions performing turning mechanical arms relative to the rod equipped with a master drive, which performs the driving motion, i.e. the turning of the mechanical arm by a servomechanism actuator that changes the length (outreach) of the mechanical arm depending on the angle of rotation and an oscillating drive that performs harmonic oscillations of the mechanical arm; on the rear side of the rod downstream of the servomechanism an intermediate shaft with two outlet areas is mounted, which by means of a flexible link is connected to the servomechanism trunnion, wherein to one of the outlet areas of the intermediate shaft a master actuator is connected via a controllable coupling and to another outlet area an oscillating drive is attached by means of a controlled coupling, whose output transfer mechanism is a crank mechanism with oscillating slider, a servo drive is connected to the actuator of the rotary translational movement of the mechanical arm through the shaft to change the outreach of the mechanical arm of the servomechanism via gears. Thus it is provided the increase of reliability and durability of the manipulator for blast cleaning through simple and effective technical solutions of the embodiment of the mechanical arm and actuator, increase of output of blast cleaning due to the reduction of the processing time, improvement of the quality of treatment at the expense of a more uniform cleaning and possibility to adjust the process time.