SU1371901A1 - Robot elastic wrist - Google Patents

Abstract

The invention relates to robotics and can be used to automate production processes. The aim of the invention is to expand the functional capabilities and increase reliability by compensating for the relative angular displacements of the gripper and the arm of the robot. In the interaction of the directional surfaces 5 of the flange 4 with the object, on the side of the latter, in the case of positioning fingers, other forces act at the moment, directed toward compensating the positioning errors of the robot. Then, the elastic rods 2 are difficult to deform, and also rotate on axles x 3. T ha 6 through spherical heads 7 and flanges 1 and 4 receive an axial force R. Spring 8 creates tension in the kinematic chain: flange I - rods 2 - axis 3 - flange 4. In addition, it damps the transverse oscillations in the robot arm from the action of dynamic loads. 3 il. S (l

Description

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The invention relates to robotics and can be used to automate production processes.

The aim of the invention is to enhance the functionality and increase reliability by compensating for the relative angular displacements of the gripper and the arm of the robot.

FIG. 1 is a diagram of a robot arm with an elastic zap; in fig. 2 - zap,

forces and moment directed towards compensation of the positioning error of the robot (Fig. 1).

In this case, the elastic rods 2 are difficult to deform, and also rotate on the axis x 3.

T he 6 through spherical heads 7 and flanges 1 and 4 takes the axial force.

Spring 8 creates tension in the kinematic chain: flange 1 - rods 2-

incision; in fig. 3, section A-A in FIG. 2. 3-flange axis. 4. In addition, it has a damper. The elastic stem contains a flange 1, which transversely oscillates in the arm of a robot.

for attaching a robot arm, having, under the influence of dynamic loads. For example, a square cross-section, on each graph-in the reverse movement, elastic rods} 1, of which the seats are made, return flanges 1 and 4 to their original position to secure the elastic rods 2 with wasps - 15 to each other. mm 3. The second ends of the elastic rods 2

Claims (1)

fixed in the seats of the flange Formula of the invention 4, one end of which is made similarly to flange 1, and the other in the form of a cube with guide surfaces 5, and a foot bag for fastening the grip. To perceive the axial force inside the flange between the flanges 1 and 4, the axle of the flange is set to 6 in the form of a round rod with spherical heads 7 at the ends, size 20 The elastic band of the robot, which contains flanges for fastening the gripper and the arm of the robot, and elastic elements connecting the flanges with each other, characterized in that, in order to expand the functionality and increase the reliability by compensating for the relative angular the neck in the spherical sockets of the flanges 25 and the linear displacements of the grip and the arm of the robot, it is equipped with a rod with spherical flanges interacting with both flanges along their center, and a compression spring located between the flanges, and Elastic elements are made in the form of rods of the same length, the ends of which are connected with corresponding flanges, with the axes of the hinges of the ros I and 4. On the same axis, between the flanges 1 and 4, a spring 8 is pre-compressed to tension the kinematic chain. The elastic band of the manipulation robot works as follows. When the interaction of the guiding surfaces 5 of the flange 4 with an object with a wall placed evenly around the circumference and The RONES of the latter, in the case of the presence of errors, tangent to it, and the length of the string, which is equal to the lengths of positioning Lr, do not act on elastic rods. forces and moment directed towards compensation of the positioning error of the robot (Fig. 1). In this case, the elastic rods 2 are difficult to deform, and also rotate on the axis x 3. T he 6 through spherical heads 7 and flanges 1 and 4 takes the axial force. Spring 8 kine 20 creates tension The elastic band of the robot, which contains flanges for fastening the gripper and the arm of the robot, and elastic elements connecting the flanges with each other, characterized in that, in order to expand the functionality and increase the reliability by compensating for the relative angular z 06yu / gp 1 Aa Fig.Z