SU772839A1 - Manipulator - Google Patents

Description

(54) ASKPULATOR

The invention relates to robotics and can be used to automate basic and auxiliary operations in industry, as well as in special purpose robots,

A manipulator, a mechanical arm, is known with hinged links, kinematically connected by means of bevel gears / and a power block l.,

In the indicated manipulator, each link of an echaiic hand has an individual scholarly kinematic connection with the corresponding engine, which passes through all previous links and arm hinges. This complicates the construction. And limits the increase in the number of degrees podizzh. of the manipulator torus. Power Olok, which contains differential mechanisms for compensations, pi mutual influence tit4 "tUiOiS and io; and SYTIO JJHtffOTejley equal to the number of degrees of mobility of a mechanical arm, also imgGT a complex structure.

Angles of rotation of the links of Nohankan arm because of the kinematic. may have Kelmchin

more SO, which limits the scope of manipulation.

The purpose of the invention is to simplify the design of the manipulator and the magnification of the region-f of the manipulation.

This goal is achieved by the fact that the manipulator is equipped with, according to the number of hinges, differentials, additional conic: a; m} G psredachy-C and electromtransfer m .1 uftami, with than the satellites of the differential of the previous link of the mechanical arm are kinematically connected to the sun wheel the differential of the last link, drove each differential kinematically is connected with the correspondence with its additional bevel gear of this u: ap. cable, and the electromagnetic sleeves are mounted on coaxial axes of the additional bevel wheels A hinged transfer of a single hinge, a single unit, the block soloors a non-reversible electrode, and its shaft is connected to the sun wheel of the first differential, and also that the case of electromagite, which is made in the form of collet of the clamp.

FIG. 1 of the image of the cinematic Esk scheme mpiipul torp) mp figure 2 rendered one of the ishrsmirots of hands with UST zhlohromagiyichnyh tsaiogoh pohimop, rzroo.

with osnonanim 1 mlipulptprprp floor, pizhio sud11O 1D lohaiichssKpl hand, consists of TPI of uriio connected United States and 2-0 and shiyta 9. Link 3, 4, 5 II 7 rodipl 0 and rotate the horn circle of Hopf

pOD, D EVOP 2f G and 8 - IOKRUG SOBST enpyy OOP,

The satellites of the 10kz differential; the epoch of the last epoch of the transition ect. Plesiyo with a spike 11, which for: nucMibon 3/4, 5 and 7 cheire gears 12-14 kinematically, with spike 15 differential, the next but pop. The length of the gear is 2, and the 8 and wheel 11 is rigidly mounted with the nares of the sun wheel. to the child “pogo difforeicigio.

Drove 16 and differentials rshtsialmogo DpaiiteHHH zveysp leads about. the movement of the co-sectional conic spines 17, which may be fixed by means of rigidly connected with the post-Evene taiigoped electromagnet. clamps 18. In the differentials of axial dipping of the links of the wheel 19 and the carrier 16, it can be set with the wheel 20 and can rotate with the opposite wheel 19 and the carrier 16 and also fixed relative to the subsequent anena by fixing the collet names of 10. gears, 21.,

The worm shaft shaft .9 is driven by the rotation of one of the coaxial cone wheels 22f, which are fixed relative to the shaft also by collet clamps, 18.

The manipulator power unit consists of an electric motor 23 located at the base 1, the shaft of which is connected via a gearbox and an electromagnet to a sun wheel 15 of the first differential

Electromagnetic collet clamp 18 consists of a housing 25 and a cover 26, The rod 27 under the action of the spring 28 can expand the collet petals 29, Under the action of the coil 30 of the electromagnet the rod 27 performs the reverse code.

The manipulator works as follows.

In order to realize any one degree of mobility of the manipulator, rotation from the floor of the electric motor 23 is transmitted through solar modules 15, satellites 10 and wheels 11 of all are predetermined (differential diaphragms on the carrier 16 of the driving link differential. pomosTe with one of the opposite BpeunaK uvixc coocHiJx NONICHG5SKY kolos-17, icorojion about "h tsi hkhestko with low JM h",)

cnofS zagpytyp collet zlzhim IS with riepoMGiMacMiJM e no. (Ipii conicoscope colosoCO 17 coaxially free npajjiaciTcJi on collet clamp 10, electromagnet iJioii) 4uH with maximal C; that the axis of the rod 27 and the compression of the collet X / shaft 29. To stop the movement of the link, the electromagnet is open, the rod 27, under the action of the spring 2B, unlocks the collet lobes 29 and the free union “union” is established. with which braking and stopping are concurred: jBe (a.

OCGBOO rotation of links 2, b and 6 in one direction or another occurs together and; n1 with 16 or 19 wheels, this is one of them

0 rstAr rigidly CBHL.UHUUM through its gear 21 and clamped collet clamp-18 with a moving link, clearing the clip, gear 21 of the second (respectively, either wheel 19 or carrier 1G) allows it to freely rotate relative to this link. The braking and stopping is done in the same way. fixing gear 21, respectively, the wheels 19 or drove 16. For any

D movements of the direction of rotation of the shaft of the motor 23 does not change.

The proposed manipula torl circuit also allows realizing the 3 MeiJiCHHe pen of a mechanical arm at the same time for several degrees of mobility. For this, it is necessary to control the braking torques D of the collet clamps in such a way that the differentials are displaced

0 links, the subsequent links of which are also Dviguts, occurred simultaneously (at the same time as the carrier 16 and the gear wheel 11, while allowing the speed of the dvizheni5 links.

The movement in and; the arches of intermediate link 4 is carried out

chronically from one pod

increases the area of manipulation, since the angle between links 3 and 5 can have any desired value.

Claims (2)

The proposed handpiece design allows you to carry out all the movements of a mechanical arm, including the gripper from a single electric motor, which remains unbalanced. The manipulator, especially the POWER block, has. therefore a simpler design. Simplifies the management of the DXM system, by thinking of the brakes; They have UftHfOTii.ix and 1ZH11mo | 1, mg x 1I11chKK :( hands / save (goth nonGulg.shis dimensions with the number of handplug motions. “Ti o ROITSHYUP and Cc: v liOCTI. HGOX DVN MOXAINPOSKOL hands from a special-purpose eroctrodvatol, and the ability to perform hand joints with individual types of individual doors, quickly and easily assemble a mechanical hand with any number of OTU. maipulpgtora, since with such an assembly of forces The new unit and all the arms from the junction of the arm links remain unchanged. The manipulator can be used both in the copying and automatic mode of operation. Formula of the invention: The manipulator, the mechanical arm with articulated links, are kinematically connected by means of conical gears and The power unit is distinguished by the fact that, in order to simplify the design and increase the area of the manipulator, it supplies, according to the number of radars, differentials, additional coefficients and electrical power supply couplings, r: p ;;; c; -i:, «lillil dnfforonlkolo kg .-- dogo rod1ldu g (tssgo epoia mohanichosko; the hands of the kiomat chskch sichean with the ss / pu spine of the differential of the last; Transfers each, do1O hinge. 2. A manipulator according to claim 1, stating that the snoop unit contains a non-recursive electric motor, and its naji socket is with the sun wheel of the first differential. 3, the manipulator according to claim 1, wherein the electromagnetic housing is made in the form of a collet zl / kim. Sources of information taken into account when the expert: 5zs 1. Copyright sreddedeltspo USSR 536955, cl. B 25 J 1/00, 1976. n Iv-d ..) i4 C  o Kfrit- L-2L / l% ./5 5: biP f I i  . i J n l3 ) 3 A Id .yb - tf : 2E ... E7. a-ftff.