CS219153B1

CS219153B1 - A powerful self-learning robot or manipulator unit

Info

Publication number: CS219153B1
Application number: CS932580A
Authority: CS
Inventors: Alojz Martinkovic
Original assignee: Alojz Martinkovic
Priority date: 1980-12-24
Filing date: 1980-12-24
Publication date: 1983-03-25

Abstract

Výkonná jednotka samoučiaceho robota, či manipulátora pozostávajúca z priamočiareho servomotora s rotačným výstupom na hriadeli ozubeného pastorka, ktorý hriadel je svojírn druhým koncom připojený k snímačů uhlu natočenia, ktorého teleso je zvonku připevněné k valcu priamočiareho servomotora a ktorá výkonná jednotka je opatřená připojovacími prvkami pre rotačný výstup inej výkonnej jednotky. Riešeným problémom je usporiadať pripojovacie prvky pre rotačný výstup tak, aby po zložení dvoch alebo viacerých výkonných jednotiek do spoločného kinematického uzla bolo možné dosiahnuť minimálně výsledné vonkajšie rozměry a minimálnu hmotnosť tohoto kinematického uzla. To sa dosahuje úpravou spojovacej príruby medzi valcom priamočiareho servomotora a telesom snímača uhla natočenia.The powerful unit of a self-learning robot or manipulator consisting of a rectilinear servo motor with a rotary output on a toothed pinion shaft, which shaft has its own other end connected to the rotation angle sensors, whose body is externally attached to the cylinder of the reciprocating servo motor, and which power unit is equipped with connecting elements for the rotary output of another powerful unit. The solved problem is to arrange the connecting elements for the rotary output so that after folding two or more powerful units into a common kinematic node, it is possible to achieve the minimum final external dimensions and the minimum weight of this kinematic node. This is achieved by adjusting the connecting flange between the cylinder of the linear servo motor and the body of the rotation angle sensor.

Description

Vynález sa týká výkonné j jednotky samoučiaceho robota, či manipulátora, pozostávajúcej z priamočiareho servomotora s rotačným výstupom na hriadeli ozubeného pastorka, ktorý hriadef je svojím druhým koncom připojený ku snímačů uhlu natočenia, ktorého teleso je zvonku připevněné k valcu priamočiareho servomotora, a ktorá výkonná jednotka je opatřená připojovacími prvkami pre rotačný výstup inej výkonnej jednotky. Riešeným problémom je usporiadať upínacie prostriedky pre rotačný výstup tak, aby po zložení dvoch alebo viacerých výkonných jednotiek do jedného kinematického uzla bolo možné dosiahnuť minimálně výsledné vonkajšie rozměry a minimálnu hmotnosť tohto kinematického uzla.BACKGROUND OF THE INVENTION The present invention relates to a self-learning robot or manipulator unit comprising a linear servomotor with a rotary output on a pinion shaft, the shaft of which is connected at its other end to rotation angle sensors whose body is externally attached to the linear servomotor cylinder is provided with connecting elements for the rotary output of another power unit. The solved problem is to arrange the clamping means for the rotary output so that after assembling two or more power units into one kinematic node, at least the resulting outer dimensions and minimum weight of the kinematic node can be achieved.

Pódia súčasného stavu techniky sú pre pripojenie dalších výkonných jednotiek na základnú výkonnú jednotku vytvořené zvláštně pripojovacie prvky, ako například objímky valca servomotora a pod., ktoré umožňujú vytvořit’ kinematický uzol. Nevýhodou takto vytvořených kinematických uzlov je zvýšenie ich celkovej hmotnosti na úkor užitočného zaťaženia rotačného výstupu.For the connection of other power units to the basic power unit, special connection elements, such as servomotor cylinder sleeves and the like, are provided in the prior art which make it possible to form a kinematic node. A disadvantage of the kinematic nodes so formed is the increase in their total weight at the expense of the rotational output payload.

Uvedené nevýhody odstraňuje výkonná jednotka podfa vynálezu, ktorého podstata spočívá v tom, ; že připojovacím prvkom na výkonnej jednotkepre rotačný výstup ďalšej výkonnej jednotky je spojovacia příruba medzi valcom priamočiareho servomotora a telesom snímača uhlu natočenia, v ktorej spojovacej prírube je v smere kolmom na os hriadefa ozubeného pastorka vytvořený otvor, ktorého obrys je zhodný s obrysom profilu rotačného výstupu výkonnej jednotky.These disadvantages are overcome by the power unit according to the invention, which is based on: that the connecting element on the power unit of the rotary output of another power unit is the connecting flange between the linear servomotor cylinder and the angle sensor body, in which the connecting flange is provided with an opening perpendicular to the axis of the pinion shaft. unit.

Výhodou vynálezu je, že pre vytvorenie spojenia jednotlivých výkonných jednotiek do kinematického uzla sa využívá spojovacia příruba medzi valcom priamočiareho servomotora a telesom snímača uhlu natočenia, čím sa ušetria iné rózne objímky, připadne iné pripojovacie prvky a čím sa priAn advantage of the invention is that the connection flange of the individual power units to the kinematic node uses a connecting flange between the linear servomotor cylinder and the angle sensor body, thereby saving other different bushings and other connecting elements and

Claims

SUBJECT A powerful self-learning robot or manipulator unit consisting of a linear rotary servomotor with a rotary output on the pinion shaft, which shaft is connected to the angle sensors by its second end, the body of which is attached to the cylindrical servomotor cylinder, and which power unit is provided with connecting elements for the rotational output of another power unit, indicating the aggregation of several power units into a common kinematic node, that the kinematic node has a minimum weight and smaller outer dimensions. An exemplary embodiment of an executive unit according to the invention is shown in the figure, which is a cross-sectional view of a power unit in a vertical plane folded by the pinion shaft axis. The executive unit according to the invention consists of a linear servomotor 1 with a rotary output 2 on the shaft 3 of a pinion 4, which shaft 3 is connected to the shaft 6 of the rotation angle sensor 7 by its second end 5. The body of this sensor 7 is attached to the outer wall 8 of the cylindrical servomotor 1 by means of a connecting flange 9 which also serves as a connecting element for the rotary output 10 of another power unit. In this connecting flange 9, a hole 11 is formed in the direction perpendicular to the axis of the pinion gear shaft 4, the contour of which is identical to the contour of the rotary output profile 2 of the power unit. The function of the executive unit according to the invention is evident from the above sketch description. The sketch also shows a simple kinematic node formed from a downstream power unit and one other power unit shown in dashed lines. Its rotary output 10 is inserted into the opening 11 on the connecting flange 9 of the water-carrying power unit, in which the opening 11 is said to be secured by a screw. This additional power unit is mounted on a movable arm of a self-learning robot or a manipulator and an appropriate actuator is attached to the rotary output 2 of the downstream power unit. This may be even more complicated, resp. greater, by the application of the invention, the construction of the kinematic node itself was exhausted. DISCLOSURE OF THE INVENTION in that the connecting element on the power unit for the rotary output (10) of the next power unit is a connecting flange (9) between the straight servomotor cylinder (1) and the angle sensor body (7) in which the connecting flange (9) is a hole (11) formed in the direction perpendicular to the pinion shaft (3) of the pinion gear (4), the contour of which is identical to the contour of the rotary pinion! output (2, 10) of the executive unit. 1 drawing 219153