CS224751B1 - Coordinate unit with three degrees of freedom of movement - Google Patents

Abstract

The invention relates to the structural arrangement of a coordinate unit which enables positioning and orientation of its end member in three axes of movement in a plane. The coordinate unit is driven by three linear drives. Two of them are used to position the member in two mutually perpendicular axes of movement, while their movements are transformed by means of a magnification mechanism into the desired space and to the desired size. The third is used to orient the end member in the same plane, by means of a lever mechanism.

Description

The linear one print with one degree of freedom of movement, while the xh stays of the individual drives are directly transmitted by the end member of the mechanism. The orientation of the end member is usually provided by the drive located in its immediate proximity, or on the linear unit, on The disadvantages of such constructions are as follows: higher design dimensions, higher weight, worse dynamic properties, lower speeds achieved, difficulty and energy dissipation, and ·

The above drawbacks are eliminated by the coordinate unit and the three degrees of freedom of movement of the invention, which is based on the fact that the movement of the two linear drives, augmented by a winder mechanism, one of the drives is fixed to the body of the coordinate unit and a second drive is mounted perpendicular to its movement. which drives the drive mechanism of the mechanism which has the capability in a single defined axis of the kib on its end member. The third drive is pivotally mounted on the body of the coordinate unit and is moved to the end member by the lever system θ.

By using a winder mechanism to increase the motion of the perpendicular linear drives to one another and to use the motion-levering system to orient the end member, the mechanism is more mobile, its dynamic properties are improved, the dimensions of the working space mechanism are reduced. With the use of a suitable winding ratio, in the winder mechanism it is suitable to select the maximum speed and acceleration of the end member, which is often limited in conventional mechanisms, for example by the use of a ball screw transmission with its critical rotational speed. kami, ap. Difficulties and energy distributions are eliminated with the aid of cable carriers, since power transmission can be accomplished by moving loops around the pivoting joints. When using mechanics in automatic machines, its good properties are retained, i.e. a simple description of the movement path of the end member and the consequent suitability for its automatic control.

In the attached drawing / FIG. 1 is a schematic representation of a known winder mechanism coupled with a lever system that allows it to be maintained? the constant orientation of the end member in relation to the coordinate system. FIG. 2 is a schematic representation of a coordinate unit design with three degrees of freedom of movement. The co-ordinate unit of FIG. 2 is formed by a loosening mechanism 1 which is pivoted by a first pivot 2, in the body a first drive 6 is fixed to the body, of which the linearly movable part? £ is attached to frame 6 of the second drive 2 · Linearly movable part? 8 of this drive, the pivot 2 is connected to the pivot 2 of the retraction mechanism 1. When any of the drives is moved, and the pivot axis 10 moves in said dependencies. The third drive 14 is fixed by its fixed portion by means of a second pin of the lever system 12 in the body 11. The linearly movable portion 15 of the third drive 14 forms at the same time one part of the lever mechanism 13. When moving the drive 14 through the lever mechanism 13, it moves its movement to the end member 11 which is rotatable mounted in the hinge 10 of the end closure mechanism 1 and orienting it to the desired direction with respect to the secondary coordinate system 17 »- 4 - 224 751

If the first pivot pin 2 of the winder mechanism 1 is swiveled in the body, the drive pin 2 can be moved in the freewheel in the plane of the primary coordinate system 16. When the drive pivot is moved, the pivot axis of the end member 10 performs similar movements in the secondary plane If the second pin 12 of the lever system 13 is pivoted in the body then the end member 11 of this system is in any movement of the endpoint 10 in the secondary system 17 maintained under the same inclination angle 18 with respect to this co-ordinate system · The co-ordinate unit with three degrees of freedom of movement can be used in the construction of industrial robots and manipulators with fewer degrees of freedom that are used to perform simple manipulation movements in the space, while avoiding manipulation objects.

It can also be used in the construction of a basic kinematic structure in industrial robots with a higher degree of intelligence, the so-called adaptive industrial robots, which are capable of adapting the movement of their end member to altered geometry and other conditions of the actual environment. The movement control of these robots must be simple to avoid complicating the calculation of the path correction that must be performed in real time ·

Claims (2)

SUMMARY OF THE INVENTION 224 731 A coordinate unit with three degrees of freedom of movement, characterized by a retraction mechanism (1) which is via a first pin (2) Swivel mounted in the body (3) on which the first drive (4) is attached, whose linearly movable portion (5) is attached to the frame (6) of the second drive (7), whose linearly movable portion (8) is pivoted attached to a drive pin (9) of a winder mechanism on which the lever system (13) is mounted, the third drive (14) of which a linearly movable part (15) drives the end member (11) / pendulum mounted in pin of end member / 10 / ·