CS225100B1 - The joint unit with three-stage latitude of motion - Google Patents

Description

The invention relates to a construction of a joint unit allowing movement of its end member and its orientation in three movement axes. The joint unit is driven by means of three concentric shafts from one side of the unit. The rotary axes of the individual degrees of freedom intersect at one point.

The known three-stage articulated joint units using a similar principle of drive of the individual members have different constructional arrangements. Their disadvantages are as follows:

For some of them, the axes of rotation of the individual members do not intersect at one point, which makes control and its end member more difficult for use in an industrial robot ·

For other types, the structure is too complex and rugged, resulting in an increase in the dimensions of the structure. A common disadvantage of all is the greater number of gear members (gears) used in their design.

The above drawbacks are overcome by a three-stage articulated joint unit according to the invention, wherein the third stage of servo drive is applied to the end member of the unit by means of an intermediate toothed intermediate intermediate gear located in the articulation axis of the articulated unit. the gear wheel is fixedly connected to an end member which is carried by a pivot cross of the second degree of efficiency.

225 100

-. ? Jedr.otl IVA charger with ?: ^ intersects it in one point, which is located in prie * n ^from r. £ '<u they drive output shaft concentric swivel axis crosses the second degree of freedom, resulting eat ^r1 nodučenie motion control terminal member of the unit when it is used to convert industrial robots, mainly for wrists.

The transmission unit of the knuckle unit consists of five bevel gears, which is at least one less than the hinge units of a similar type used hitherto.

The entire articulated unit appears externally as a compact unit in the shape of a gule, which in turn affects the resulting low weight and small dimensions, which are an important condition for the construction of devices with good dynamic properties.

FIG. 1 / is a cross-sectional view of a design of a hinge unit with three degrees of freedom of movement.

An articulated unit with three 3 degrees of freedom as shown in FIG. 1 is «

formed by a body 11 fixedly connected to the outer hollow shaft

2, which can rotate freely about its axis and thereby perform the movement of the first degree of freedom. Inside the outside

2.;

The intermediate hollow shaft 2, which is fixedly connected to the first drive wheel 6, is engaged with the first driven wheel 5 fixedly connected to the pivot cross. χ> 4. »Σ» £ together form the second degree of freedom, ie tilting the joint unit. The inner shaft 2 accommodates an inner shaft 2 which is rigidly connected to a second drive wheel which engages an intermediate wheel 6 which is simultaneously engaged with a second drive wheel 10 not connected to the end member 11 to which it may be attached. other parts of the device 12. Second wheel. 10 is rotatably mounted pivoting on the pin 6 of the cross, it is according to the movement of sklápar.ia / second degree of freedom / unážs ob225 100 of the ^ e; ^r :: ed.:ikoles, £. it retains the degree of freedom, i.e., the rotation of the end member can perform unrestricted rotational movement in dependence on the rotation of the inner shaft.

Fri still. external hollow shaft 2. the articulated unit operates only with two degrees of freedom, consisting of tilting 44 and rotation of the end member / ®

An articulated unit with three degrees of freedom can be used in the construction of industrial robots for which a knuckle is required in the construction of their kinematic structure, which allows the two or three degrees of freedom. This is especially necessary for the wrist of an industrial robot, which serves for the spatial orientation of the end member on which the gripper is fixed, or any technological head such as: a spray gun, arc welding torch, welding point pliers and the like.

Claims (2)

1. A lean unit having three degrees of freedom of movement, characterized in that it consists of a body (1) fixedly connected to an outer hollow shaft (2), in which a center hollow shaft (3) is rotatably mounted, to which the first drive means is fixed. a wheel (4) engaging β by a first driven wheel (5) rigidly coupled to a pivot cross (6) on which a second driven wheel (10) is rotatably mounted which is rigidly coupled to an end member (11) and which engages an intermediate wheel (9), which at the same time engages a second drive wheel (8), which is fixedly connected to the inner shaft (7) rotatably mounted in the intermediate hollow shaft (3). The articulated unit according to item 1, characterized in that the body (1) has a cover (12) of the interior space of the articulated unit (14) and has a known movement of the end member (11).