CS240505B1 - A joint unit with three degrees of freedom of movement - Google Patents

Abstract

The joint unit is intended for the construction of industrial robots, manipulators and other devices where a joint is required in the construction of the kinematic structure, which allows two or three degrees of freedom of movement. The joint unit is driven by three concentric shafts from one side of the unit. The axes of rotation of the individual degrees of freedom intersect! in one throw.

Description

240505 3

BACKGROUND OF THE INVENTION 1. Field of the Invention The invention relates to a cancell arrangement of a joint unit with three degrees of motion allowing the movement of the end member and its rationing in three motion positions. The joint unit is driven by three central shafts from one side of the unit. The rotational axes of the individual movable members intersect at one point.

The previously known three-step freedom units using a similar principle to the individual members have a different design. Their drawbacks are as follows: In some of them, the structural arrangement is too complicated and rugged, resulting in increased dimensions of the structure. In some types of simpler constructional arrangements, it is not possible to achieve a larger angle of the end member without increasing the design dimensions of the joint or the stiffness of the joint is low. For some of the rotations, the individual degrees of freedom are superimposed at an angle of 90 [deg.], Which makes it difficult to manufacture individual components.

The above drawbacks are eliminated by the three-degree loose-fitting unit of the invention, which comprises a drive pinion mounted on the inner shaft end member engaging the intermediate pinion engaging the driven pinion rigidly coupled to the pinion. end member. The torque torque required to tip the end member is fed through a shaft on which the pinion is engaged, engaging the wheel firmly coupled to the tip member body. The gear unit of the joint unit is formed by five toothed conical shafts, which is the smallest number that has been achieved with the hitherto known joint units of a similar type, which results in a reduction in the overall grating Choc of the end member caused by the lateral elongation in the tooth. to be reduced to a minimum with similar devices.

The axes of the individual conical toothed wheels intersect at an angle of 90c, which simplifies the calculation, production and adjustment of the minimum lateral void in the toothing. At the same time, it simplifies production and increases the precision of the manufacture of the bodies in which the gear wheels are built. In the joint unit, it is possible to achieve a relatively large range of tipping of the end member without significant reduction. rigidity of the unit.

The entire joint unit appears externally to a compact ball-shaped unit, which has a resulting low weight, small dimensions and greater rigidity, which are important for the construction of a device with good dynamic bindings.

In the accompanying drawing, there is shown in cross-section the construction of a kib unit with three degrees of freedom of movement. The three degree of freedom knuckle unit is a body 1 rigidly connected to the outer shaft 2, which can perform unrestricted rotational movement. An inner shaft 3 is mounted on the outer shaft 2, on which a drive belt 4, which is in engagement with an intermediate shaft 5, which is rotatably mounted in the body 1 and in the wheel 10 is interposed. the driven pinion 6 coupled to the end member 7, to which other parts of the device 13 may be attached. The driven pinion S is rotatably mounted in the hub 12 of the tilt body 11, which, depending on the tilt movement of the end member 7, enters the circumference of the intermediate shaft 5. The end member 7 may perform an unrestricted rotational movement depending on the rotation of the inner shaft 3 within which it is located. a shaft S which is rigidly connected to the spindle 9 which engages the wheels 10 fixedly connected to the tilt body 11. In the case of a movable outer shaft 2, the joint unit only operates with two degrees of freedom which form the tipping and rotating of the end piece. Article 7.

A three-degree clutch joint unit can be used in the construction of industrial robots in which the joint structure required by the two or three degrees of freedom is required in the construction of their kinematical structure. Such a need is mainly in the industrial or robot circuit, which serves as an end-to-end orientation of the end member, where a gripper or a 1 ' free / free technology head is mounted, e.g., a spray gun, a welding torch for arc welding, a welding spot pliers and the like.

Claims (2)

240505 OBJECT A joint unit with three degrees of freedom of movement and axes of rotation intersecting at one point and with a drive through three concentric shafts, characterized in that the drive pinion (4) provided on the inner shaft (3 ) is a wedge with an intermediate shaft (5) rotatably supported by one end of its shaft in the terminal body (1) of the outer shaft (2) OF THE INVENTION and the second end in the wheel (10), the second gear (5) engages the driven pinion (6) fixedly coupled to the end member (7) which is rotatably mounted in the hub body (12) ( 11) which is connected to the wheel (10) which is rotatably mounted in the outer body (1) of the outer shaft (2) and engages with the pinion (9) provided on the shaft (8).