DD200370A1 - DEVICE FOR JOINT CONNECTIONS OF MANIPULATORS FOR WEIGHT COMPENSATION - Google Patents

Abstract

The invention relates to a device on joints of manipulators, in which the weight balance by low-weight spring elements via deflected forces such that the elimination or reduction is adjusting or design-related game of joints and in particular the gear transmission is achieved. Demands of optimum utilization of the driving force and minimum dimensions with low rotational mass are met. On the rotatable base frame of articulated robots, starting from a fixed pulley on the articulated joint rotatable loose rollers with ropes and at least two springs are attached. Due to the nature of the attachment of the springs and adjustment, the sum of the forces in addition to balancing on one-sided flank system of gear transmission is designed. Fig. 1

Description

23 3 3 02 1

Title of the invention

Device on joints of manipulators for weight balance

Field of application of the invention

The invention relates to a device on articulated joints of manipulators, in which the weight is balanced by low-weight elements via deflected forces.

Characteristic of the known technical solutions

Pur balancing the weights of manipulator arms and the elimination odor reduction of adjusting or construction-related game of joints and gear transmission in particular, many solutions are known. Likewise, the corresponding arrangement is made for the reduction of dead masses z. B 'of the drive part, such as engine and gear parts ala counterweight of the arm, with the joint in between. A disadvantage is occasionally additional space when manipulating and almost double rotating mass. It was already in the application WP. B25J 225 289 proposed to shift the drive part to the more stable lower arm parts by means of straps 'via' washers at the joints.The drawbacks are a higher constructive expenditure with such an assembly and that a removal of the Game, especially in simple gears, is not reached automatically.

Due to the continuously acting clamping force, a higher wear of the bearing joints is to be expected or a more stable, thus heavier construction is required »It was also suggested in the application WP B25J 225 156, to apply essentially only for the first joint a cam with bolts under spring pressure. Additional disadvantages are the above and .the possible achievement of self-locking this power transmission.

Object of the invention

It is the object of the invention, in particular, to use economical and easy-to-manufacture mechanical elements in the joints of robots for fine-mechanical manufacturing requirements and to counteract their inevitably faster setting Yerschleißerscheinungen. No additional dead masses are needed for taring the individual arms of the robot, which do not allow the torques of the motors to be fully utilized for the accelerations »

Explanation of the essence of the invention

-The technical problem _{s is} solved by the invention

The invention. Is based on the object, the technical means with their advantageous properties, such as, for example, simple worm gear with stepper motors as drive to joints of articulated robots and the frictional and low-mass force effect of Pedern under elimination of adverse effects for a .Endeffekt faster accurate and.to reduce wear and tear on their operation. '' \ .. ·; .. '.-.'. , , :. · · .-. · '- -. ·:.

Features of the invention

According to the invention, the object is achieved in that arrangements and dimensions of per se .bekannten. Elements zu.einem combined system at the joints of manipulators, are summarized. So be a solid

Role and for each articulated joint loose roles and on these paired locked ropes with springs of certain characteristics for the compensation of the respective arm masses by adjusting differently connected * A feature of the invention is the transmission of the absolute angular position of a joint to another, achieved by pairs of equal roles , The rolling diameter of two connected by a common rope roles are thus the same size. Another feature of the invention is achieved by springs certain characteristics, which are adjusted by means of the adjustment that the load torque of the joint mechanism regardless of gravity v / irkt by the retention S ₀ B, one-sided plank system in Zahnradgelenkgetriebe guaranteed by the sum of the forces is. In particular, with the fixed roller z _e B. bogie of a. Robot achieved that the Pederangriffspunkte on the rollers regardless of the arm positions of all articulated arms always assume the same absolute angular positions to the direction of gravity The points of attack of the springs on the rollers must be adjustable for the purpose of locking and both attack points of the spring system based on the role their axis of rotation can be arranged offset by 90 °. It is advantageous if the approach of the spring force on the effective lever arm, by the adjustment of different positions of the articulated arms is effective as a compensation torque.

embodiment

An embodiment is shown in the drawing and will be described in more detail in the following text. In the accompanying drawings show:

Fig. 1 shows the arrangement der'Elemente for ^balancing; Fig. 2 shows the torque curves.

The device shown in these figures with the weight compensation by springs, rollers and ropes and the associated torque diagram will be described. The static state is characterized by the arrangement according to the invention. Era stationary bogie of a robot 1

This is fixed to the rope 4 with the same size rotatable roller 9 on the second joint 7 »optionally with double wrap and the Seilarretierungen 8 and 10 attached. This loosely rotatable roller 9 of the second joint is also connected to the same one of the third joint, and so forth. The weight balance spring 5 is attached to the arm at one end and to the first pin 11 of the adjusting device at the other end. The spring for the Einflankenanlage is attached to the second pin of the adjusting device 12 and depending on the position of the arm it is on the third pin of the adjusting device 13 or not * The function of the device is as follows «A .Federkraft Fi generated with the lever arm r1 a levorotatory torque, which is greatest in the horizontal position of the arm and decreases up to the upper and lower vertical position to lull * The resulting torque 16

acts contrary to the torque 15 _S which by the force of gravity G with the lever arm 1 ent looks as M "s G · 1. sin

In the vertical position of the arm, the spring force F ₂ causes a right-handed torque, which in the angular range 0 ° <. <X, <90 °

M ₂ = F ₂ "· r ₂ " cos ° C.

is described,.

JQn angular range

'90 ⁰ ^ ^- OC ^ 180 °. ·. , ,

. '.works' prolonged. Lever arm · iy with the spring force 'F ₂ ;' · And there is also a clockwise moment 17 M ₂ = F ₂ . r ^. cos (evr - 180 °).

In Fig. 2, the torque curves are qualitatively represented. In the considerations, the force increases due to the elongation of the springs are neglected. The reaction torques occurring at the loose roller are exceeded

The ropes are transferred to the fixed role and cause additional buoyancy of the first joint, if only the following arms are pivoted * The points of attack of the springs are adjustable on the rollers in the radial direction to the Einflankenanlage the tooth pairs in the gears with different forces or To realize torques. The behavior transforms to the other joints and realizes the flanking system according to the same principle.

Claims (1)

invention claim 1. Device on joints of manipulators for weight balance, characterized in that in particular a fixed roller (3) preferably in the first joint (2) and / or on loosely rotatable rollers (9) in particular in the other joints (7, 14) a plurality of ropes (4) which are preferably locked in pairs on the loose rollers (9) and / or on parallelograms modified therefrom, preferably helical springs (5, 6) by adjusting devices (11, 12, 13) and / or further rollers or ο lever arms tense connected 2 _O Apparatus according to item 1, characterized in that the absolute angular position is transmitted from one joint to another by pairs of rolls of the same size « 3 * Device according to item 1, characterized in that ^ feathers of certain characteristics by means of the adjusting device (11g 12, 13) are set so that the load torque of the joint gear, regardless of gravity maintaining z ₀ B ₀ one-sided plank plant in Zahnradgelenkgetriebegetriebe of the sum of Forces guaranteed 4o device according to item 1 and 2 ₉ characterized by ,, that the spring attack points on the rollers regardless of the arm positions of all articulated arms always take the same absolute angular positions to the direction of gravity _β 5o device according to item 1, characterized in that the 'attack points of the springs on the rollers for the purpose of balancing are adjustable' and both. Attacking features of the spring system on the RoIIe _5. Relative to its axis of rotation, offset by 90 ° « 6 ₆ Device according to item 1, characterized in that the approach of the spring force on effective, possibly changing lever arm at different position of the articulated arms is effective as compensation torque.