FI75110B - Boejlig arm, i synnerhet robotarm. - Google Patents
Boejlig arm, i synnerhet robotarm. Download PDFInfo
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- FI75110B FI75110B FI800774A FI800774A FI75110B FI 75110 B FI75110 B FI 75110B FI 800774 A FI800774 A FI 800774A FI 800774 A FI800774 A FI 800774A FI 75110 B FI75110 B FI 75110B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20396—Hand operated
- Y10T74/20402—Flexible transmitter [e.g., Bowden cable]
- Y10T74/20456—Specific cable or sheath structure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Forklifts And Lifting Vehicles (AREA)
Description
75110
Taipuisa varsi, erityisesti robottivarsi Böjlig arm, i synnerhet robotarm
Keksinnön kohteena on taipuisa varsi, erityisesti robottivarsi työkalujen ja sen kaltaisten kannattamiseksi ja/tai ohjaamiseksi, jossa varressa on joukko sarjaksi ja toisiinsa painautuviksi sovitettuja elementtejä, jol-5 loin voimaa kehittävät ja/tai voimaa siirtävät ohjauseli-met on sovitettu vaikuttamaan elementtien välissä vast, elementteihin, jolloin jokaisessa on vähintään yksi kupera kaareva kosketuspinta, joka on sovitettu suorittamaan vierintäliikettä ja tällöin voimansiirtoa viereisen ele-10 mentin kosketuspinnassa olevaan kuperaan kaarevaan kosketuspintaan, kun elementteihin vaikuttavat mainitut ohjaus-elimet .
Tunnetaan ennestään rakenteeltaan erilaisia teollisuusrobotteja, jotka tavallisesti ovat koneita, jotka il-15 man käsin suoritettua valvontaa tai ohjausta voivat kolmiulotteisessa avaruudessa muuttaa esineen tai työkalun asentoa joukkoon vaihtoehtoisia pisteitä. Teollisuusrobotin pääosana on sen robottivarsi ja siihen kuuluvat liikettä aiheuttavat elimet, ohjausjärjestelmät ja ohjelmajärjestel-20 mät, jolloin molempina viimeksi mainittuina voi olla esim. minitietokone. Pitkälle kehitettyjen robottien robotti- • varrella on jopa kuusi vapausastetta, millä tarkoitetaan mahdollisuutta liikkua eri tasossa, esim. liikettä eteen- • päin, taaksepäin, ylöspäin, alaspäin, kiertymistä vasem-25 malle ja kiertymistä oikealle. Koska keksinnön kohteena on itse robottivarren parantaminen, ei seuraavassa lähemmin käsitellä ohjausjärjestelmiä ja ohjelmalaitteita, jotka ovat ennestään tunnettuja yksiköitä.
Ennestään tunnetut robotti varret on muodostettu 30 useista elemeteistä ja nivelistä, joiden on työkalun ja kuorman lisäksi myös kannettava varusteita eri elementtien liikkeiden ja voiman kehittämiseksi. Tällaisina varusteina käytetään taval.’.inBEti pneumaattisesti tai hydraulisesti ohjattavia sylintereitä, sähkömoottoreita, jne.
35 2 75110 Tästä syystä elementit ja nivelet on mitoitettava suhteellisen lujiksi näiden varusteiden kannattamiseksi. Robotista tulee tämän takia muodoltaan tilaa vaativa ja ulkomitoiltaan suhteellisen suuri, mikä vähentää robottivar-5 ren taipuisuutta. Useimpien tunnettujen robottivarsien liikekaava ja ulottuvuus ovat sitäpaitsi suhteellisen rajoittuneet, ja kaikista vapausasteista huolimatta käsittää ulottuvuus pääasiallisesti ainoastaan tasoympyrämäisen työkentän. Tunnettujen robottivarsien toinen rajoitus on, 10 että vartta ei voida ohjata kaareviin tai kulmikkaisiin tiloihin, eikä varsi voi myöskään suorittaa tehtäviä esineen robotista poispäin olevalla puolella. Toisena haittana mainittakoon hyvin suuret valmistuskustannukset.
On myös kehitetty suuremman taipuisuuden omaavia 15 robottivarsia, joissa jokaisen elementin välinen suhteellinen liike aikaansaadaan nivelakselin tai pallonivelen välityksellä. Nämä ovat rakenteellisia yksityiskohtia, joiden valmistus edellyttää suurta tarkuutta ja joiden huollon tarve on myös suuri. Näillä rakenteilla on rajoittunut 20 liikkuvuus, ja niiden kyky kestää kuormituksia riippuu kokonaan nivelkappaleen mitoituksesta. Pallo- tai akselnive-let ovat edelleen 1iuku1aakereita , joihin kohdistuu suhteellisen suuri kuluminen, ellei voida varmistaa jatkuvaa voitelua. Ne ovat sitäpaitsi herkkiä laakeripintojen väliin 25 joutuville likahiukkasille. Tästä syystä on elementit koteloitava tarkasti, mikä huonontaa niiden luoksepäästävyyttä ja vaikeuttaa niiden huoltoa ja varsinkin niiden tehokasta voitelua. Valmistuskustannukset ovat suurien tarkkuusvaa-timusten takia hyvin korkeat.
30 Eräs edellytys halutun taipuisuuden saavuttamiseksi, ilman että tingitään varren kuormankantokyvystä, on vaiku-tuselinten, toisin sanoen eri elementtejä koossapitävien vaijereiden niin voimakas esikiristäminen, että elementtien väliin syntyy voimakas pintakosketus. Halutun taipuisuuden 35 takia on toisiinsa painautuvat elementit tähän asti tehty pallo- tai akseliniveliksi. Näiden nivelkappaleiden kääre-vuusssäde on yhtä kuin nivelkappaleen puolikorkeus, minkä seurauksena elementeillä ei ole mitään yksikäsitteisesti 3 75110 määrättyä asentoa, joka vastaisi määrättyä takaisinkelattua vaijerinpituutta. Rakenteeltaan tällaisella robo11ivarre 11 a on tästä syystä hyvä stabiliteetti ainoastaan varren kaartu-mistasossa, kun taas varren jäykkyys tätä kaartevuustasoa 5 vastaan kohtisuorassa tasossa on huono.
Köysien avulla ohjattujen robottivarsien toinen ongelma on, että niiden vääntövastus on myös eräissä tapauksissa huono. Tämä vääntövastus määräytyy nivelkappaleen muodosta (toisin sanoen elementtien välisen kosketusvyöhykkeen tyy-10 pistä), jonka tulee estää elementtien kiertyminen kohtisuo-rasti näiden nivelkappaleiden vierintätasoa vastaan.
Keksinnön tarkoituksena on aikaansaada robotti varsi, jokka on erittäin suuri ulottuvuus ja maksimaalinen liikeku-vio, millä tarkoitetaan sitä, että varsi saavuttaa käytännöl-15 lisesti katsoen kaikki kohdat ympyrämäisen työkentän puitteissa. Keksinnön toisena tarkoituksena on saada robottivarsi, joka voidaan saada kaartumaan siten, että se saavuttaa saman kohdan lukuisten eri kaartamisyhdistelmien välityksellä ja täten saa erittäin suuren luoksepäästävyyden, mikä tarkoit-20 taa, että se jopa voi ohittaa erilaiset esteet tai kaartua esineen ympäri. Keksinnön ansiosta saadaan edelleen varsi, joka on erittäin jäykkä elementtien kaartumistasossa ja jonka vääntövastus on suuri ja edelleen valmistuskustannukset pienehköt ennestään tunnettuihin teollisuusrobotteihin ver-25 rattuna. Tämä on toteutettu siten, että mainittujen kaare-: vien pintojen säde on huomattavasti suurempi kuin puolet • elementin korkeudesta. Keksintö selitetään seuraavassa lähemmin oheisten piirustusten perusteella.
Kuvio 1 näyttää perspektiiviesityksenä kaavio 11isesti 30 keksinnön mukaisen varren erästä perusrakennetta.
Kuvio 2 esittää kuvion 1 mukaista vartta kaarevana.
Kuvio 3 esittää kaaviollisesti sivulta katsottuna keksinnön mukaista robottivartta, joka koostuu kahdesta elementti- • ryhmästä, ja joka tämän ansiosta voi kaartua kahdessa eri ta-35 sossa tai suunnassa.
Kuvio 4 esittää edestä katsottuna täydellistä teollisuusrobottia, jossa on kuvion 3 näyttämä taipuisa varsi.
Kuvio 5 näyttää perspektiiviesityksenä miten robotti-varsi pääsee suorittamaan tehtäviä kulmien jne. takana.
40 Kuvio 6 esittää suurennetussa mittakaavassa sivulta katsottu- 4 75110 na warren erästä osaa ja varteen sisältyvien elementtien muotoa.
Kuvio 7 näyttää perspektiiviesityksenä erään muunnetun suoritusmuodon mukaista 1ame11imaista elementtiä.
5 Kuvio 8 esittää kuvion 7 viivan VIII — VIII kohdalta tehtyä leikkausta.
Kuvio 9 esittää sivulta katsottuna ja osittain leikkauksena erästä vaihtoehtoista suoritusmuotoa, joka kykenee välittämään myös pyörimisliikkeitä.
10 Kuviot 10 ja 11 esittävät leikkauksina kahta suoritus- esimerkkiä, joissa elementteihin voidaan vaikuttaa sähkömag-neettisesti.
Kuviot 12, 13 ja IA esittävät vielä eräitä muita vaihtoehtoja, joissa elementtejä ohjataan hydraulisesti tai pneu-15 maattisesti.
Keksinnön mukainen taipuisa varsi, jota seuraavassa sanotaan robotti varreksi, koostuu periaatteessa kuvioiden 1 ja 2 näyttämän suoritusvaihtoehdon havainnollistamalla tavalla joukosta sarjaan sovitettuja elementtejä 11, jotka kukin on 20 muotoiltu ympyräkiekoksi, jossa on kaarevat kosketuspinnat. Riippuen siitä, missä laajuudessa varren on voitava suorittaa kaartumisliikkeitä, on jokaisessa elementissä joukko lähelle ulkoreunaa sijoitettuja reikiä 12, esim. neljä reikää, jotka on sijoitettu keskinäisin tasavälein toisistaan ja ele-25 menttien keskustasta yhtä monta ohjauselintä 14 varten. Elementtien keskelle on tehty läpimenevä aukko 13. Elementit on sovitettu päällekkäin siten, että ohjausreiät 12 sijaitsevat toistensa kohdalla. Ylimmän elementin ohjausreiät 12 on upotettu, ja täten muodostuviin uppoumiin sijoitetaan ohjaus-30 elinten ulkopäihin sovitetut päätteet 16. Ohjau se 1iminä 14 on köydet, vaijerit tai muut sen kaltaiset, joilla on hyvät vetolujuusominaisuudet. Vetämällä yhdestä tai useammasta vaijerista 14, jotka ulkonevat viimeisestä elementistä, voidaan robottivarsi saattaa kaartumaan joka suunnassa. Halut-35 taessa aiakaansaada kahden ohja uSelim en 14 välinen kaartumis-liike kuten kuviossa 2 on näytetty, kohdistetaan molempiin näihin ohjauselimiin vetovoima, jolloin vetovoiman suuruutta valitsemalla kaartumisliike voidaan siirtää enemmän tai 5 75110 vähemmän jommankumman elimen 14 suuntaan. Täten voidaan varsi 10 myös saattaa suorittamaan pyörimisliikettä pituus-akselinsa ympäri.
Elementtien keskeisten aukkojen 13 läpi menee taipui-5 sa siirtolaite 16, jonka tehtävänä on välittää veto-, puristus- ja/tai pyörähdysvoimia työkaluun 23 (kuvio 4) tai sen kaltaiseen, joka on sovitettu varren vapaaseen päähän.
Kuvion 3 mukaan voidaan elementit koota ryhmiksi, jolloin jokaista ryhmää ohjataan tämän ryhmän omilla ohjauseli-10 millä 14. Kuvio 3 mukaisessa varressa on kaksi ryhmää, alempi ryhmä A ja ylempi ryhmä B. Ryhmän A elementtejä 11a ohjataan ohjause1 imi 1lä 14a, kun taas ryhmän B elementtejä 11b ohjataan ohjauselimillä 14b. Kuvion 3 näyttämän varren kaksoiskaarevuuden aikaansaamiseksi samassa tasossa ohjataan 13 kahta diametraa1isesti vastakkain olevaa aohjauselintä 14a ja 14b kuten nuolilla on näytetty. Warren molemmat ryhmät A ja B voidaan myös mattaa kaartamaan eri tasoissa sopivasti ohjaamalla elimiä 14a ja 14b. Varressa voi tietenkin olla kahta useampia elementtiryhmiä niin, että varsi voidaan saattaa kaar-20 tumaan jopa 360° tai enemmän ja tarpeen vaatiessa useissa eri tasoissa tai suunnissa.
Kuvio 4 esittää erästä edellä selitettyjen suoritusesi-merkkien mukaisen varren käytännöllistä sovellutusta. Kahdesta elementtiryhmästä 11a ja 11b koostuva taipuisa varsi 10 25 on toisesta päästään yhdistetty koneikkoon 17, jossa on neljä servomoottoria 18, jotka pyörittävät kukin köysirumpuansa 19 ohjauselimiä 14a ja 14b varten. Moottorien 18 pyörimissuunta on vaihdettavissa, ja moottorit on siten ohjattu, että jokaiseen ohjause1imeen eli köyteen 14a, 14b voidaan kohdis-30 taa erikseen säädettävä voima, kun köysi kelataan köysirummul-le 19 tai vedetään rummulta. Lisäksi on olemassa köysien 14 joustavat esijännitysei imet 31 (kuvio 5).
Taipuisa siirtolaite 16 on varren alapäässä kytketty servomoottoriin 20 vaihde 1 ai11een 21 ja ylikuormitukselta suo-35 jaavan kytkimen 22 välityksellä. Varren 10 vapaassa päässä on keskeiseen siirto 1 ai11eeseen 16 liitetty työkalu 23, jona tässä kuvatussa suoritusesimerkissä on pistooliruisku, joka letkun 24 kautta saa syöttönsä ruiskumaalauslaitteesta 25.
75110
Eräissä käyttösovellutuksissa voidaan työvaliaine mahdollisesti myös johtaa työkalun 23 elementtien keskeisen aukon kautta yhdensuuntaisesti siirtolaitteen 16 kanssa.
Taipuisa suojavaippa 26 ympäröi elementtejä 11.
5 Kuvio 5 havainnollistaa robotti varren taipuisuutta, ulottuvuutta ja luoksepäästävyyttä. Tästä kuviosta nähdään, että varsi voidaan saattaa kaartumaan siten, että se myös voi suorittaa tehtäviä esteiden takana tai muissa vaikeasti luoksepäästävissä kohdissa.
10 Kuvioiden 7 ja 8 mukaisessa suoritusmuodossa koostuu jokainen elementti 11 kahdesta segmenttimäisestä kappaleesta 8, 9, joiden väliin on sovitettu välilevy 6. Segmentissä 8, 9 on yksinkertaisesti kaartuva kosketuspinta 3 ja laaka pohjapinta 7, jolla segmentit painautuvat välilevyn 6 kum-15 paankin sivuun. Segmentit 8, 9 voidaan joko kiinnittää välilevyyn tai tehdä yhdysrakenteisina tämän kanssa. Segmentit 8 ja 9 on sovitettu toisiaan vastaan kohtisuoriin tasoihin, mikä tarkoittaa, että joka toinen segmentti voi suorittaa kaartumis 1iike11ä määrätyssä tasossa ja joka toinen segmentti 20 vastaavaa kaartumis 1iike11ä tasossa, joka on kohtisuorassa ensin mainittua tasoa vastaan. Stabilien asentojen saamiseksi riippumatta eri segmenttien 8, 9 kaartumisasennosta, ja riippumatta kosketuspintojen 5 välisestä hyvästä tai huonosta kitkasta, voi näissä kosketuspinnoissa olla ohjausvälineet 4, 25 esim. hampaat, jotka yhteistoimivat vierekkäisessä elementissä 11 olevien vastaavien hampaiden kanssa segmenttien välisen suhteellisen liikkeen yhteydessä. Segmentit 8, 9 tehdään sopivasti lieriömäisten hammaspyörien osina, jolloin yhteen suuntaaan kaarevan kosketuspinnan 5 kaarevuuskeskipis-30 te eli hampaiden jakoympyrän keskipiste sijaitsee vastaavan elementin ulkopuolella.
Hampailla 4 varustettujen segmenttien 8,9 viereen on hamapiden tyven korkeudelle sovitettu sileät segmentinosat 3.
35 Muotoilemalla segmentit 8,9 osasy1interimäisiksi ham maspyöriksi, jotka jokaisissa elementeissä on sovitettu toisiaan vastaan kohtisuorassa oleviin tasoihin, saadaan hampaiden jokaisen loimistumisen yhteydessä vuorotteleva sivulle-kaartumismahdol1isuus. Sivullekaartumiskulmat summautuvat, 75110 ja varsi saa kokonaisuudessaan saman liikkumismahdollisuuden kuin kosketuspintojen ollessa sileät. Tämän rakenteen ansiosta saavutetaan myös erittäin hyvä vääntöjäykkyys, koska elementit liittyvät toisiinsa muodonmukaisesti. Hampaiden kyl-5 kien välinen kosketus johtaa siihen, että kahden yhteistoi-mivan segmentin välillä aina on olemassa 1 injakosketus. Hampaiden suuri leveys ja/tai sileät segmentinosat 3 muodostavat suuren kosketuspinnan, mikä puolestaan antaa suuremmat mahdollisuudet segmenttien materiaalin valinnassa. Karkaistujen 10 kosketuspintojen asemesta voidaan keksinnön mukaisessa laitteessa myös käyttää sopivia muovimateriaaleja, alumiinia tai muuta sen kaltaista.
Tähän asti tunnetuissa joka suuntaan kaartuvissa robot-tivarsissa, joissa jokaisen elementin välissä on nivel, on n i -15 velkappaleen säde r yhtä kuin elementin puolikorkeus h, toisin sanoen r = h. Tämä tarkoittaa, että tällaisilla elementeillä ei ole mitään yksikäsitteistä asentoa määrättyä kelattua köydenpituutta varten, joten tällaisista elementeistä koostuvalta robottivarrelta puuttuu tarvittava jäykkyys.
20 Jotta suuresta lukumäärästä elementtejä koostuva varsi olisi jäykkä on välttämätöntä, että elementtien asennon suhteellinen muuttuminen vartta taivutettaessa johtaa järjestelmään varatun energian muuttumiseen. Mitä suurempi tämä muut-tumistyö on, sitä parempi on varren stabiilisuus.
25 Tämä on keksinnön mukaan aikaansaatu siten, että jokai sen segmentin 8, 9 säde r on suurempi, edullisesti jopa paljon suurempi kuin segmentin korkeus h. Tällöin köydenpituuk-sien x^ ja summa (kts. kuv. 6) ei koskaan ole sama elementtien 11 millä tahansa mielivaltaisella kiertymiskulmalla, 30 vaan näiden pituuksien välinen ero ^ edustaa varsi järjestelmän energian muuttumista. Koska rullalle kelatun ja rullalta otetun köyden 14', 14" summa on vakio, kun köysi on kelattu samalla rummulle 19, tulee /\ olemaan sama kuin köysirummun siirtymä. Tämä siirtymä on yhdessä jousivoiman kanssa tärkeä 35 energian lisä halutun jäykkyyden saavuttamiseksi.
Kuvion 9 näyttämä vaihtoehto on kehitetty siirtämään myös pyöriviä liikkeitä elementtien välityksellä. Näiden elementtien kosketuspinnoissa, toisin sanoen toisiaan kohti olevissa kaarevissa pinnoissa on tätä varten säteittäiset ham-
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8 paat 35, jotka riippumatta elementtien kulma-asennosta lo-mistuvat. toisiinsa. liemeni tien pyörimisliikkeen mahdollistamiseksi pääsevät laipat 30 ja niissä olevat reiät 12 köysiä 14 varten pyörimään elementtikappaleeseen nähden, mikä on 5 aikaansaatu sovittamalla laakeri 36 näiden osien väliin.
Moottorin 20 käyttäminä voivat elementit tällä tavoin siirtää pyörimisliikkeitä varren vapaaseen päähän ja työkaluun 23 ilman, että varren taipuisuus millään tavoin vaikeutuu.
Suurien voimien ja/tai momenttien siirtämiseksi voi 10 olla eduksi täydentää köysimäiset ohjauselimet 14, joilla ainoastaan on koossapitävä tehtävä, sähkömagneettisilla tai hydraulisilla servomoottoreilla.
Kuvion 10 mukainen suoritusesimerkki havainnollistaa vaihtoehtoa, jossa elementtien keskinäinen kulma-asento 15 asetetaan sähkömagnee11isesti . Jokaisen laipan 30 väliin on niveltyvästi laakeroitu sähkömagneetit 39, joiden avulla elementtien välistä etäisyyttä voidaan säätää. Mahdollisesti voidaan erikseen vaikuttaa jokaiseen sähkömagneettiin mahdollisimman suuren liikkuvuuden ja taipuisuuden aikaan-20 saamiseksi.
Kuvion 10 näyttämässä suoritusmuodossa on liikkuvat rautasydämet sovitettu kelaan, mutta sen sijaan voidaan kuvion 1 näyttämällä tavalla käyttää kiinteitä sähkömagneetteja, jotka on suunnattu aksiaalisesti elementeissä.
25 Kiinteiden sähkömagneettien navat ovat suunnatut toisiaan kohti. Varren vaihtelevan kaarteisuuden aikaansaamiseksi voidaan useita tällaisia tankomaisia magneetteja sovittaa säteittäisenä kuviona elementteihin.
Kuvioiden 10 ja 11 näyttämissä molemmissa suoritusesi-30 merkeissä sähkömagneettien sähkönsyöttöjohdot on merkitty numerolla 41.
Sähkömagneettiset ohjauselimet toimivat yleensä ainoastaan kahden kiinteän pääteasennon välillä, joten varren kaarteisuuden portaaton asettelu ei ole mahdollinen. Tämä 35 rajoitus on poistettu kuvion 12 näyttämästä vaihtoehtoisesta suoritusmuodosta, jossa ohjauseliminä 14 on hydrauliset tai pneumaattiset servomoottorit, jotka muodostuvat sylintereistä 42 ja kaksinkertaisista vastakkain sijoitetuista männis- 9 75110 tä 43. Paineväliainetta voidaan syöttää syöttöletkusta 45 keskeisen sisään- ja ulosvirtausaukon 44 kautta. Männät 43 on niveltyvästi laakeroitu elementtien kehälaippaan 30. Syöttöletku 45 on sopivasti pujotettu laipassa 30 olevien 5 lovien läpi.
Kuvio 13 esittää suoritusesimerkkiä, jossa elementit on jaettu kahtia pitkin kehälaippoja, ja jossa kumpaankin osaan 37 ja 38 on tehty kehälaippa 30. Näiden osien 37 ja 38 väliin on servomoottorit 32 sovitettu sellaiseen kuvioon, 10 että molemmat puoliskot voivat asettua erilaisiin suhteellisiin kaltevuusasentoihin. Servomoottorit 32 ovat lyhytis-kuisia hydraulisia tai pneumaattisia moottoreita, esim. män-täsylintereitä tai paineväliaineen vaikutuksen alaisia palkeita. Vähintään kolme tällaista moottoria on sovitettu ta-15 savälein toisistaan. Painevä1iainejohdot 45 syöttävät pai-neväliainetta näihin moottoreihin.
Kuvio 14 esittää vielä erästä suoritusesimerkkiä, jossa elementtejä ohjataan hydraulisesti tai pneumaattisesti. Joukko paineletkuja 46, joissa on säteittäisesti ulkonevat 20 puristushuulet 47, on sovitettu vaikuttamaan elementtien ke-hälaippojen 30 välissä. Painetta letkuun 46 kohdistettaessa puristushuulet 47 laajenevat ja siirtävät elementtien laippoja 30 toisistaan. Letkut 46 voivat mahdollisesti olla varren 10 vaipan 26 kiinteänä osana.
25 30
Claims (11)
- 751 1 0
- 1. Taipuisa varsi, erityisesti robottivarsi (10), työkalujen tai sen kaltaisten kannattamiseksi ja/tai ohjaamiseksi, jossa varressa on joukko sarjaksi ja toisiinsa painautuviksi sovitettuja elementtejä (11), jolloin voimaa 5 kehittävät ja/tai voimaa siirtävät ohjauselimet (IA) on sovitettu vaikuttamaan elementtien välissä vast, elementteihin, jolloin jokaisessa on vähintään yksi kupera kaareva kosketuspinta (5), joka on sovitettu suorittamaan vierintäliikettä ja tällöin voimansiirtoa viereisen elementin kos-10 ketuspinnassa olevaan kuperaan kaarevaan kosketuspintaan, kun elementteihin vaikuttavat mainitut ohjauselimet (IA), tunnettu siitä, että mainittujen kaarevien pintojen säde (r) on huomattavasti suurempi kuin puolet elementin (11) korkeudesta (H).
- 2. Patenttivaatimuksen 1 mukainen taipuisa varsi, tunnettu siitä, että kaarevat kosketuspinnat (5) ovat muodoltaan elliptiset.
- 3. Patenttivaatimuksen 1 tai 2 mukainen taipuisa varsi, tunnettu siitä, että elementeissä (11) 20 on yksinkertaisesti kaarevat kosketuspinnat (5) molemmin puolin, jotka on siirretty kohtisuoraan suhteessa toisiinsa . A. Patenttivaatimuksen 3 mukainen taipuisa varsi, tunnettu siitä, että jokaisen elementin kosketus-25 pintojen ainakin eräässä osassa on ohjausvälineet (A), jotka on muotoiltu elementtien suhteellisen liikkeen yhteydessä lomistumaan toisiinsa ja vierimään toisiaan pitkin.
- 5. Patenttivaatimuksen A mukainen taipuisa varsi, tunnettu siitä, että ohjausvälineinä (A) on 30 aksiaaliset ja/tai säteittäiset harjat ja urat.
- 6. Patenttivaatimuksen 5 mukainen taipuisa varsi, tunnettu siitä, että segmentin kosketuspinta on muotoiltu lieriömäisen hammaspyörän osaksi.
- 7. Patenttivaatimuksen A, 5 tai 6 mukainen taipuisa 35 varsi, tunnettu siitä, että kosketuspinta (5) on jaettu vähintään yhteen sileään osaan (3) ja vähintään yh- n 75110 teen ohjausvälineillä (4), esim. hampailla varustettuun osaan .
- 8. Jonkin edellisen patenttivaatimuksen mukainen taipuisa varsi, tunnettu siitä, että kumpaan- 5 kin elementtiin (11) on segmenttien (8,9) väliin muotoiltu kehälaippa (30), johon voimaa kehittävät ja/tai voimaa siirtävät ohjauselimet (14) on sovitettu.
- 9. Patenttivaatimuksen 8 mukainen taipuisa varsi, tunnettu siitä, että ohjauseliminä (14) on veto- 10 ja/tai puristusvoimia siirtävät taipuisat välineet, esim. vaijerit, bowden-köydet tai sen kaltaiset, jotka toisesta päästään on yhdistetty kukin servomoottoriinsa (18) ja toisesta päästään on kiinteästi yhdistetty ryhmän servo-moottorista laskettuna viimeiseen elementtiin (11), ja 15 että elimet (14) on sovitettu välillä oleviin elementteihin vapaasti näiden elementtien laipoissa (30) olevien aukkojen (12) läpi liikkuviksi. : 10. Patenttivaatimuksen 8 mukainen taipuisa varsi, tunnettu siitä, että ohjauseliminä (14) on paine-20 väliaineen vaikutuksesta tai sähkömagneettisesti laajenemaan ja kutistumaan saatettavat laitteet (39, 40, 42, 46), jotka on sovitettu viereisten elementtien välisiin välitiloihin tai elementtien laippojen (30) yhteyteen.
- 11. Jonkin edellisen patettivaatimuksen mukainen 25 taipuisa varsi, tunnettu siitä, että elementeissä on ainakin yksi keskeinen läpimenokanava (13).
- 751. O
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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SE7902366 | 1979-03-16 | ||
SE7902366A SE419421B (sv) | 1979-03-16 | 1979-03-16 | Bojlig arm i synnerhet robotarm |
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Publication Number | Publication Date |
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FI800774A FI800774A (fi) | 1980-09-17 |
FI75110B true FI75110B (fi) | 1988-01-29 |
FI75110C FI75110C (fi) | 1988-05-09 |
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ID=20337557
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Application Number | Title | Priority Date | Filing Date |
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FI800774A FI75110C (fi) | 1979-03-16 | 1980-03-13 | Boejlig arm, i synnerhet robotarm. |
Country Status (7)
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US (1) | US4393728A (fi) |
EP (1) | EP0017016B1 (fi) |
JP (1) | JPS5921756B2 (fi) |
DE (1) | DE3065494D1 (fi) |
FI (1) | FI75110C (fi) |
NO (1) | NO148987C (fi) |
SE (1) | SE419421B (fi) |
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US3060972A (en) * | 1957-08-22 | 1962-10-30 | Bausch & Lomb | Flexible tube structures |
US3071161A (en) * | 1960-05-16 | 1963-01-01 | Bausch & Lomb | Bidirectionally flexible segmented tube |
US3190286A (en) * | 1961-10-31 | 1965-06-22 | Bausch & Lomb | Flexible viewing probe for endoscopic use |
BE639435A (fi) * | 1962-11-02 | |||
US3266059A (en) * | 1963-06-19 | 1966-08-16 | North American Aviation Inc | Prestressed flexible joint for mechanical arms and the like |
US3284964A (en) * | 1964-03-26 | 1966-11-15 | Saito Norio | Flexible beam structures |
FR1500113A (fr) * | 1966-07-13 | 1967-11-03 | Siersatom S A | Bras à orientations multiples |
US3546961A (en) * | 1967-12-22 | 1970-12-15 | Gen Electric | Variable flexibility tether |
US3497083A (en) * | 1968-05-10 | 1970-02-24 | Us Navy | Tensor arm manipulator |
US3623566A (en) * | 1969-11-14 | 1971-11-30 | Arthur Orloff | Undulating body propulsion system |
US3625084A (en) * | 1970-09-21 | 1971-12-07 | Nasa | Flexible/rigidifiable cable assembly |
DE2408471A1 (de) * | 1974-02-22 | 1975-08-28 | Daimler Benz Ag | Verbindungselement zur uebertragung von kraeften von einem uebertragungsglied auf das andere |
US3927899A (en) * | 1974-03-22 | 1975-12-23 | Trw Inc | Vehicle steering apparatus |
NO137351C (no) * | 1976-01-30 | 1978-02-22 | Trallfa Nils Underhaug As | B¦yelig robotarm. |
FR2385137A1 (fr) * | 1977-03-24 | 1978-10-20 | Seim | Dispositif de reglage electrique d'un element tel qu'un retroviseur exterieur d'un vehicule automobile |
-
1979
- 1979-03-16 SE SE7902366A patent/SE419421B/sv not_active IP Right Cessation
-
1980
- 1980-03-10 EP EP80101213A patent/EP0017016B1/en not_active Expired
- 1980-03-10 DE DE8080101213T patent/DE3065494D1/de not_active Expired
- 1980-03-13 FI FI800774A patent/FI75110C/fi not_active IP Right Cessation
- 1980-03-14 NO NO800750A patent/NO148987C/no unknown
- 1980-03-15 JP JP55032167A patent/JPS5921756B2/ja not_active Expired
-
1982
- 1982-02-23 US US06/351,589 patent/US4393728A/en not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109434823A (zh) * | 2018-12-25 | 2019-03-08 | 燕山大学 | 一种基于交叉弹性片的绳索驱动型柔性机械臂 |
Also Published As
Publication number | Publication date |
---|---|
EP0017016A1 (en) | 1980-10-15 |
DE3065494D1 (en) | 1983-12-15 |
JPS563193A (en) | 1981-01-13 |
NO148987C (no) | 1984-01-25 |
US4393728A (en) | 1983-07-19 |
SE7902366L (sv) | 1980-09-17 |
EP0017016B1 (en) | 1983-11-09 |
NO800750L (no) | 1980-09-17 |
NO148987B (no) | 1983-10-17 |
FI75110C (fi) | 1988-05-09 |
FI800774A (fi) | 1980-09-17 |
JPS5921756B2 (ja) | 1984-05-22 |
SE419421B (sv) | 1981-08-03 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
MM | Patent lapsed |
Owner name: KOMATSU LTD. |