LT6572B - Robot manipulator with electroreal suspension - Google Patents

Abstract

The device relates to mechatronic systems and robot engineering field. It is designed for robot-type robot manipulators with an increased number of degrees of freedom. The present invention simplifies the design of robot-type robot manipulators, simplifies and reduces the production of the manipulation mechanism and extends the functionality, increases the number of possible realizations of the configurations. The operation is based on the supply of three-phase air or fluid pressure to a 3-chamber elastic tube, the outer surface of which is coated with electrodes and is inside the other elastic tube with an earthed electrode on its inner surface. The gap between the electrodes (gap size ? = 0.1 ... 0.2mm) is filled with an electroreal suspension, and the number of degrees of robot gravity depends on the number of electrodes. The robotic motion parameters are controlled by changing the electro-logical suspension viscosity by switching off the voltage from the specific electrodes, and depending on the duration of the switch-off and the phase-off voltage of the pressure pipe, the gravity motion trajectory and the angled spatial angle are dependent. Air or fluid pressure is generated at the variable pressure source: p1 (t) = P0 + P cos ?t; p2 (t) = P0 + P cos (?t + 120o); p3 (t) = P0 + P cos (?t + 240o), with the difference of each 120o phase between their pressures, determine the parameters of the trapped motion trajectory.

Description

Field of the Invention

The device belongs to the field of mechatronic systems and robotics and is intended for robot-type robot manipulators with increased degrees of freedom and enabling access to hard-to-reach areas.

State of the art

At present, several technical solutions and patents are known which use flexible hoses and variable pressure wave generator, for example, Lithuanian patent 5243B (published July 25, 2005) "SURGICAL ENDOSCOPE WITH VARIABLE PRESSURE MANIPULATOR" (inventor Kazimieras Juzėnas et al., Kaunas). University of Technology). A surgical endoscope with a variable pressure manipulator is made up of a variable pressure wave generator, a flexible element deformed by a change in pressure in the inner body cavities. These cavities in the housing are connected to alternating pressure wave transmission lines. The pressure wave phase φ varies by 120 degrees on each line.

Known U.S. Patent No. 9,492,930 B2 (issued November 15, 2016), which utilizes special cross-sectional elastic tubes that bend to provide compressed air or fluid according to a predetermined law to perform a particular trajectory of motion.

Disadvantages of both prototypes: To form a complex trajectory of an endoscope or robot, it is necessary to feed air or fluid into multiple tubes connected in series, which increases the complexity of the structure and the cost of production.

The present invention describes a novel robot-type robot manipulator with electro-rheological suspension, which has no classical electric motors, is of simple mechanical design, is lightweight, and its number of degrees of freedom depends only on the number of electrodes connected to the voltage source.

It is important to note that with the new design of a robot-type robot manipulator with electro-suspension suspension, the formation of trapped trajectories is accomplished by the use of special software that controls the number of times the elastic tube is freed by switching off and applying voltage to specific electrodes.

Brief Description of the Invention

The object of the invention is to simplify the construction of the robot type robot, to simplify the production of the manipulation mechanism and to reduce the production cost, as well as to expand the functional capabilities - i.e. increasing the number of configurations that can be implemented.

The invention is based on applying a three-phase pressure of air or liquid to an elastic tube of a 3 longitudinal chamber, the outer surface of which is covered with electrodes, and which is contained in another elastic tube with a grounded electrode on its inner surface. The gap between the electrodes, where the best gap size is Δ = 0.1 ... 0.2mm, is filled with electro-rheological suspension, and the number of electrodes depends on the number of degrees of freedom of the robot. The motion parameters of the robot manipulator are controlled by varying the viscosity of the electrorheological suspension, by switching off the voltage at specific electrodes, and by the time the voltage is switched off and the phase pressure in the tube at the time of voltage switching.

Air or liquid pressures are generated at a variable pressure source: pi (t) = Po + P cos ωί; p ₂ (t) = P _o + P cos (ωί + 12 (f); p ₃ (t) = P _o + P cos (ωί + 240 °), with alternating every 12CP phase between their pressures.

DETAILED DESCRIPTION OF THE INVENTION The figure shows a schematic diagram of a construction of a robot-type robot manipulator with electrorheological suspension and an electrical control scheme (Fig. 1a is a simplified version with three bending zones of the stem; Fig. 11b is a cross-section of robot elastic tubes).

The design and control system of an elbow-type robot with electrorheological suspension consists of: 1) - a source of compressed air or liquid for the three variable pressure phases pi (t), P2 (t), p ₃ (t); (2) - Stalk type manipulator; (3) - seized; (4) - an external elastic tube with formed electrodes on its inner surface; (5) - an inner elastic tube having 3 inner longitudinal chambers, cavities (6), (7), (8) formed by applying longitudinal partitions (9), electrodes formed on the outer surface of the tube; (10) - Thick layer Δ (Δ = 0.1 ... 0.2mm) of electrorheological suspension (Giant ERF effect suspension can also be used); (11) - variable pressure control unit, (12) - high voltage source; (13) - Control unit for controlling high-voltage disconnection / connection to electrodes, thereby providing a trapped path (x (i), y (t), z (t), φ _χ (ί), φ _γ (ί), φ _ζ (ί)}, which is controlled by the block (14) .To ensure the stability of the gap Δ and the concentricity of the outer (4) and inner (5) elastic tubes, a mesh spacer Δ is inserted between them (Fig. 1b not shown). ).

Figure 1A shows the relationship between the alternating pressures pi (t), P2 (t), P3 (t) and voltage sources U supplied to the oscillator-type robot manipulator with an electrorheological suspension.

In the case of a trigger-type robot manipulator with electrorheological suspension, in the initial position all electrodes are connected to a high voltage source and the viscosity of the electrorheological suspension is maximized, resulting in compressed air or compressed air of three alternating phases pi (t), p2 (t), P3 (t). the source of fluid does not cause greater deformation of the elastic tube. At time y, for a short period of time β, when the voltage is applied to the electrodes / electrodes in the area (Fig. 2), this part of the elastic tube is deformed and the pinch takes up a new position defined by y and β ,. After a complete compressed air cycle, the 2π / ω grab takes on a new position and so on. Controlling the values of y and β ,, i = 1,2,3 gives the desired trajectory.

Compared to its closest counterpart, this new trigger-type robot manipulator with electro-suspension suspension greatly simplifies robot construction, simplifies and lowers the production of manipulation mechanism, and extends functional capabilities, i.e. increases the number of available snail configurations.

Brief description of the drawings

The invention is explained in the figures:

Fig. 1 is a schematic diagram of a robot-type robot manipulator with electrorheological suspension and an electric control diagram (Fig. 1a is a simplified version with three bending zones of the stem; Fig. 1b is a cross-section of the robot's elastic tubes);

Figure 2 shows the relationship between the alternating pressures pi (t), P2 (t), P3 (t), and voltage sources (7) supplied to a robot-type robot manipulator with an electro-suspension.

Claims (2)

Definition of the invention 1. A Straub type robot manipulator consisting of an elastic tube consisting of three longitudinal chambers, cavities fed with a compressed air or liquid stream of three pressure phases, characterized in that the gap between the outer and inner elastic tube is filled with an electrophoretic suspension replacing its own. viscosity in an electric field, consisting of a high voltage source connected to the outer and inner tube electrodes, and whose shut-off phase and time determine the grip movement trajectory parameters. 2. A Straub-type robot manipulator according to claim 1, characterized in that, in order to ensure the size and stability of the gap between the outer and inner elastic tubes, the spacer is provided with a non-conductive electrode, a grid-like intermediate having a thickness between the outer and inner tubes.