PL159514B1 - Robot arm - Google Patents

Abstract

1. Robot arm consisting of three body-mounted elements, connected in series by means of flat joints and two servo-motors, characterised in that the first element (2) connected with the body (1) by means of a joint with vertical axis of rotation has a bracket (3) fixed crosswise to it, connected through the first joint (6) with the second short element (4), connected through the second joint (7) with the third element (5), while the second short element (4) is a compact body of two joints (6, 7), first and second, with their axes intersecting preferably at the right angle, while the first element (2) is connected with the third element (5) by means of two servo-motors (10), which constitute parallel driving force of two degrees of freedom of the arm.<IMAGE>

Description

The subject of the invention is a robot arm with three degrees of freedom. In modern robot designs, a typical three-degree-of-freedom arm solution consists of three movable members connected in series with flat joints. The first member is usually connected to the body by a joint with a vertical axis. The other two members are long levers, the articulations connecting the second member to the first and the third member to the second member having horizontal axes parallel to each other. Each movable member is driven relative to the previous member by a separate driving unit. A gripper wrist is attached to the end of the third member.

The disadvantage of this type of arm is the difficult balancing of two movable members. the second and third and the low stiffness resulting from the series structure of the drive system.

It is known from zgłoszeniwwego No P.279 dwuaiłownikowy drive assembly 097 parallel tatah melt swobtay robot skłatający of ^C at <5 CH linear actuator whose piston rods are mutually ołączone ^{p p p} rzegubem Łask, and the bodies are siłowżków ^p ołączone fastener so that to form a triangle with a constant attitude and ^the length ^b rnlennej clouds. Element; the fixing element located in the position of this triangle is connected to one of the members? ^p robot rzegu'oami sheets having a common ^{football on} a GEC ^ Et-polymeric, and a piston rod one of the actuators is płączone of imiym member rotates ^with and by ^{the p} rzegubu three stopiach freedom.

thallium tanstrukcji invention is to provide a robot arm having three hundred ^p r.iach swotady ^of źórych dw.a are driven in parallel by pmoc ^d at <5ch the actuators, the p ^{and e} of offering sound Pri ^{d e} j rigidity and ease of balancing wounding.

SUMMARY ramtaża plant ^which is composed of the three mounted on tarpsie members pżączonych sraregowo joints flat and dwtah sioowników freckle on that ^{f c} ® zion pierwsty, pżączony ^of tarpusem joint about the axis of rotation ior.owej ^p, m ^{and p} ^ rzymoc -aity ^diagonal ting ⁱⁿ spornik pżączony ^p rzegubem first short joint member taugim płączonym ^d rugim ^of the third member, wherein ^W hen member Itótki ^d ru ^g and w ^{n with in} those arty tarpus taóch joints of the first and ru ^{g d} s with intersecting axes,

And the first member is connected to the third member with two alOY / nlkaml being a parallel drive of the two degrees of freedom. It is favorable

If the foot joint has a vertical axis of rotation.

The end of the third member, to which the gripper wrist is attached, moves in relation to the piercing member along the surface of the zone whose center is the point of intersection of the axis of the piercing and the second joint. The first part is driven by a drive unit located in the robot body. The second stage is not driven directly in relation to the first stage. The third segment, on the other hand, is driven in relation to the piercing member by two actuators constituting a parallel drive of two degrees of freedom. The v-arm according to the invention is very stiff and easy to distinguish. In order to obtain ^^ equal ^^ and ^ ws ^^ and ^^ e of the arm, it is enough to balance only the third member, which can be easily achieved by arranging the wrist drive unit appropriately or by using an appropriately positioned relief spring.

The subject of the invention is shown in the embodiment in the drawing showing an axiometric view of the arm.

The first part 2 with a vertical axis of rotation is rotatably mounted on the body 1, equipped with a long support 3 attached to the first part 2 obliquely in relation to the vertical axis of rotation, and at the end of the support 3 it is mounted by means of a flat joint 6 with a vertical axis of rotation, a very short compact member 4 connected to the member 5 by a flat joint 7 with a horizontal oi of rotation. Motorized member 5 Relative to the member 2, there is a set of dwi ^^ l. ^ (^ V ^ niooY ^ j ^ m of parallel drive 10. Static balance of the arm is ensured by the corresponding wrist drive assembly 8 located on the extension of member 5, additionally supported by a spring 9.

159 514

Department of Publishing of the UP RP. Circulation of 90 copies

Price: PLN 10,000

Claims (2)

Patent claims 1. Robot arm consisting of three members seated on the body, connected in series with flat joints and two actuators, characterized in that the first member / 2 / connected to the body / 1 / with a vertical oi and rotation joint has an oblique bracket / 3 / connected by a joint the first / 6 / with a short second part / 4 / connected by a second joint / 7 / with a third part / 5 /, the short second part / 4 / being a compact body of two first and second joints / 6, 7 / with preferably intersecting axes at right angles, and the first member / 2 / is connected to the third shaft / 5 / by two actuators / 10 / which provide a parallel drive for two degrees of freedom of destruction. Arm according to claim 1, characterized in that the first joint (6) has a vertical axis of rotation. * ♦ ·