RU1771960C - Manipulator joint - Google Patents

Abstract

The invention relates to robotics, namely, micromanipulators with a vibration motor. The aim of the invention is to increase the load capacity and expansion of functionality. j 13 p w 5 g j o I I P I II a 8 1B B7 When electrical signals arrive at the piezoelectric transducers 3, the ring 4 rotates and moves, on the outer surface of which a one-period sinus groove 5 is made, located opposite the piezoelectric transducers, because ring 4 is placed in the groove of the composite satellite 10 of the differential mechanism. These movements are transmitted to the satellite S. turning into the precession movement of the latter. As a result of the engagement of the satellite rims with the gears 11 and 12, the link 13 receives a rotational movement. and from the interaction of the rolling elements 16 with the helical grooves 17 of the rod 18 - translational movement, because this link is connected to the stem, 2 il. (L C 7 J XI h U O a Fig.

Description

The invention relates to robotics, and in particular to microanipulators with vibration motors.

The aim of the invention is to increase the load capacity and expansion of functionality.

Fig. 1 shows a hinge of a manipulator; in FIG. 2 shows a sinus ditch with piezoelectric transducers.

The manipulator J1arni.ru contains a link-housing 1. a vibrating motor in the form of a ring 2 fixedly mounted in the housing 1, in which piezoelectric transducers are placed around the perimeter 3. A ring 4 is placed inside the ring 2, on the outer cylindrical surface 5 of which a single-period sinus groove is made 6. The ring 4 is placed in a groove on the rolling bodies 7 between the gears 8 and 9 of the composite satellite 10, which mesh with the teeth of the central wheels 11 and 12, respectively connected with the housing 1 and link 13 through the clutch 14. The satellite 10 and wheels 11 and 12 form a differential mechanism. Grooves 15 are made in the hub of the satellite 10, in which the rolling bodies 16 are placed, interacting simultaneously with the helical grooves 17 made on the surface of the rod 18, connected by the retaining ring with the link 13, and also with a sliding key 19 to the body 1. The rod 18 and the bodies the rods 16 form a ishric-helical gear. The piezoelectric transducer 3 includes transverse oscillators 20 and longitudinal oscillation generators 21.

The hinge of the manipulator works as follows

Transverse and longitudinal oscillation generators 20 and 21 receive electrical signals and cause shear vibrations of the ring 4. In this case, transverse vibrations are excited in the generator 20, and longitudinal oscillations are generated in the generator 21. These vibrations have a maximum amplitude opposite the groove 6. At the same time, the localization of transverse vibrations in the region located above the sinus groove leads to the centering of the piezoelectric transducers 3 along the path of the sinus groove 6, i.e., in addition to rotation around its axis, the ring 4 receives axial displacements. Placing the ring 4 between the parts of the composite satellite 10 on the rolling bodies 7 results in the conversion of the components of the movement of the ring 4 into the precession movement of the satellite 10 (the amplitude of the sinusoid of the sinus groove b is equal to the amplitude of the precession movement of the satellite 10). As a result of engagement of the rims 9 and 8 of the satellite 10 with the teeth of the central wheels 11 and

12, the last, and therefore the link 13, when the clutch 14 is turned on, will rotate with reduction

IZQ Zi2

Zn Zio-ZgZi2

rfleZg, Zio the number of teeth of the crowns 8 and 9 of the satellite 10;

Zn, Zia - the number of teeth of the central wheels 11 and 12.

Satellite 10 itself revolves around

its geometric axis with reduction Z9

12 Zn-Zg

This reduced rotational motion of the satellite 10 is transformed by means of the rocking bodies 16 and the helical grooves 17 into the translational motion of the rod 18. The amount of movement is 5pcs t nc, where is the t-pitch of the helical groove; ps is the number of revolutions of the satellite. This movement is transmitted to link 13.

Thus, the link 13 receives translational motion from the same drive as the rotation around its axis.

Claims (1)

The claims Manipulator hinge containing a link, in one of which there is a vibration motor having piezoelectric transducers, characterized in that in order to increase the load capacity and expand the functionality, it is equipped with a ring with a sinus groove made on its outer surface, a ball screw mechanism and a differential mechanism, central gears the wheels of which are connected to the links, and the satellite has an external groove in which a ring is located on the rolling bearings, and internal grooves in which the balls of the indicated gear are located and kstoroy screw coupled to the second link, wherein the piezoelectric transducers are arranged over the sine of the ring groove.