RU188581U1 - Joint manipulator - Google Patents

Joint manipulator Download PDF

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Publication number
RU188581U1
RU188581U1 RU2018145667U RU2018145667U RU188581U1 RU 188581 U1 RU188581 U1 RU 188581U1 RU 2018145667 U RU2018145667 U RU 2018145667U RU 2018145667 U RU2018145667 U RU 2018145667U RU 188581 U1 RU188581 U1 RU 188581U1
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RU
Russia
Prior art keywords
link
surfaces
links
driven
convex
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RU2018145667U
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Russian (ru)
Inventor
Сергей Александрович Вражевский
Александр Борисович Бушуев
Константин Александрович Зименко
Артем Сергеевич Кремлев
Нина Александровна Вундер
Original Assignee
федеральное государственное автономное образовательное учреждение высшего образования "Санкт-Петербургский национальный исследовательский университет информационных технологий, механики и оптики" (Университет ИТМО)
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Priority to RU2018145667U priority Critical patent/RU188581U1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints

Abstract

The invention relates to the field of robotics and can be used in manipulators that rotate the object of manipulation (output link) along two independent angular coordinates, as well as in the construction of spatial multi-coordinate manipulators. The essence of the utility model is that the slave link of the manipulator joint is made in the form of a ball, on the surface of which uniformly convex surfaces are installed, and the concave surfaces of the driven link are associated with convex surfaces of the leading links that are installed mutually orthogonal to the points of the ball.

Description

The invention relates to the field of robotics and can be used in manipulators that rotate the object of manipulation (output link) along two independent angular coordinates, as well as in the construction of spatial multi-coordinate manipulators.

Known manipulator hinge (Copyright certificate SU 1502300 A1 dated 08.23.89 for class B25J 17/00), made on the basis of universal joint and drives, kinematically connected to the corresponding links by means of a transmission mechanism having two cranks, where the drive of the output link is located on the input link and is connected to the output crank of the output link by the additionally introduced gear. Such a hinge can be used in the construction of industrial robots to move its links.

The disadvantage of this device is the inability to simultaneously change the speed of the leading drives in the process, which significantly limits the maneuverability of the link of the manipulator and increases the time of transients when moving to a predetermined position.

The manipulator joint is also known (copyright certificate SU 1379109 A1 dated 03/07/1988 in class B25J 17/00), which contains a hinge made in the form of a hollow sphere that encloses a ball, on which surface evenly spikes are installed, electromagnets with an adjustable power source are installed on The electromagnets are installed evenly with a pitch, with a non-multiple pitch of the location of the spikes, the cavity formed by the surfaces of the ball and the hollow sphere is filled with magnetic fluid and provided with a seal. With alternating powering of electromagnets due to the appearance of the effect of pushing nonlinear bodies in magnetic fluid, which in this case are the spikes located on the surface of the ball, from the region of a strong magnetic field to the weak region, the spikes are affected by the forces that turn the joint ball.

The disadvantages of this device are low load capacity, high power consumption and design complexity.

Known manipulator hinge (Patent RU 2 283 217 C1 from 10.09.2006 class B25J 17/00), chosen for the prototype and made of two leading links, each of which is associated with the base and with the corresponding driven link by rotational kinematic pairs, the driven links are conjugated rotational kinematic pair, while one of the slave links is the output link. The axes of all rotational kinematic pairs intersect in the center of the hinge. The design of the hinge also contains additional supporting spherical kinematic pairs formed by the conjugations of the concave surfaces of the leading links with the convex surfaces of the driven links. The axes of the kinematic pairs mating each of the leading links with the base are located on one straight line. The hinge can be used in manipulators that rotate the object of manipulation in two independent angular coordinates, as well as in constructions of spatial multi-coordinate manipulators.

The disadvantages of this device are the complexity of the design and the small size of the working area of the manipulator, limited by the shape of the reference spherical kinematic pairs.

The task for which the proposed utility model is designed to solve is to simplify the design and increase the range of possible positions of the slave link.

The task is solved by the achievement of the technical result, which consists in expanding the scope of use.

This technical result is achieved by the fact that in the joint of the manipulator containing the hinge, the driven member is made in the form of a ball with concave and convex surfaces, which is associated with a mechanical transmission in diametrically opposite points of the surface of the ball with two mutually leading driving elements, each of which is coaxially connected shaft drives.

The same technical result is achieved by the fact that in the manipulator joint the greatest common divisor of the number of convex surfaces of each of the leading links and the number of concave surfaces of the driven link crossing the driving link during rotation is equal to one, the ratio of the radii of the leading links to the radius of the driven link is equal to the number of convex surfaces of the driven member to the number of surfaces of the leading links.

The essence of the utility model is illustrated in the drawing, where figure 1 shows the block diagram of the manipulator joint, which rotates the object of manipulation in two independent angular coordinates by means of a mechanical transmission, figure 2 shows a slave link with convex and concave surfaces that provide mechanical coupling with driving links joint, figure 3 shows a graph diagram of the algorithm for obtaining the convex and concave surfaces of the slave link. The input values of the algorithm are the main structural dimensions: the diameter of the ball, the depth, width and radius of curvature of the concave surfaces, depending on the parameters of the convex surfaces of the leading links. A monolithic ball is used as a blank. The algorithm contains nested loops that calculate the locations of the concave surfaces of the slave link. The outer loop calculates the number and location of the planes passing through the center of the ball. The first nested loop calculates the set of rotation axes in each plane defined by the outer loop. The second nested cycle calculates a new set of planes passing through each axis of rotation, and determines the final position of the grooves.

For an example of a joint with a minimum number of convex surfaces of the slave link, ensuring the implementation of the technical result, three grooves are cut out on the ball surface, each of which lies on one of three mutually orthogonal planes passing through the center of the ball. The depth and width of the grooves is selected from the condition of providing mechanical coupling with the convex surfaces of the leading links. The intersections of three grooves on the surface of the ball form three pairs of diametrically opposed crossings in such a way that it is possible to form a mechanical engagement of the convex surfaces of each of the leading links with the driven link, placing the leading links mutually orthogonally in diametrically opposite crosshairs. Each of the grooves that form cross-hairs at the points of contact with the convex surfaces of the leading links is mechanically connected with the convex surface of one of the leading links and not connected with the convex surface of the other leading link. Thus, the convex surfaces of one of the leading links will slide along the concave surface of the driven link when the driven link rotates along the plane of rotation of the second leading link.

The joint of the manipulator (Fig. 1) contains two electric drives 1, 2 and mutually orthogonal driving links 3, 4, enclosed in the housing 5, which holds the driven link 6 in the shape of a ball with convex surfaces 7 and concave surfaces 8 connected by mechanical gear with the driving links 3, 4 in diametrically opposite points of the surface of the slave link 6, on which the output link 9 is rigidly fixed. The slave link 6 (Fig. 2, on which the slave link is rotated relative to Fig. 1) provides a mechanical coupling with the driving links ava

The joint of the manipulator works as follows. The actuators 1, 2 independently from each other drive the leading links 3, 4, respectively, which rotate mutually orthogonally and through mechanical engagement with convex and concave surfaces 7, 8 drive the driven link 6. The shape of the convex surfaces 7 on the surface of the driven link 6 provides independent work of the leading links 3, 4. The direction of rotation of the slave link 6 is determined by the direction of movement of the leading links 3, 4 at the points of their contact with the surface of the slave link 6. The rotation of the driven link 6 determines trajectory of the output link 9.

Slave link 6 can be manufactured using additive technologies, for example, using a 3-D printer. A joint model can be obtained in 3-D modeling programs, for example, Compass-3D.

The design of the driven link 6 does not require the use of complex kinematic elements in the driving links, which simplifies the design of the device, increases the range of possible positions of the driven link compared to the prototype and, accordingly, expands the scope of application of the manipulator joint.

Claims (2)

1. The joint of the manipulator, containing a hinge, containing one slave link with convex and concave surfaces and two leading links with electric drives, each of which is associated with the driven link by a kinematic pair, characterized in that the driven link has the shape of a ball, the concave surfaces of which are conjugate with convex surfaces of the leading links, driven by electric drives and installed in the housing are mutually orthogonal at diametrically opposite points of the surface of the driven link, while the lengths of the arcs between lymi surfaces of drive links and edge lengths limiting the convex surface of the driven member are the same.
2. The joint according to claim 1, characterized in that the greatest common divisor of the number of convex surfaces of each of the leading links and the number of concave surfaces of the driven link crossing the driving link during rotation is equal to one, the ratio of the radii of the leading links to the radius of the driven link is equal to crossings formed by the concave surfaces of the driven link in the plane of rotation, to the number of convex surfaces of the leading links.
RU2018145667U 2018-12-20 2018-12-20 Joint manipulator RU188581U1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU872250A1 (en) * 1979-12-10 1981-10-15 Тбилисское Станкостроительное Производственное Объединение "Станкостроитель" Manipulator joint
US4932831A (en) * 1988-09-26 1990-06-12 Remotec, Inc. All terrain mobile robot
RU2087300C1 (en) * 1991-10-21 1997-08-20 Ротек тоолинг АБ Articulated joint for robot manipulator
RU2283217C1 (en) * 2005-03-02 2006-09-10 Алексей Николаевич Смоленцев Manipulator articulation joint assembly

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU872250A1 (en) * 1979-12-10 1981-10-15 Тбилисское Станкостроительное Производственное Объединение "Станкостроитель" Manipulator joint
US4932831A (en) * 1988-09-26 1990-06-12 Remotec, Inc. All terrain mobile robot
RU2087300C1 (en) * 1991-10-21 1997-08-20 Ротек тоолинг АБ Articulated joint for robot manipulator
RU2283217C1 (en) * 2005-03-02 2006-09-10 Алексей Николаевич Смоленцев Manipulator articulation joint assembly

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