RU2247648C1 - Manipulator - Google Patents

Abstract

FIELD: robotics.

SUBSTANCE: cable conductors passing through the openings in the plates of manipulator are made of double piping spirals secured to the base and connected with the pressure sources.

EFFECT: simplified design and enhanced reliability.

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Description

The invention relates to hydromechanical manipulators of industrial robots, mainly working in an angular coordinate system.

Known manipulators having a hand with a tong and a drive [1]. The manipulator has a base plate and plates that can move around the column.

The disadvantage of the manipulator is the inability to carry out the drive lowering the hands to the field level, which limits the capabilities of the device, as well as low speed.

A manipulator is also known [2]. A flexible lever consists of several links connected by universal joints, the first link being connected by a ring to the shaft. The hand is equipped with an external drive, it does not have the possibility of axial extension.

The closest in technical essence among all analogues is a manipulator with a tensor arm [3]. This manipulator is made in the form of a series of plates connected by universal hinges, ensuring their rotation relative to each other. Holes are formed in the plates, through which cores are passed, attached at one end to the respective plates. When tensioning the cores at the opposite ends of the plate, they turn in any position to perform manipulation actions.

The disadvantage of the prototype is the design complexity caused by the presence of a drive in the engine, gearbox, as well as drums and a tensioner.

The high complexity of the design leads to low reliability.

The invention is aimed at simplifying the design, improving reliability.

This is achieved by the fact that the cores are made in the form of double tubular spirals fixed to the base and connected to pressure sources.

The achievement of the technical result is achieved due to the fact that the cores are made in the form of double tubular elastic spirals fixed to the base and connected to pressure sources.

Since this feature was not found in the analysis of patent literature, it is significant and distinctive.

The invention is illustrated by drawings, where Fig. 1 shows a structural diagram of a manipulator, Figs. 2 and 3 show a double tubular spiral with the ends fixed in the initial state - Fig. 2 and on - Fig. 3.

The manipulator consists of a base 1, in which the conclusions of the tubular loop-shaped spirals are fixed (pressed) - cores 2. The manipulator has several plates, for example, plate 3 and plate 4, which are connected to the base using universal ball joints 5. The holes 6 for passage are made in the plates tensioning veins. A gripper 7 is connected to the plate 4 through the hinge 7. The terminals of the loop-shaped spirals are connected to pressure sources 8, which are controlled by the control system 9. The fixing points of the bends 11 of the spirals are provided with bearings 12, and the holes 6 are equipped with anti-friction bushings 13.

The manipulator works as follows. Let us first consider the action of one core made of a twisted loop. In Fig.2 she is depicted in a taut state. It is assumed that the material of the spiral tubular loop - the core - has sufficient elasticity. When a current is supplied to the loop, forces caused by pressure forces appear in its branches. As a result, the pre-twisted loop is unwound. When the moment on the longitudinal axis becomes equal to the moment of elasticity, the unwinding stops. But the axial coordinate of the loop increases in proportion to the spin angle. The result is an arrow of deflection 10 - see figure 3.

When the pressure is turned off, the loop will return to its original state under the action of elastic forces, the deflection arrow becomes equal to zero - Fig.2. If one of the ends of the loop is fixed on a link with a hinge, then lengthening the loop when a current is applied to its branch causes the link to move either by gravity or by the spring properties of the spiral material, for example, vacuum rubber.

The manipulator’s work is based on this principle. Each pair of spiral loops affects one degree of mobility of a plate. In two planes, rotation occurs under the action of four loops. The conclusions of each of the loops are connected to sources 8. Sources 8 are controlled by the control system 9. System 9 provides signals to pairs of sources 8, which increase or decrease the pressure in the loops. As a result, the loops are stretched, giving a new angular position to the plates connected by hinges 5. The design of the manipulator bends like a trunk and comes into the state specified by the human operator or software system. The grip 7 is also actuated by lengthening or shortening the tubular spiral loops.

The technical and economic efficiency of the manipulator consists in the fact that the design, manufacturing technology and operating conditions of the drives in the form of double spiral tubes are significantly higher than that of traditional drives with a cable drum. This is due to the lack of such unreliable components as a gearbox, brake. Thus, the reliability of the manipulator is increased. The overall dimensions also increase, since the link drive is as close as possible to the links themselves, and is not located on the base.

Sources of information

1. UK application No. 1493193 "Mechanical manipulator or robot" from 02/18/74.

2. UK application No. 1548336 “Flexible arm of a robot” - an analogue of Norwegian patent No. 760304 from 06.30.76.

3. US patent No. 3497083 - Manipulator with a tensor arm / S. Andersen, publ. 05/10/68.

Claims (1)

A manipulator made in the form of a series of plates connected by universal joints, while holes are formed in the plates through which the tensioning wires are passed, attached at one end to the corresponding plates, characterized in that the wires are made in the form of double tubular spirals fixed to the base and connected to pressure sources.

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