RU2527559C2 - Universal manipulator (versions) - Google Patents

Abstract

FIELD: machine building.

SUBSTANCE: invention relates to machine building. The manipulator in the first version comprises a sequence of interacting elements, and each element includes two or more magnetic conductors, one or more of which are fitted with conductive winding with formation of electromagnets. The manipulator in the second version comprises a sequence of connected in series elements, each of which is made with an axial hole and consists of two or more segments. The segments are connected among themselves in such a manner that are forming a working surface interacting with a consequent element, and working surface interacting with the previous element. The axial holes form tight passage for passing a fluid or gas, and in each element the cavities, connection with through-hole through an adjustable valve are made.

EFFECT: higher universality.

5 cl, 6 dwg

Description

The invention relates to mechanical engineering and can be used in robots for various purposes (industrial, agricultural, medical, domestic and others).

State of the art

The trunk of a manipulator RU 2008201 is known, including a housing, a drive and a system of kinematically connected to each other kinematically connected by means of hinges of the previous and subsequent levers, moreover, gear crowns with a pitch circle diameter, the center of which coincides with the center of the hinge, are made at the ends of the arms facing each other, moreover, the teeth of the crown of each subsequent lever are engaged with the teeth of the crown of the lever preceding the previous one.

The disadvantages of this trunk of the manipulator include the fact that the levers or elements of the manipulator are rotated at an equal angle with respect to each other and only in one (predetermined) plane, and also that the position of each part of the manipulator changes while changing the position of its other parts, which limits the degree of freedom of movement of the manipulated object.

In addition, the disadvantage of this trunk of the manipulator is a drop in force from the drive on each subsequent lever.

Disclosure of invention

The basis of the present invention is the task of creating a manipulator free from these disadvantages. A manipulator is proposed, the design of which is based on the principle of controlling a chain of interacting elements by controlling functional inter-element gaps.

This is achieved by the fact that the design of the manipulator is a chain of mutually movable elements connected in series. Each element has a working surface interacting with the previous element, and a working surface interacting with the subsequent element. The shapes of these surfaces provide the presence of certain gaps between the elements when connecting them to the structure, which allows the elements to move freely in the direction of eliminating these gaps. Mutual movement of series-connected elements and provides a change in the spatial position of the entire manipulator or any part thereof.

The working position of each pair of the previous and subsequent elements is such that one of the gaps between the elements of this pair is completely eliminated, which ensures rigidity of the structure.

Any of the possible operating positions of the manipulator is achieved by a certain combination of eliminated gaps between each pair of previous and subsequent elements.

So, for a manipulator consisting of elements whose shape provides the same number of gaps (degrees of freedom) between each previous and each subsequent element, the formula is true:

K = Z ^n-1 ,

where the number of fixed spatial positions of the manipulator;

Z is the number of gaps between each pair of elements;

n is the number of elements of the manipulator.

Changing the positions of elements in each pair of previous and subsequent elements occurs under the influence of a controlled force acting on this pair of elements and leading the elements to a position in which a certain gap between their surfaces is eliminated. Such an effect can be produced by creating between the elements of an electromagnetic field, an electrostatic field, zones of increased (reduced) pressure of a liquid or gas, etc.

Description of drawings

Figure 1 is a longitudinal section of an electromagnetic manipulator.

Figure 2 - external view of the element of the electromagnetic manipulator.

Figure 3 - magnetic circuit element of the electromagnetic manipulator.

Figure 4 - the electromagnet element of the electromagnetic manipulator.

5 is a longitudinal section of a pneumatic manipulator.

6 is an external view of an element of a pneumatic manipulator.

The best embodiments of the invention

A manipulator containing a chain of interacting elements 1 (Fig. 1), each of which consists of three segments 2 (Fig. 3), which are electromagnets (Fig. 4). Segments 2 are connected (Fig. 2) by elastic elastic material 19 into a manipulator element in such a way that a working surface 3 (Fig. 1) interacting with the subsequent element and a working surface 4 interacting with the previous element are formed at the element. The surface 3 is formed by three planes, cutting the body of the element 1, which is a cylinder, at an angle "alpha". The surface 4 is also formed by three planes, cutting the body of the element 1 at an angle of "sigma". The angle "alpha" is less than the angle "sigma" by an amount that determines the size of the gaps 6 between the elements.

The movement of the manipulator is provided by applying electrical voltage to the conductive windings 5 (Fig. 1) of electromagnets, in connection with which there are electromagnetic forces of attraction and (or) repulsion between the elements, providing a given relative position of the elements. The predetermined position of the manipulator in space is provided by a certain combination of switching conductive coils of the elements of the manipulator.

It is also possible to create a manipulator in which the controlled force acting on the elements is the result of the increased (lowered) pressure of a liquid or gas. Such a manipulator comprises a chain of elements 7 connected in series (Fig. 5), each of which consists of four segments 8 (Fig. 6), connected in such a way that these segments form a working surface 9, interacting with the subsequent element, and a working surface 10 interacting with the previous item. The surface 9 (figure 5) has an axial spherical recess 11, and the surface 10 has an axial spherical bulge 12, which form a hinge pair. The specified swivel provides the necessary mutual positioning and integrity of the entire chain of elements. In this case, the axial holes 14 form a sealed channel 13 used for the passage of liquid or gas. The surface 9 is formed by four planes, cutting the body of the element 7, which is a cylinder, at an angle of "alpha". The surface 10 is also formed by four planes, cutting the body of the element 7 at an angle of "sigma". The angle "alpha" is less than the angle "sigma" by the size of the gaps 15 between elements 7.

In the body of the element, cavities 16 are arranged, connected through holes 17 with an axial hole 14. Moreover, each hole 17 is equipped with a custom valve 18, the opening or closing of which allows the passage of liquid or gas from the cavity 16 into the channel 13 and vice versa.

The movement of the manipulator is ensured by the creation of a reduced pressure of liquid or gas in the channel 13. When the valve 18 is opened, a low pressure zone is created in the cavity 16, which leads to mutual reciprocal movement of the elements 7 until the gap 15 is completely eliminated. The surface 10 overlaps the cavity 16, forming a hermetically closed a camera, which allows the elements 7 to be in this position for the required time.

The change in the relative position of individual pairs and the entire chain of elements is achieved by creating zones of high or low pressure in the cavities 16 and channel 13.

The predetermined position of the manipulator in space is ensured by a certain combination of open and (or) closed valves 18.

Industrial applicability

The manipulator can be used to solve technical problems in all areas of human activity, without exception.

The change in the relative position of physical objects in space is the main factor in the existence of the physical universe, and the controlled movement of objects is the material basis of any human activity.

The universality of the manipulator is due to the multivariance of its manufacture, depending on the specific purpose of the device. The manipulator (taking into account the environment of its application and tasks) can be made of any geometric size, any power, from any materials.

The immediate technical result from the use of the invention consists in the possibility of realizing a larger, compared to existing designs, amount of freedom of spatial movement of the manipulator, with lower energy consumption and in the absence of the need to use additional devices (additional energy) to fix the manipulator (its parts) in predetermined positions.

The design of the manipulator allows it to take any form in space, and the position of any moving part of the manipulator is not determined by the specific position of its other parts. This feature allows you to use the manipulator in complex geometric spaces, for example in pipelines. A manipulator consisting even of a separate chain can be functionally effective: for moving an object rigidly fixed on it or for moving an object captured by the principle of a boa constrictor. However, the most promising field of application of the invention is the creation of complex manipulators consisting of several chains connected to the device by the principle of a human brush.

Given the fact that modern computer systems are capable of performing any calculation of coordinates for the position of an object in space, the manipulator allows you to solve problems of any technical complexity, such as reconstructing walking, flapping flight, and creating effective prostheses for lost human limbs. Moreover, the power consumption of the device based on the proposed manipulator is significantly lower than that of known devices of the same purpose. This feature allows you to use modern autonomous energy sources in the design of the manipulator.

An example of the effective use of the invention is the creation of a device for cleaning and recycling garbage based on the manipulator. It is known that industrial and household waste consists of objects of various configurations, masses, densities, which complicates the unification of operations for their disposal. At the same time, a device based on the proposed manipulator is capable of collecting and moving any debris in space.

Claims (5)

1. Manipulator containing a chain of interacting elements, characterized in that each element includes two or more magnetic cores, one or more of which are equipped with a conductive winding with the formation of electromagnets, and the shape of each of the magnetic cores is made in such a way that when they are connected to the element a gap is formed between the surface interacting with the next element and the surface interacting with the previous element, necessary for the mutual movement of the elements to the specified position under the influence of an electromagnetic field arising from the supply of electrical voltage to the conductive windings of electromagnets. 2. The manipulator according to claim 1, characterized in that the magnetic circuits of the electromagnets are connected to the elements of the manipulator by an elastic material to ensure mutual elastic displacement of the magnetic circuits. 3. The manipulator according to claim 1 or 2, characterized in that one or more elements in the circuit are made with two or more working surfaces interacting with two or more subsequent or previous elements to connect several circuits. 4. A manipulator containing a chain of elements connected in series to each other, characterized in that each element is made with an axial hole and consists of two or more segments connected in such a way that a working surface interacting with the subsequent element and a working surface interacting with the previous element, while the working surface interacting with the next element contains an axial spherical recess, and the working surface interacting with the previous element, with holds an axial spherical bulge that forms a hinge that ensures the integrity of the entire chain of elements, while the axial holes form a sealed channel for the passage of liquid or gas, and in each element there are cavities connected through a hole through a custom valve with the axial hole of the element. 5. The manipulator according to claim 4, characterized in that one or more elements in the circuit is made with two or more working surfaces interacting with two or more subsequent or previous elements to connect several circuits.

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