SU1117203A2 - Arm assembly of a manipulator - Google Patents

Abstract

BRIDGE KNOT OF MANIPULATOR but auth. St. No. 872247, characterized in that. that, in order to expand the technological capabilities of increasing reliability and maneuverability, the full drive is installed in the housing in pairs and coaxially, and their axes form an angle of 45 ° with the axis of the actuator. sl 2 to about 00

Description

The invention relates to mechanical engineering, namely, to manipulators designed to perform operations with high positioning accuracy.

According to the main author. St. No. 872247, there is a known manipulator comprising a body, an extra link with a catch hinged on it, main and additional drives installed in cornus and kinematically connected with a single link connected to the frame. Each wall of the mobility of the wrist assembly, designed to provide movements of the actuating element such as swinging or extending (retracting), is equipped with one additional drive, a single rotation two, and additional drives are made in the form of thermo-bimetallic elements 1.

The disadvantages of the well-known carpal node are technological limitations (capabilities and application areas, socks before turning on the kistevoyo .la to work for precise positioning with additional homogeneous irivods, the manipulator non-initial provides with a single sign with a single sign and not a non-manual manipulator with an initial sign of a single sign with a single sign and not a single control unit with an initial sign of a single sign with a single sign and not a single manipulator with an initial sign with a single sign with a single sign and not a manual manipulator with an initial sign with | to ensure that in real conditions of operation, and low-level technical ex-work; | life characteristics, in particular reliability, maneuvers |) (. ch1 and load), due to the fact that each wall Hb mobility kistevo1o unit is provided only odpim complement || ite .11dN) 1m drive, and more for | RD | | other degrees of mobility for this figure; Influence does not have, or rather, lower the efficiency of the additional p) and the input is considered.

CS.NZ invention - the degradation of technological capabilities by povneni padszhnosti and maneuverability.

This goal is achieved by the fact that in the wrist node of the manipulator additional drives are installed in the housing nonarnately and coaxially, and their axes make an angle of 45 ° with the axis of the actuating element.

FIG. 1 shows a wrist knot; 1 manilor of a torus with two degrees of mobility (swinging, extending) with additional lengths in the form of ellipsoidal shells, longitudinally reinforced shells, initial condition, nro; o,: 1st section; in fig. 2 - the working position when the actuator communicates to the movement link, type swing left-right, in particular swing left; in fig. 3 wristband, manin; 1 torus with two degrees of mobility (swing, extension) with additional surfaces in the form of elastic shells, orpaHn4eniHjix in the transverse direction with a cylindrical rigid body, in a working position when communicating the movement element of the extension type (extension). down, in particular - down longitudinal section; in fig. 4 - the same, with three etenii of mobility (rotation, swing in two mutually perpendicular planes) with pre-pulsing lines in the form of ellipsoidal shells, engraved in the longitudinal direction of the hepium, initial state, transverse section; in fig. 5 is the same when performing a rotation type movement; in fig. 6 - the same, with a full-length drive in the form of elastic shells, limited in G1onerech} 1оm direction of the cylinder with a rigid body, when performing a type of swing, cross section; in fig. 7 - the same, Tina swing.

Kg; the stewing knot of the manil torus consists of po; 1d) hull 1, inside of which mouths. RMiiji are additional drives 2, connected | Figure 1e is hinged with an emergency link 3 of the gripper 4 and case I. In different wiring units, the movement of the actuator can be transferred either from the front-wheel drive 2 or with the help of an intermediate link 5, which is rigidly connected with the actuator; 3. In the nerve case, the actuating link for the additional drives is the executive link 3, and in the second, the link is between (; the five link). Additional drives 2 of each degree of mobility of the wrist node are non-balanced and installed in their housing with the idol axes, the iodine of the angles m 45 to the longitudinal axis of the link they set in motion (additional link 3 for fig. 1-3; intermediate link 5 for fig. 4-2).

In some embodiments of the wrist node (Figs. 1 2, 4, 5 and 7), additional drives 2 perform foam in the form of ellipsoidal elastic shells 6 longitudinally reinforced. In other embodiments, the wrist handle node (Figs. 3 and 6), each additional the actuator contains an elastic sheath 7, limited in the transverse direction by a cylindrical rigid body 8, and a supplementary link 9 connected to the drive link by means of hinges 10. Actuator link 3 in each embodiment of the handpieces of the manipulator is installed in the housing 1 Pomona Strongly multistage hinge 11.

The device works as follows.

When control signals are sent to the main drives, the wrist node of the turntable moves the grip 4 to the required point of the working space with a certain accuracy, i.e., the coarse positioning is dry. In this case, the longitudinal axis of the actuating element 3 coincides with the longitudinal axis of the housing 1, each of the pairwise uranium-hung additional drives 2 is in the initial state (Figs. 1 and 4). In the initial state, in the elastic shells 6 and 7 of the additional actuators 2, the pressure of the working medium is maintained corresponding to half (50%) of the maximum displacement that can be provided by each of these actuators 2.

When the internal pressure increases in any of the additional drives 2, made in the form of ellipsoidal elastic shells reinforced in the longitudinal direction b, the elastic shell 6 is longitudinally shortened and the additional drive 2 informs the executive link 3 of the movement corresponding to the latter approaching the joint 10 2 with body 1, i.e., a pull-in type movement is performed.

When the internal pressure is increased, from the additional drives 2, made in the form of elastic shells 7, limited by the rigid body 8, the elastic shell 7 is elongated in the longitudinal direction and the auxiliary link 9 carries out an extension, i.e. movement, Corresponding to the removal of the actuator 3 from the joint 10, connecting the additional drive 2 with the housing 1. For the purposeful movement of the auxiliary link 9 along its longitudinal axis, the elastic sheath 7 is displaced into a rigid case with 8, playing the role of limiter.

By reducing the internal pressure of the working medium in the elastic shells 6 and 7, the corresponding additional actuators 2 provide, respectively, movement like extension and retraction. The implementation of the main element of the additional drives 2 in the form of an elastic sheath 6 and 7 provides a wide range of movement of the driven link. The sequence and nature of the change in the internal pressure in the elastic shells 6 and 7 depends on the direction in which the grip 4 is not fertile. For example, in the wrist handler node, which has two degrees of mobility: swing (left-right) and extension-retract (down-up), for the implementation of the movement of the type of extension (retraction) increases (decreases) the pressure of the working medium in the lower pair of elastic shells b additional drives 2, and in the upper pair of shells - decreases (increases). To ensure the movement of the gripper 4 (Fig. 2) to the left (right), the

(decreases) the pressure in the right pair of actuators 2, and in the left pair it decreases (rises). In the wrist node of the manipulator, which is structurally made with additional drives 2 in the form of limited stikPM11 bodies 8 elastic shells 7, similar to the degree of mobility of the grip 4 (swing, extension), the pressure control character changes, i.e., increase (lower) the pressure of the working medium in elastic reinforced shells b corresponds to a decrease (increase) in the pressure of the working medium in elastic shells 7 (Fig. 3).

If it is necessary to provide the executive unit 3 with a rotation and swing type movement in two mutually perpendicular planes, then in pairs the balanced additional actuators in the initial state are set by their longitudinal axes at an angle of 45 ° to the intermediate link 5, which is directly driven by the link ( Fig. 4). To ensure rotation of the executive link 3 (Fig. 4), in the embodiment of additional drives 2 in the form of elastic reinforcement shells 6, it is necessary to retract (lower) the pressure of the working medium in the upper left m and lower right actuators 2, and in the upper right and lower on the left to lower (increase), and to ensure the swing of the actuator 3 in a plane perpendicular to the longitudinal axis of the intermediate link 5, it is necessary to increase (decrease) the internal pressure in the right elastic shells 6 and lower (increase) accordingly internal pressure in the left elastic shells 6 (phpg. 7).

In order to ensure the swing of the executive link 2 in the plane passing through the longitudinal axis of the intermediate link 5, in the embodiment of additional drives in the form of elastic shells 7 limited by a rigid body 8, it is necessary to increase (decrease) the internal pressure of the working medium in the upper additional drives 2 and lower ( increase the internal pressure of the working medium in the lower auxiliary drives 2 (Fig. 6).

Thus, pairwise balancing of additional drives 2 and their arrangement at an angle of 45 ° to the longitudinal axis of the executive link 3 ensure participation in the creation of one or another movement of the executive link 3 with the gripper 4, which significantly enhances the functionality of the wrist handpiece node, in particular increases maneuverability, since its mode of operation does not depend on the sign of a positioning error, increases the lifting capacity, since all secondary drives 2 simultaneously work on each power. odvizhnosti.

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naturally, this leads to the UHFs.; oiiiiioCTn carpal knot, reliability of functioning increases, since if one of the additional drives fails 2

the required movements of the gripper 4 can be ensured by controlling the internal pressure of the working medium of the operating donoling drives 2.

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Claims (1)

PISTON ASSEMBLY OF THE MANIPULATOR by ed. St. No. 872247, characterized in that, in order to expand technological capabilities by increasing reliability and maneuverability, additional drives are installed in the housing in pairs and coaxially, and their axes make an angle of 45 ° with the axis of the executive link. I fig. 1 I 117203