SU1215994A1 - Robot arm - Google Patents

Description

The invention relates to mechanical engineering, in particular to robotics, and can be used for mechanization and automation of technological processes.

The purpose of the invention is to simplify the design and reduce the size of the arm.

FIG. 1 shows a robot arm, starting position; in fig. 2 - the same, extreme extended position; in fig. 3 is a section A-A in FIG. one; in fig. 4 is a section BB in FIG. one; in fig. 5 is a sectional view 5-B in FIG. 2; in fig. 6 is a sectional view of Mr and FIG. 2.,

The robot arm contains three telescopically mounted links 1-3 and a linear movement actuator of links 2 and 3.

The first link 1 (external) is rigidly connected to the base 4, and at the end of the third (internal) link 3, the working body 5 (gripper) is fixed.

The linear movement drive is made in the form of an inductor 6 mounted at the free end of the third link, 3, while the second link 2 is made of electrically conductive material.

The cables 7 and 8 are skirted by the rollers 9 and 10, respectively, mounted on different ends of the second link 2. The ends of the tons 7 and 8 are fixed on the inductor 6 and on the first link 1.

At the ends of the first link 1, on the inductor 6 and at the end of the second link 2, the guide rollers 11 are placed, spring-loaded in the direction perpendicular to the axis of the links. The hand of the robot works as follows.

When the inductor 6 is connected to a source of electrical energy, a traveling magnetic field arises, which, interacting with the second link 2, moves the inductor 6 with the third link 3 along the guide rollers 11. At the same time, the ha 7 moves inwards. 8, skirting the roller 10, moves link 2 in the same direction relative to the first link 1. Thus, both links 2 and 3 move in the same direction until the whole draft 7 is retracted into link 2.

Since the length of link 3 is equal to the length of string 7 and both links 2 and 3 move in the same direction, their movements add up.

During the reverse movement of the inductor 6 with a movable link, 3 tons of hectares 8 moves inside the movable link 2 and, by skirting the roller 10, moves the movable link 2 along the guide rollers 11 to the initial position.

five

R

t

/

eleven

ix

X.)) U ...).) G ///// // // // - / uY - / x x / / .///// / x / / / U / 7 o

eight

//

g

/

 N /

 - about

eight

eleven

FIG. 2

A-4

eleven

srig.Z

eleven

Compiled by F. Mayorov

Editor O. GolovachTekhred I. VeresKorrektor V. But ha

Order 944/19 Circulation 1030 Subscription

VNIIPI USSR State Committee

for inventions and discoveries

113035. Moscow, Zh-35, Raushsk nab.,. 4/5

Branch PPP "Patent, Uzhgorod, st. Projects, 4

eri b

Claims (1)

ROBOT HAND, containing three telescopically mounted links, the first of which (external) is rigidly connected to the base, and the working body is fixed at the end of the third (internal) link, as well as the linear displacement drive of the second and third links, which has two flexible rods connecting these links each thrust around the roller, characterized in that, in order to simplify the design and reduce dimensions, the drive is made in the form of an inductor mounted on the free end of the third link, and the second link is made of an electrically conductive mat series, while the rollers are installed at the ends of the second link, and the ends of each of the rods are mounted respectively on the inductor and on the first link. FIG. 1 \ X \\\ XXXXXXXXXXXXXXXXX XX XXX G'SCH 'XXXXXXX' 2 _t 2 22 277 ^ 2 22 2 2 L2, 77777777777777777777777777777777 SU „„ 1215994>