SU1301701A1 - Industrial robot actuating device - Google Patents

Industrial robot actuating device Download PDF

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Publication number
SU1301701A1
SU1301701A1 SU853972122A SU3972122A SU1301701A1 SU 1301701 A1 SU1301701 A1 SU 1301701A1 SU 853972122 A SU853972122 A SU 853972122A SU 3972122 A SU3972122 A SU 3972122A SU 1301701 A1 SU1301701 A1 SU 1301701A1
Authority
SU
USSR - Soviet Union
Prior art keywords
module
flange
flanges
base
hinges
Prior art date
Application number
SU853972122A
Other languages
Russian (ru)
Inventor
Лев Михайлович Болотин
Альфред Иванович Корендясев
Борис Львович Саламандра
Андрей Николаевич Сонин
Леонид Иосифович Тывес
Original Assignee
Государственный Научно-Исследовательский Институт Машиноведения Им.А.А.Благонравова
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by Государственный Научно-Исследовательский Институт Машиноведения Им.А.А.Благонравова filed Critical Государственный Научно-Исследовательский Институт Машиноведения Им.А.А.Благонравова
Priority to SU853972122A priority Critical patent/SU1301701A1/en
Application granted granted Critical
Publication of SU1301701A1 publication Critical patent/SU1301701A1/en

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Abstract

The invention relates to robotics, in particular, to manipulators designed to work in hard-to-reach places, for example, to perform painting operations inside object cavities. The aim of the invention is to enhance the functionality and increase reliability. The actuator of an industrial robot is made up of a series of flexible sections consisting of consecutively connected identical modules 1. Each module 1 is made up of two flanges 2 and 3 interconnected by an elastic element 4. Through peripheral holes made in flanges 5.6 , the flexible drive cables 9 and 10, which are rigidly fixed at one end to the flange 2 from the base of the module, and the other attached to the corresponding drives, are missing. A central hole is made in each flange. Each module 1 is equipped with a rigid rod 15 located in the central hole of each flange 2 and 3 and pivotally connecting them. The rigid rods 15 are hollow and in their cavities there is a cable 19 of the tension mechanism rigidly fixed on the flange of the latter from the base of the module and attached to the base 20 through the spring 21 of the tension of this tension mechanism. 2z.p.f-ly, 4 ill. i (l oo o Vue.i

Description

The invention relates to robotics, in particular, to manipulators designed to work in hard-to-reach places, for example, to perform painting operations on complex internal cavities of objects.

The purpose of the invention is to enhance functionality and increase reliability.

FIG. shows the actuating device of an industrial robot, general view; figure 2 - section aa in figure 1; on fig.Z - connection of a hollow rigid rod with a flange of the module by means of a Hook hinge; figure 4 - section bb in fig.Z.

The actuator of an industrial robot is made up of a series of flexible sections consisting of consecutively connected identical modules 1. Each module 1 is made up of two flanges 2 and 3 interconnected by an elastic element 4, and the flanges 2 and 3 of adjacent modules are rigidly connected. Through the entire length of the section, through the peripheral holes 5-8, made in the flanges, flexible drive rods 9 and 10 are missed, which are rigidly fixed at one end to the flange 2 of the latter from the base of the module, and the other are attached to the shafts 11 and 12 of the respective drives, for example 13 and 14, with a central hole in each flange 2 and 3. Each module 1 is provided with a rigid rod 15 located in the central opening of each flange 2 and 3 and pivotally connecting them. To ensure spatial movement, the flanges of the module are connected to a rigid rod using spherical hinges 16–18 (FIG. 1) or Hooke’s hinge (FIG. 3).

The lengths of rigid rods 15 AB exceed the distance VG between the centers of the hinges 17 and 18 of one module 1. The connecting rigid rods 15 are hollow, and in their cavity is located the cable 19 of the tensioning mechanism, rigidly fixed on the flange of the latter from the base of the module, and attached to The base 20 through the spring 21 stretch this tension mechanism.

The centers of the hinges 16 and 17 of two adjacent modules are spaced apart from each other by a VD distance equal to the VG distance between the centers of the hinges 17 and 18 of one module 1.

The device works as follows. Under the action of the control moments of the motors 13 and 14, the shafts 11 and 12 are driven, corresponding flexible drive rods 10 and 9 are wound on them. The flange 2 is rotated relative to the hollow rigid rod 15 connected with it by a spherical hinge (Hook hook). In turn, hollow hard

the rod 15 rotates relative to the flange 3, which is also associated with it by an identical spherical hinge (Hooke’s hinge) 17. In general, the flange 2 changes

its position relative to flange 3. Such changes occur in each module of the flexible section, and therefore the entire flexible section is deformed and takes the position shown in Fig. 1. When you change the configuration of all flexible

The sections of the tension mechanism cable 19 are pulled through the hollow rigid rods 15. The tension mechanism spring 21 is stretched, and forces arise that tend to return the flexible system to its initial position. These forces contribute to the stiffness and carrying capacity of the entire system. The ratio of lengths in a hollow rigid rod 15 AB VG increases the amount of tension of the spring 21 when the system deviates from its initial

0 position The equality of the distances between the centers of the hinges of adjacent (adjacent) modules to the distance between the centers of the hinges of one module of the VG VG (Fig. 1) makes it possible to obtain a regular structure as a model of the system. The model represents

5 rods of the same length, interconnected by the same type of hinges. Simplified is the recording of a system of equations for solving positioning problems.

Claims (3)

1. Executive device of an industrial robot containing flexible sections consisting of consecutively connected identical modules, each of which has two flanges interconnected by an elastic element, the flanges of adjacent modules being rigidly interconnected, and in each flange there are central and peripheral holes , at the same time through the last pass flexible drive
the rods rigidly fixed on the latter from the base of the flange of the module and connected with their respective drives, and in the central apertures of these flanges there is a tensioning mechanism, including a cable and a spring, characterized in that
functionality, each module is equipped with a hollow rigid rod in the central hole of each flange, which pivotally connects them, while the tension mechanism cable is located in the cavity of the rod.
2. A device according to claim 1, characterized in that, in order to increase reliability, the length of each hollow rigid rod exceeds the distance between the centers of the hinges of the module.
3. A device according to claim 1, characterized in that the axes of the hinges of adjacent modules are located at a distance equal to the distance between the centers of the hinges of the module.
1 10
FIG. 2
5-B
(Rig.z
9i, 2.
SU853972122A 1985-11-04 1985-11-04 Industrial robot actuating device SU1301701A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SU853972122A SU1301701A1 (en) 1985-11-04 1985-11-04 Industrial robot actuating device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SU853972122A SU1301701A1 (en) 1985-11-04 1985-11-04 Industrial robot actuating device

Publications (1)

Publication Number Publication Date
SU1301701A1 true SU1301701A1 (en) 1987-04-07

Family

ID=21203627

Family Applications (1)

Application Number Title Priority Date Filing Date
SU853972122A SU1301701A1 (en) 1985-11-04 1985-11-04 Industrial robot actuating device

Country Status (1)

Country Link
SU (1) SU1301701A1 (en)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5174168A (en) * 1987-09-09 1992-12-29 Kabushiki Kaisha Komatsu Seisakusho Flexible robot arm
US5297443A (en) * 1992-07-07 1994-03-29 Wentz John D Flexible positioning appendage
US5317952A (en) * 1991-11-22 1994-06-07 Kinetic Sciences Inc. Tentacle-like manipulators with adjustable tension lines
US8062212B2 (en) 2000-04-03 2011-11-22 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8083879B2 (en) 2005-11-23 2011-12-27 Intuitive Surgical Operations, Inc. Non-metallic, multi-strand control cable for steerable instruments
US8182418B2 (en) 2008-02-25 2012-05-22 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body
US8361090B2 (en) 2002-01-09 2013-01-29 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US8517923B2 (en) 2000-04-03 2013-08-27 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US8568299B2 (en) 2006-05-19 2013-10-29 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US8721530B2 (en) 2000-04-03 2014-05-13 Intuitive Surgical Operations, Inc. Tendon-driven endoscope and methods of use
US8845524B2 (en) 2000-04-03 2014-09-30 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US8882657B2 (en) 2003-03-07 2014-11-11 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US9220398B2 (en) 2007-10-11 2015-12-29 Intuitive Surgical Operations, Inc. System for managing Bowden cables in articulating instruments

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Патент Швеции № 419421, кл. В 25 J 17/00, 1981. *

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5174168A (en) * 1987-09-09 1992-12-29 Kabushiki Kaisha Komatsu Seisakusho Flexible robot arm
US5317952A (en) * 1991-11-22 1994-06-07 Kinetic Sciences Inc. Tentacle-like manipulators with adjustable tension lines
US5297443A (en) * 1992-07-07 1994-03-29 Wentz John D Flexible positioning appendage
WO1995018311A1 (en) * 1992-07-07 1995-07-06 Wentz John D Flexible positioning appendage
US8845524B2 (en) 2000-04-03 2014-09-30 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US10327625B2 (en) 2000-04-03 2019-06-25 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US10105036B2 (en) 2000-04-03 2018-10-23 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US9808140B2 (en) 2000-04-03 2017-11-07 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US8517923B2 (en) 2000-04-03 2013-08-27 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US9427282B2 (en) 2000-04-03 2016-08-30 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US9138132B2 (en) 2000-04-03 2015-09-22 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8641602B2 (en) 2000-04-03 2014-02-04 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US8721530B2 (en) 2000-04-03 2014-05-13 Intuitive Surgical Operations, Inc. Tendon-driven endoscope and methods of use
US8062212B2 (en) 2000-04-03 2011-11-22 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8834354B2 (en) 2000-04-03 2014-09-16 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8827894B2 (en) 2000-04-03 2014-09-09 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US8696694B2 (en) 2002-01-09 2014-04-15 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US9421016B2 (en) 2002-01-09 2016-08-23 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US8361090B2 (en) 2002-01-09 2013-01-29 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US10349816B2 (en) 2002-01-09 2019-07-16 Intuitive Surgical Operations, Inc. Apparatus and method for endoscopic colectomy
US8882657B2 (en) 2003-03-07 2014-11-11 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US9980778B2 (en) 2003-03-07 2018-05-29 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
US8083879B2 (en) 2005-11-23 2011-12-27 Intuitive Surgical Operations, Inc. Non-metallic, multi-strand control cable for steerable instruments
US8568299B2 (en) 2006-05-19 2013-10-29 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US9357901B2 (en) 2006-05-19 2016-06-07 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US9220398B2 (en) 2007-10-11 2015-12-29 Intuitive Surgical Operations, Inc. System for managing Bowden cables in articulating instruments
US8608647B2 (en) 2008-02-25 2013-12-17 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body
US8182418B2 (en) 2008-02-25 2012-05-22 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body

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