SU1366388A1 - Method of controlling resonance mechanical arm - Google Patents

Abstract

The invention relates to mechanical engineering, in particular to the control of robots and manipulators used to mechanize and automate basic and auxiliary operations in industry, for example, for loading and unloading parts from machines in a machine-building industry. The aim of the invention is to reduce energy consumption and metal consumption by reducing frictional force between surfaces displaced relative to each other. During the removal of the latch 4 from the groove made in the movable link 1, an alternating polarity voltage is applied to the electric motor until the latch comes out of the groove, and only after that begin to apply a voltage whose polarity corresponds to the desired direction of movement of the arm . 1 il. 1C (L

Description

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The invention relates to mechanical engineering, in particular, to the control of robots and manipulators used to mechanize and automate basic and auxiliary operations in industry, for example, for loading and unloading parts from machine tools in engineering production.

The purpose of the invention is to reduce energy consumption and metal consumption by reducing the frictional force between the surfaces moved relative to each other,

The drawing shows a device that implements this method.

The device comprises a movable link 1 of a resonant mechanical arm connected to the base 2 by an elastic element 3. The movable link 1 is connected also to a driving motor (not shown).

By the torque of the drive motor, the movable link 1 of the resonant mechanical arm can rotate around its axis against or in a clockwise direction. I

In the moving link 1 there are two

the groove with which the latch 4 communicates with the base 2 by the elastic element 5 and the electromagnet 6 ,. rigidly mounted on the base 2 system of levers 7.

The latch 4 under the action of the force applied to it by the electromagnet 6 through the system of levers 7 can be removed from the groove, and under the action of the elastic element 5 is inserted into the groove.

Moreover, the moment of release of the latch 4 from the groove is recorded by the sensor 8

The device works as follows.

In the initial position, the latch 4 can be in either of the two slots, then the movable link 1 of the resonant mechanical arm is also in one of the fixed positions. The elastic element 5 presses the latch 4 to the groove. The elastic element 3 has a potential energy reserve in either of the two fixed positions of the resonant mechanical arm. The supply voltage on the electric motor and the electromagnet 6 is missing. The movable link 1 acts on the latch 4 with a force of normal pressure, which can be created by the moment of the weight of the resonant mechanical arm and the load held

in the grip, as well as the moment from the elastic element 3 relative to the movable link 1.

To start the process, it is necessary to simultaneously apply a voltage of alternating polarity to the drive motor and the supply voltage to the electromagnet 6.

The motor generates a variable in the direction and magnitude of the torque 1, the maximum value of which, for example, is larger than the aggregate of moments creating a force of normal pressure, which leads to a periodic change in the force of the normal pressure from some maximum value to zero, hence the frictional force between the latch 4 and the groove will also periodically change from some maximum value to

zero.

I

The electromagnet 6 through the system of levers 7 applies a force to the latch 4. The latch 4 begins to exit the groove at that moment in time when the sum of the forces of the elastic element 5 and the friction between the latch 4 and the groove becomes equal to the force on the latch 4 created by the electromagnet 6. At the moment of exit From the groove, the latch 4 acts on the position sensor 8, on the signal of which a voltage is applied to the driving motor, the polarity of which is determined by the required direction of movement of the resonant mechanical arm.

Thus, as a result of the operation of the device at the moments of movement of the latch 4 from the groove, it is possible to reduce the frictional force between the latch 4 and the groove, since the friction force periodically changes from a certain maximum value to zero, and consequently, to reduce the force on the latch 4 from the electromagnet b, which is required to remove the latch 4 from the groove. This allows reducing power consumption and metal consumption of the device due to the fact that it becomes possible to reduce the supply voltage of the electromagnet 6 and, consequently, the dimensions and weight of the electromagnet 6 with the system of levers 7.

It is possible, having included a capacitor in the drive motor circuit, to select its capacitance so that the resulting electric oscillating circuit works in the resonant mode. Then maybe

the latch is determined only by the force of gravity of the carried load.

minimize the energy costs of creating a variable polarity voltage applied to the drive

Claims (1)

electric motor. This will allow an additional formula to reduce the power consumption of the device. The device in which the movable arm of the hand makes not a rotational, but a translational-Q motion works similarly. In this case, not a moment that is variable in direction and magnitude is applied to the moving link, but the force is also variable in direction and magnitude. The greatest effect of the proposed method is achieved in a resonant mechanical arm with a snapping elastic element when, in the locked position, the elastic element has no effect on the latch and friction force A method of controlling a resonant mechanical arm, which consists in removing a latch from a groove made in a movable link by means of an actuator and then moving the movable link using an elastic element and an electric motor, characterized in that in order to reduce energy consumption and metal consumption due to reducing the frictional force between the surfaces being moved relative to each other; during removal of the latch from the groove, an alternating polarity voltage is applied to the electric motor. the latch is determined only by the force of gravity of the carried load. Invention Formula A method of controlling a resonant mechanical arm, which consists in removing a latch from a groove made in a movable link by means of an actuator and then moving the movable link using an elastic element and an electric motor, characterized in that in order to reduce energy consumption and metal consumption due to reducing the frictional force between the surfaces being moved relative to each other; during removal of the latch from the groove, an alternating polarity voltage is applied to the electric motor.