SU1491692A1 - Manipulator - Google Patents

Abstract

The invention relates to robotics and automation means and can be used to build modular robots and robotic systems. The aim of the invention is to increase productivity and simplify the design by using a single sensor in determining the position of the actuator when moving it in a plane. The actuator connected to the guide 9 moves when the carriage, consisting of two parts 3 and 4, moves along the guide 2, mounted on the base 1, when the guide 9 moves longitudinally in the carriage and turns the guide 9 together with part 4 of the carriage by means of the engine 5 through a chain transmission including sprockets 6 and 7 connected by a chain 8. On part 4 of the carriage a rotation angle sensor 10 is fixed, the shaft of which alternately engages gears meshing with the gear racks through the coupling, fixed E on the guide 2 and 9. By alternately engaging shaft sensor 10 with gears and engine braking rotor provided definition executive positions with one sensor. 3 il.

Description

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The invention relates to robotics and automation means and can be used to build modular robots and robotic systems.

The purpose of the invention is to increase productivity and simplify the design by using a single sensor in determining the position of the actuator when moving it in a plane.

FIG. Figure 1 shows a manipulator with a control system; pas figs. 2 is a view A with a section BB in FIG. one; in fig. 3 is a view of B in FIG. one.

On the base 1, a first guide (column) 2 is fixed on which a carriage consisting of two parts 3 and 4 is installed, part 4 being provided with a rotation drive comprising a motor 5 mounted on part 3 of the carriage and two sprockets 6 and 7, connected by a chain 8. On the carriage part 4, a second guide (columns) 9 is installed. It is connected with the executive body of the manipulator (not shown). The manipulator also contains a device for determining the position of the actuator, including a rotation angle sensor 10, the body of which is fixed to the carriage part 4, and the shaft through the controlled coupling 11 has the ability to engage with gears 12 and 13 that are in engagement with gears with the rails 14 and 15, respectively, with the gear bar 14 being rigidly connected with the first guide 2, and the gear bar 15 with the second guide 9. Moving the carriage along guide 2 and moving the guide 9 in the carriage occurs by means of x cylinders 16 and 17, respectively, bonded through a control valve 18 with the hydraulic pump 19.

The manipulator drives are controlled by the engine control unit 20 5 and the control signal generation unit 21.

The manipulator works as follows.

From block 2, a control signal is supplied to the distributed valve 18 to activate the hydraulic cylinder 16, which with its rod moves the carriage along the guide 2, while the coupling 1 1 engages the sensor shaft 10 with the gear wheel 12. The carriage moving through the gear rail 14, rotates the gear 12, which rotates Ba. i of the sensor 10. The housing of the sensor 10 together with the carriage part 4 is held against rotation by the motor 5, the rotor of which is braked, for example, by magnetizing it. When the shaft of the sensor 10 rotates, the input of the block 21 is given a signal proportional to the movement along the Y coordinate. When the set position is reached, the command is given to turn off the hydraulic cylinder 16 and turn on the hydraulic cylinder 17, as well as a signal to the coupling 11 that connects the gear shaft 10 wheel 13. The hydraulic cylinder 17, with its stem abutting against the carriage part 4, moves the guide 9 together with the executive body along the X coordinate. The rack rail 15 rotates the gear wheel 13 and through the sleeve 11 the sensor shaft 10, the signals from which are fed to block 21.

In order to rotate the rail 9 by an angle φ, a signal is fed from block 20 to the engine 5. In this case, the coupling 11 engages the gear wheel 12, which is engaged with the rail 14, and the shaft of the sensor 10 is kept from turning. Engine 5. rotates part 4 of the carriage through a chain transmission, and with it the guide 9 and the actuator. The rail 15) is permanently engaged with the gear wheel 12, which

This cycle of movement rotates freely relative to the shaft of the sensor 10. Together with part 4 of the carriage, the body of the sensor 10 rotates, and since the sensor shaft is kept from turning, signals at its output are proportional to the angle of this rotation.

Claims (1)

Invention Formula 0 five A manipulator containing a second guide mounted on the base with a carriage, a second guide connected to the actuator and located on the same carriage perpendicular to the first guide, hydraulic drives for moving the carriage along the first guide and the second relative carriage guide and device for determining the position of the actuator, including a steering angle sensor, two gears and two gear racks meshing with the corresponding gears and placed on the first and second guides, characterized in that, in order to increase productivity and simplify the design by using a single sensor to determine the position of the actuator in the plane, it is equipped with a controllable coupling mounted on the shaft of the angle of rotation, and the carriage made of two parts and provided with a rotational drive of the second part, on which the second guide is mounted, relative to the first part mounted on the first guide, while the gears of the device for determining elenid executive position sensor arranged coaxially with the shaft, with , alternately engaging with it through the specified controllable clutch, and the sensor housing is rigidly connected to the second part of the carriage. 0 View A and 6-6 (the keeper F.) () b  L; 1KT () p. V. DankoTehrsl I. VeresKorrector T. M; i.ieu Zack; and 3804, | 8 Draw 778 Subscription VNIIPI of the State Committee on Inventions and Discoveries at the GKSH S (-C1 113035, L Oskva, H-35, Raupk ka nab., 4/5 Production and publishing complex “Patent, Uzhgorod, ul. Gagarin, 101 FIG. 2 Buffb sixteen cpi / g3