SU1491698A1 - Balanced manipulator - Google Patents

Abstract

The invention relates to mechanical engineering, in particular, to manipulators and industrial robots. The purpose of the invention is to improve the dynamic characteristics by increasing the accuracy of balancing while reducing the mass of moving parts. Column 2 with actuators 3, 4, 5, and 6 is mounted in rails of the base 1. In the uppermost position of the column, the balancing spring 7 develops a force. When the column is moved downward due to the drive, the amount of spring deformation increases, since its end is connected to the column by means of a flexible element 8 and the kinematic connection mechanism of the column with a spring consisting of a batten 12, a gear wheel 11 and a drum 10. Appropriate selection of spring parameters ensures a constant balance of the whole manipulator. To more accurately balance the surface of the drum 10, it may be made cylindrical or conical with a rectilinear or curvilinear generatrix. 3 hp f-ly, 5 ill.

Description

with

05 CD

00

F1 /.

This invention relates to mechanical engineering, in particular, to manipulators and industrial robots.

The purpose of the invention is to improve the dynamic characteristics by increasing the accuracy of balancing while reducing the mass of the moving parts of the manipulator.

FIG. 1 shows a balanced manipulator, general view; in fig. 2 shows an embodiment of a drum with a conical working surface; in fig. 3 shows an embodiment of a drum with a curvilinear shape; in fig. 4 shows the forces acting on the rail of the kinematic coupling mechanism; in fig. 5 - Tina forces acting on the drum.

The manipulator contains a base 1, with which column 2 forms a translational pair. The actuator also contains a translational pair 3, which does not require balancing, and two rotational pairs 4 and 5. A gripper 6 is installed at the end of the actuator. Inside the column 2 there is a balancing spring 7 of the balancing mechanism (compression and compression springs can be used) connected by a flexible element 8 through a fixed block 9 with a drum 10 of the mechanism of kinematic connection of a column with a spring mounted coaxially with a leading gear

ten

MNR PK-Cyo (R-g) -cx (R-r) 2 / R.

In the event that an approximate equilibration is allowed in the structure, the drum 10 of the kinematic coupling mechanism may be cylindrical. If we assume that the absolute values of the moment of imbalance are equal to each other in the extreme positions of the column, an expression can be obtained for choosing the parameters of the elastic element.

with .

II Ia n R - g

thirty

H

2a R

More accurate balancing may be achieved in the case of the implementation of the drum 10 of a kinematic coupling mechanism with a conical working surface with a straight line or curvilinear generatrix.

From a consideration of the equilibrium of the system of forces depicted in FIG. 4 and 5, an expression describing the law of variation of the drum radius can be obtained.

PVFo

(l

25

Vl-f2-.A.

b Jo

Thus, the constant coupling of the spring 7 via the flexible element 8 and the kinematic coupling mechanism for moving the column 2 by the wheel 11 on the output drive shaft (not a definite deformation

shown). Wheel II meshes with the toothed rack 12 of this kinematic coupling mechanism mounted on column 2. The drum 10, together with the toothed wheel 1 1 rigidly connected to it, form a gear called the 35 differential drum, whose gear ratio is R / (R - d), where R is the radius of the initial circle of gear 11, g is the radius of the drum.

. V anipol top works as follows.

In the extreme upper position of the column 2, the spring 7 has an initial deformation of Y || and develops the force fo su (), where c is the spring stiffness. In order to completely balance the arm of the robot in this position, an additional moment must be applied to the wheel I 1 to compensate for the moment of imbalance. When the arm is moved down by X, the deformation of the spring increases

40

springs, which ensures the constant balance of the whole manipulator.

Claims (4)

Invention Formula I. A balanced manipulator containing a base with guides, a column installed in the guide bases, isp. 1n mechanism, mounted} | on the column, the drive mounted on base and kinematically associated with the column, a balancing spring, as well as a flexible element passing through the block, hinged on the base and rigidly connected with one end to one end of the spring, 45 different in that, in order to improve dynamic characteristics by improving the accuracy of balancing while simultaneously increasing the mass of moving parts, it is equipped with a kinematic connection mechanism of the column with a spring, the value of (RT) / R, 50 holding the gear-rack drive, the rake is unbalanced Addressing varies. Its value determines the equilibrium conditions for the system of forces shown in FIG. 4 and 5. Where P is the weight of the vertically moving parts of the robot arm, F is the spring force, S is the circumferential force in the gearing of the wheel I I with the rail, the moment of imbalance 12, which is rigidly fixed to the column, and the gear wheel is pivotally mounted on the base and forms an engagement with the rail, as well as a drum rigidly mounted on this gear wheel, while the second end of the flexible element is rigidly fixed MNR PK-Cyo (R-g) -cx (R-r) 2 / R. In the event that an approximate equilibration is allowed in the structure, the drum 10 of the kinematic coupling mechanism may be cylindrical. If we assume that the absolute values of the moment of imbalance are equal to each other in the extreme positions of the column, an expression can be obtained for choosing the parameters of the elastic element. with . II Ia n R - g thirty H 2a R PVFo (l Vl-f2-.A. b Jo Thus, the constant coupling of the spring 7 via the flexible element 8 and the kinematic coupling mechanism of the movement of the column 2 is 35 40 springs, which ensures the constant balance of the whole manipulator. Invention Formula I. A balanced manipulator containing a base with guides, a column installed in the guide bases, isp. 1n mechanism, mounted} | on the column, the drive mounted on base and kinematically associated with the column, a balancing spring, as well as a flexible element passing through the block, hinged on the base and rigidly connected with one end to one end of the spring, 45 different in that, in order to improve dynamic characteristics by improving the accuracy of balancing while simultaneously changing the mass of moving parts, it is equipped with a kinematic connection mechanism of the column with a spring that holds a rack and pinion gear, rail 50 holding rack and pinion, rake which is rigidly fixed on the column, and the gear wheel is pivotally mounted on the base and forms an engagement with the rail, as well as a drum rigidly mounted on this gear wheel, while the second end of the flexible element is rigidly fixed on the drum, and the second end of the spring is fixed on the column . 2. Mannpulator of claim I, characterized in that the drum of the kinematic coupling mechanism is cylindrical. 3. Manipulator according to claim 1, characterized in that the drum of the kinematic coupling mechanism is made conical. 4. Manipulator according to claim 1, characterized in that the drum of the kinematic coupling mechanism is formed with a curvilinear generator. Fig.z R 5