SU1530433A1 - Manipulator - Google Patents

Abstract

The invention relates to robotics and can be used in the design of various types of manipulation systems. The aim of the invention is to simplify the design. The manipulator operates in a spherical coordinate system. In this case, the rotation of the arm 1 in the ball joint 16 is carried out by means of electric motors 7, which are mounted on the housing and are shifted one relative to the other by an angle of 90 °. The extension of the arm in the longitudinal direction is carried out by the electric motors 13, which in turn can be pushed and pushed by the electric motors 11. 6 Il.

Description

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This is accomplished with the help of electric motors 7, which are mounted on the housing and are shifted relative to each other by an angle of 9U. The extension of the arm in the longitudinal direction is carried out by the electric motors 13, which, in turn, can be pushed and pushed by the electric motors 11. b Il.

The invention relates to robotics and can be used in the design of various manipulative systems.

The aim of the invention is to simplify the design.

Figure 1 shows a manipulator looking for a view. cut-away, in fig. 2 shows the transverse displacement motor of FIG. 3 is a section A-A in FIG. Fig. 4 shows a longitudinal displacement motor; figure 5 - section b-b in figure 4; Fig. 6 is a kinematic manipulator circuit.

The manipulator contains arm 1 with a gripper 2, in which the jaws 3 carry part 4. The rods 5 are fixed on the arm, which together with the slats 6 form that system of guiding elements connecting arm 1 to the linear motors 7 transverse displacement of the arm 1 which are fixed on the housing 8 and shifted relative to each other by an angle of 90 °. The slats b are fixed on the output elements (rods) 9 el m; trog motors 7. The arm is suspended from the spring: -h 10. In addition, the motor has 11 mounted on the housing}, and the same electric motors 7, on the rods 12 of them electric motors 13 41 slide 1 arm 1 are installed. The currents of electric motors 13 are also connected to strips 14, which interact with protrusions 15 on arm 1. In the middle arm

It is equipped with a ball joint 16.

Winding 17 electric motors 7 and

II is located in the guides 18

and the gap formed by the pole ends: gmi 19. Between the tips on the base 20, the source 21 of the magnetic field — the electromagnet or a constant r-magnet — is strengthened. The device of electric motors 13 is similar, only a double coil with a winding occurs perpendicular to the axis of the gate, which is achieved by installing guides 22. The windings of all electric motors are connected to the power unit, KOToi biii sweats the command on the

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control of the corresponding electric motor.

The manipulator operates in a spherical coordinate system. The rotation of the arm around the hinge 16 is carried out by the electric motors 7, which are arranged in pairs in two mutually perpendicular planes. When a current of one or another polarity flows through the winding 17, it interacts with the field of the source 21. As a result, a force appears that is applied to the rod 9 and, accordingly, to the bars 6. The bars are in the grooves formed by the rod ml 5 and arm 1, therefore, the movement of the planks leads to the rotation of the arm with the grip in the hinge 16. The extension of the arm is carried out by the electric motors 13. Their rods, moving in the direction of SCH1x1x, move the strips 14. The slats are engaged with the projections 15 and produce promotion or extension of the arm. In addition, the electric motors 13 themselves can be moved by the electric motors 11.

Claims (1)

Invention Formula A manipulator containing a gripping arm, connected through a system of guide elements with linear transverse hand displacement motors mounted on the body and shifted 90 degrees relative to each other, and the linear longitudinal displacement motor of this arm simplifying the design, the system of guide elements is made in the form of four rods fixed on the arm parallel to its axis and shifted relative to each other at an angle of 90 °, and four strips, each of which is rigidly coupled to the output member of the motor corresponding lateral movement and set between the rod positioned with the sides of the motor and by hand. S 1 9 6 g S 11/2 WU //// 777 /. Fi.Ch. TO-/( t 17 eight /at x g YU / V 1 //// 7 /// Л Phi. d w - s FIG. Sb FI.5