SU1535717A1 - Manipulator ingot - Google Patents

Abstract

The invention relates to mechanical engineering and can be used in the structures of manipulators. The aim of the invention is to increase durability by reducing internal stresses in a flexible wheel. When the main motor 14 is turned on, the wave former 11 rotates, deforms the flexible wheel 4 and forms its engagement with the rigid wheel 5. At the same time, the free end 23 of the flexible wheel 4 is also deformed due to the redistribution of hydroplast 21 in the groove 19. Rotation of the stator 13 causes rotation of the wave former 11 and the effect of a traveling wave on a flexible wheel 4. As a result, a rigid wheel 5 rotates, kinematically connected with the driven link 1 of a self-braking sparking-free worm gear 8. The traveling wave is also formed one end 23 of the flexible wheel 4, but the installation of this end in the fluid coupling 25 allows it to self-adjust, which reduces its internal stresses. The balancing cam mechanism 17 removes from the flexible wheel 4 the main part of the transmitted load by means of a special cam profile 18. To change the speed of the driven link 1 while the rotating stator 13 of the main motor turns on an additional electric motor 10. It rotates the worm 9, the worm gear a crown 7 and a rigid wheel 5. The addition of movements from two electric motors 14 and 10, their reversal and speed control ensures the operation of the hinge in a wide range of speeds. 5 il.

Description

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The invention relates to mechanical engineering and can be used in the structures of manipulators.

The aim of the invention is to increase durability by reducing internal stresses in a flexible wheel.

FIG. 1 shows a hinge, a slit in FIG. 2 is a section A-A in FIG. one; in fig. 3 is a section BB in FIG. one; in fig. 4 — node I in FIG. 3; in fig. 5 - the shape of a flexible wheel deformed by the wave former.

The manipulator hinge contains the driven 1 and the driving 2 links kinematically connected to the wave gear 3. The wave transfer 3 contains a flexible gear 4 and a rigid gear 5 mounted on rolling bearings 6 mounted on the driven link 1. Worm gear 7 the self-braking worm gear 8 is fixed coaxially with the rigid cog wheel 5 of the wolf gear 3 and forms a gear with the screw 9, which, in turn, is articulated with the additional motor 10. The flexible wheel 4 is deformed the wave former 11 through the flexible bearing 12. The wave former 11 is rigidly mounted on the movable stator 13 of the main motor 14. On the stationary rotor 15 of the electric motor 14 is mounted axially movable in the axial direction the cam 16 of the balancing cam 17, and the cam 18 of the mechanism 17 is rigidly connected with the driven link 1. An annular groove 19 is made on the driving link 2, hermetically sealed with an elastic ring 20. The cavity of the groove 19 is filled with a hydroplastic 21. Inside the groove 19 there are adjustable lugs 22. At the same time, the elastic ring 20 with tension is flushes the free end 23 of the flexible gear 4. In order to increase

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The elastic ring 20 is provided with a metal cord 24. A groove 19 with an elastic ring 20 and a hydroplastic 21 form a hydraulic coupling 25. When assembling the hinge, the free end 23 of the flexible gear wheel 4 is surrounded by an elastic ring 20 and then the uniform volume of the adjustable stops 22 changes which increases the pressure of the hydroplast 21 on the elastic ring 20. Under the action of pressure in the groove 19, the elastic ring 20 fixes the flexible wheel 4 relative to the driving link 2, and the presence of the metal cord 24 increases rigidity and firmly st rings 20.

The hinge of the manipulator works as follows.

Under the action of the wave former 11, the flexible wheel 4 is deformed and meshes with the rigid wheel 5, while the free end 23 of the flexible wheel 4 is also deformed due to the redistribution of the hydraulic layer 21 b slot 19. The rotation of the stator 13 causes the wave former to rotate and the traveling wave on the flexible wheel 4. As a result, the rigid wheel 5, which is rigidly connected to the home link 1, rotates by means of a self-braking, backlash-free worm gear 8. The free end 23 of the flexible wheel 4, fixed by an elastic ring 20, one hand, it does not allow the flexspline 4 perform circumferential movement, and on the other hand, has a radial elasticity. The latter determines the presence of a traveling wave at the free end 23, which, in turn, allows the flexible wheel 4 to self-align itself and, therefore, reduces internal stresses in it. In addition, the presence of a balancing cam mechanism 17 makes it possible to remove the main part of the transmitted load from the flexible wheel 4 by

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cam profile 18. To change the speed of movement of the slave link 1 when the stator 13 of the main motor 14 rotates, an additional electric motor 10 turns on. When the rotor of the additional motor 10 rotates, the backlash 9 of the worm 9 rotates, which

with a cam with a pusher, this is so that, in order to increase durability by reducing internal stresses in the flexible wheel of a wave gear, the hard wheel of this gear is equipped with a worm gear the link is equipped with a worm,

Radially, through a worm gear 7, it rotates a rigid gear 5 of wave transmission 3, which forms a self-drive with a certain gear ratio with this crown. The addition of two movements, one of which can vary both in magnitude and in direction, allows the The speed and direction of movement of the slave link 1 of the hinge.

Claims (1)

Invention Formula A manipulator hinge containing a main motor with a fixed rotor, a drive and a driven unit is kinematically connected to each other by a wave gear having rigid and flexible gears, of which the flexible one is fixed with a free end on the driving link equipped with a counter-balancing mechanism five worm gear, while the screw is connected to the rotor of the additionally introduced electric motor, the pusher of the counterbalancing mechanism is mounted on the fixed rotor of the main electric motor, the cam is fixed on the driven link, and the driving link is equipped with a hydraulic clutch designed to attach a flexible wheel to it. , one half-coupling of which is made in the form of an annular groove filled with a hydroplastic bore, bored into the body of the leading link, and the other - in the form of one installed diametrically opposite to This is another in this groove of adjustable stops and an elastic ring, covering the free end of the flexible wheel of the wave gear. / -BUT FIG. 2 Fig. 24 23 20 FIG. FIG. five