SU1576309A1 - Setting device for manipulator - Google Patents

Abstract

The invention relates to the field of mechanical engineering, in particular to robotics. The aim of the invention is to improve the accuracy of the setting device of the manipulator. The device comprises a control handle 1, a base 2 with elastic plates mounted on it. A sphere 10 with fingers 11 is fixed on the rod 9. Each of the fingers 11 is placed between the elastic plates 12. Sensors of their positions are installed on the elastic plates, for example, in the form of resistance strain gages. The device works as follows. The movement of the control handle 1 is perceived by the elastic plates through the rod 9 and the sphere 10. In this case, the plates are deformed, the magnitude of which is determined by the position sensors. 4 il.

Description

The invention relates to mechanical engineering and can be used in the control of remote manipulator robots.

The aim of the invention is to simplify the design and reduce the size of the device.

FIG. 1 shows the device, a general view; in fig. 2 is a section A-L in FIG. one; in fig. 3 section BB in figure 1; in fig. A - position sensor.

The device comprises a control handle 1 pivotally mounted on the base 2 by means of a suspension including elastic plates. The control handle 1 is made in the form of a rod 9 rigidly connected to a sphere 10 on which fingers 11 are fixed. Each finger 11 is placed between two elastic plates 12, fixed at one end on the base 2. Elastic plates are divided into three groups: elastic plates 3. k, 1 and 8 interact with the rod 9 elastic plates 5 and 6 with sphere 10, and elastic plates 12 with fingers 11. On elastic plates 3-8 and 12 mouth Credited position sensors 13-20. The knob 21 is mounted on the control handle 1 to squeeze or depress the gripper of the actuator's actuator. The sensors 13-20 of the position are made in the form of strain gauges 22 or contact sensors 23.

The device works as follows.

The operator manipulates the control handle 1, and the axial movements of the rod 9 cause the deformation of the elastic plates of the second group, deviating the rod 9 from the axis causes the deformation of the elastic plates of the first

five

0

five

0

five

40

group, and the rotation of the rod 9 around the axis causes deformation of the elastic plates of the third group. When the elastic plates and 12 deform, the corresponding position sensors are triggered, and, if they are made as strain gauges, the degree of deformation of the elastic plate is determined, if they are made as contact sensors, only the moment when the strain value becomes sufficient for these sensors to work .

A variant of the position sensors (Fig.) Is possible, the KOI-s at the same time are installed the tensors 22 and the contact sensors 23. In this case, additional elastic plates 2k are installed. At the same time, the contact sensors 23 help to fix some certain level of deformation of the elastic plates and 12.

Claims (1)

Invention Formula A manipulator driver, containing a base, a control handle hinged on it, and a suspension connecting them, including elastic plates with sensors for their position, which, in order to simplify the design and reduce the size, the handle is in the form of a rod rigidly connected with the sphere on which the fingers are fixed, and the suspension consists of three groups of elastic plates, and the elastic plates of each of the groups are fixed at one end on the base with the possibility of interaction with the rod, the sphere and Alzen, respectively. IN Q S Crf rf l o, t w OIKS Ln j  U About VD NJ Co 23 22 23 rmm. Figm