SU1585142A1 - Manipulator arm - Google Patents

Abstract

The invention relates to a machine tool industry, in particular to industrial robots and manipulators. The purpose of the invention is to improve the accuracy and positioning by ensuring the reliability of controlling the rotation angles and reducing the mass and elastic characteristics of the arms of the manipulator. To rotate link 1 around an axis transverse to it, a torque is applied through cable 5 to one link connected with subsequent link 2. At the same time, cable 5 rolls around the roller from block 10 installed with the possibility of free rotation relative to adjacent links. The angle of rotation of link 1 is controlled at the opposite end of this link from the point of application of torque by the sensor 13. Rotation of links 2 and 3 is carried out in a similar way. As a result, the links 1, 2, 3 are not bent, and the output signals of the sensors 13, 14 and 15 correspond to the actual positions of the ends of these links. 1 il.

Description

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The face of block 10, installed with the possibility of free rotation relative to adjacent links. The angle of rotation of link 1 is controlled at the opposite end of this link from the point of application of torque by the sensor 13. Rotation of links 2 and 3 is carried out in a similar way. As a result, links 1-3 are not bent, and the output signals of sensors 13-15 correspond to the actual positions of the ends of these links. 1 il.

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 The invention relates to machine tool construction, in particular, to industrial robots and manipulators, mainly with programmed control. The aim of the invention is to improve positioning accuracy by ensuring the reliability of control of the rotation angles and reduction of masses and elastic characteristics of the arms of the manipulator.

The drawing shows the principal kinematic scheme of the 25th torus manipulator arm.

The arm of the manipulator contains pivotally connected links 1-3, a gripping device 4 and actuators of turning the links, made in the form of a stationary part (not shown) mounted on the rack of the manipulator, the traction elements 5-7, whose ends are connected with axes of hinges, respectively, of Links 2-4, traction elements 8 and 9, covering the drum of rotation of the gripping device 4 around the longitudinal axis, and blocks 10-12 of freely rotating rollers located on the axes of hinges of links 1-3 and enveloped by traction elements 5-8. The arm also contains sensors 13-15 of the rotation angles of the links mounted on the axles of the hinges of the links 1-3, respectively.

To rotate the link 1 around the axis of its hinge, the stationary part of the drive releases or retracts the pulling element 5, which, rolling nof to the outermost rotating role35

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for the axis of the hinge link 2, so the base bus link 1 does not occur. The control of the angle of rotation of the link 1 is performed by the pin 13 of the angle of rotation. Since the star 1 is not bent, the output of the angle 13 of the angle of rotation corresponds to the actual position of the end of link 1 - the axis of the hinge of link 2.

The rotation of the links 2 and 3 is carried out similarly with the help of respectively pull elements 6 and 7, and the same sensors 14 and 15 of the angles of rotation.

Traction element 8 rotates gripping device 4 around the longitudinal axis, and traction element 9 bends the kinematic chain of the arm.

Claims (1)

Invention Formula The arm of the manipulator, which contains spherically connected links, their rotational drives and sensors for turning angle s, mounted on axles, is a hinge that, in order to improve positioning accuracy, by ensuring reliability of control of turning angles and reducing weight and elastic the characteristics of the links, the drive of each link is made in the form of a block freely disposed on the axis of the hinge, and a traction element enveloping this block, while the angle of rotation of the link is located on the axis of the hinge connecting the link to the previous one, and coaxial with the block, and the end of the traction element is connected to the axis of the hinge, connecting this link with the subsequent one. KV from block 10, turns link 1 Compiled S.Novik Editor N.Gorvat Tehred M.Hodanich Proofreader S.Shevkun Order 2294Cart 701 Subscription VNIIPI State Committee for Inventions and Discoveries at the State Committee for Science and Technology CCTS CCC 113035, Moscow, Zh-35, 4/5, Raushsk nab. five 0 0 five five 0 five for the axis of the hinge link 2, so the bend link 1 does not occur. The control of the angle of rotation of the link 1 is performed by the sensor 13 of the angle of rotation. Since link 1 is not bent, the output signal of the angle sensor 13 corresponds to the actual position of the end of link 1 - the axis of the hinge of link 2. The rotation of the links 2 and 3 is carried out similarly with the help of respectively the traction elements 6 and 7, as well as the sensors 14 and 15 of the rotation angles. Traction element 8 rotates gripping device 4 around the longitudinal axis, and traction element 9 pulls the kinematic chain of the arm. Invention Formula The arm of the manipulator containing articulated links, their rotational drives and the angle-of-rotation sensors mounted on the axles of the hinges, is different in that in order to improve the positioning accuracy by ensuring the accuracy of control of the angles of rotation and reducing the mass and elastic the characteristics of the links, the drive of each link is made in the form of a block freely located on the axis of the hinge, and a traction element enveloping this block, while the angle-of-rotation sensor of the link is located on the axis of the hinge connecting this link to and coaxially with the block, and the end of the traction element is connected to the hinge axis connecting this link with the next.