SU1684035A1 - Device for unloading robot arm link - Google Patents
Device for unloading robot arm link Download PDFInfo
- Publication number
- SU1684035A1 SU1684035A1 SU884403863A SU4403863A SU1684035A1 SU 1684035 A1 SU1684035 A1 SU 1684035A1 SU 884403863 A SU884403863 A SU 884403863A SU 4403863 A SU4403863 A SU 4403863A SU 1684035 A1 SU1684035 A1 SU 1684035A1
- Authority
- SU
- USSR - Soviet Union
- Prior art keywords
- link
- sensors
- robot arm
- reducing
- deformations
- Prior art date
Links
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- Manipulator (AREA)
Abstract
Изобретение относитс к машиностроению и может быть использовано в промышленных роботах и манипул торах. Цель изобретени - повышение точности позиционировани за счет уменьшени деформаций звена руки робота от изгибающих моментов и уменьшение массы звена. При захвате груза поперечна составл юща усилий- создает на звене 1 изгибающий момент, линейно возрастающий вдоль его оси, и соответствующие изгибающему моменту деформации этого звена. У начала звена 1 они измер ютс датчиками 17, 18, 19 и 20, а у конца - датчиками 21, 22, 23 и 24. Сигналы с датчиков после соответствующей обработки подаютс соответственно на приводы 4 и 5 поворота рычагов и приводы 15 и 16 опор 11, 12, 13 и 14. За счет перемещени опор измен етс усилие нат жени т г, что приводит к полной разгрузке звена 1 от внешних изгибающих моментов и поперечных сил. 2 ил. а SThe invention relates to mechanical engineering and can be used in industrial robots and manipulator tori. The purpose of the invention is to improve the positioning accuracy by reducing the deformations of the robot arm link from bending moments and reducing the mass of the link. When a load is gripped, the transverse component of the force creates a bending moment on link 1, linearly increasing along its axis, and deformations of this link corresponding to the bending moment. At the beginning of link 1, they are measured by sensors 17, 18, 19 and 20, and at the end by sensors 21, 22, 23 and 24. Signals from the sensors after appropriate processing are fed to actuators 4 and 5 of turning levers and actuators 15 and 16 of supports 11, 12, 13 and 14. Due to the displacement of the supports, the tension force of the pull g is changed, which leads to the complete unloading of the link 1 from external bending moments and shear forces. 2 Il. and s
Description
фиг. гFIG. g
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SU884403863A SU1684035A1 (en) | 1988-04-05 | 1988-04-05 | Device for unloading robot arm link |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SU884403863A SU1684035A1 (en) | 1988-04-05 | 1988-04-05 | Device for unloading robot arm link |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SU1585150 Addition |
Publications (1)
Publication Number | Publication Date |
---|---|
SU1684035A1 true SU1684035A1 (en) | 1991-10-15 |
Family
ID=21366052
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SU884403863A SU1684035A1 (en) | 1988-04-05 | 1988-04-05 | Device for unloading robot arm link |
Country Status (1)
Country | Link |
---|---|
SU (1) | SU1684035A1 (en) |
-
1988
- 1988-04-05 SU SU884403863A patent/SU1684035A1/en active
Non-Patent Citations (1)
Title |
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Авторское свидетельство СССР № 1585150, кл. В 25 J 19/00, 1985. * |
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