SU1757869A1 - Industrial robot arm module - Google Patents

Abstract

The use of mechanical engineering, in particular robotics, equilibrates the ru and in operation is carried out by two hinged m / fts connecting the parts of flexible tapes forming two driving and two balancing unclosed flexible connections, and on each coupling half diametrically opposite ends of one pair of driving and balancing tapes, opposite ends of one pair of tapes of each half-coupling are fixed on the hinge of the brush rotor, and the other peers of the tapes - on the pulley of the swing drives of the forearm and brush 4 Il.

Description

The invention relates to mechanical engineering, in particular, to industrial robots used for the automation of technological processes, in particular for working on grinding, debiling, polishing, etc.

Technical solutions are known in which, in order to ensure high dynamic characteristics and accuracy parameters, the manipulator contains a base with drives placed on it and a multi-link mechanical arm, the links of which are sequentially connected with gear drives and differential blocks implementing the kinematic separation of movements using .. of the links and the tension kinematic chain for sampling gaps.

The disadvantage of these solutions is their high structural complexity, therefore, such industrial manipulators are practically not received. With

this selection of gaps is provided only for B, the initial period of operation, since the wear of the gears of the main and tension kinematic chains leads to the appearance of gaps in the actuator actuators of the manipulator.

The closest to the proposed technical solution is an industrial robot with an articulated arm, adopted as a prototype

The robot contains a movable body mounted on the base, with which the nepVoe shoulder of the arm is spherically articulated, the end of which has a forearm on the hinge. At the front end of the forearm is located the hand, and on the other - drives. The output shafts of the drives and the input shafts of the brush are connected by flexible couplings, for example, chains, equipped with chain extension joints.

The disadvantage of this design is to consider what is provided only by

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Improve dynamic performance by balancing the forearm of the robot arm by pushing the actuators and actuators of the hand, which are kinematically connected by flexible couplings, at opposite ends of the forearm. At the same time, this hand design does not ensure rotation of the hand, and the rotation mechanism would be advisable to be placed in front of the hand swing mechanism, since such a combination of hand actuators provides wide technological capabilities of the robot, such as tapering, tapered, spherical or inclined surfaces during burrs. Attempting to provide this hand with a brush rotation mechanism is not feasible, since this requires interrupting the existing flexible connections or placing the swing drive directly on the body of the hand, which will dramatically worsen the dynamic characteristics of the hand. Any other solutions lead either to dependent kinematic points, which considerably complicate the control of the robot, or to the complexity of the construction described above.

The aim of the invention is to improve the dynamic characteristics while simultaneously expanding the technological capabilities of the robot.

This is achieved by the fact that the forearm of the arm is provided with two hinged sleeves, the half-muffs of which have the possibility of rotation one relative to the other, and the flexible connections are made in the form of two parts of four flexible links forming two driving and two balancing unclosed ribbons connected to the hinge joints , moreover, on the first half coupling of each coupling, the ends of one drive and one balancing parts of the tapes are diametrically opposed, the opposite ends of which are fixed on the swing shaft, and to the second the half coupling is similarly attached to other parts of the tapes, the opposite ends of which are fixed in pairs on the drive and balancing -pieces.

Supplying the forearm with two hinged couplings connecting two closed two-piece two driving and two balancing metal tapes allows torque to be transmitted from the engine to the brush swing hall through the rotation mechanism while ensuring the independence of the kinematic chains. This achieves the ability to transfer the engine from the body of the hand to the forearm, which increases the dynamic

characteristics of the robot. At the same time, the technological capabilities of the robot are expanded by supplying the hand with an additional degree of mobility by rotating the brush, which allows the robot to be used effectively when machining inclined, screw, conical, spherical and other surfaces.

hand mechanisms, since it provides a gapless transfer of rotation from the engines to the rotation and swing mechanisms.

Figure 1 shows the forearm of the robot arm, section; Fig. 2 shows a fastening assembly for tapes with a half coupling of a hinged coupling;

Fig. 3 shows a guide roller assembly; on

4 is a connection of electric motors with

rotary drive shafts and spindle.

The robot arm module contains (FIG. 1)

body 1 forearm mounted on bearings 2, hand body 3 in which a hollow swing shaft 5 is placed on bearings A. The shaft 5 is made pulleys 6, 7, 8, 9. Pulleys 6, 7

are connected by flexible connections, for example, metal tapes, with driving pulleys 10,11, made on the hub mounted on the output shaft of the gearbox TJ 14, Pulleys 8, 9 are connected

with pulleys 15, 16 of the balancing pulley 17 mounted down the shaft of the forearm 18 rigidly connected to the housing 1. Each of the four flexible links is open and consists of two parts,

Flexible links formed by ribbons 19,

20 and 21, 22, are driven, and the links

consisting of tapes 23, 24 and 25, 26 form

balancing kinematic chain.

The inner ends of the bands 19, 25 and 20, 26

respectively connected to the coupling halves 27, 28 of the hinge coupling, rotating one relative to the other in the bearing 29. Moreover, the ends of the belts are fixed on the coupling halves diametrically opposite

(Fig. 2), which makes it possible to balance the hinge in any position during rotation of the housing 3 of the hand relative to the longitudinal axis of the arm. The belts 21, 23 and 22, 24 are connected in the same way with the half coupling 30, 31, and the shaft 5 is rotated in the opposite direction. Position 32 marked bearing.

Within the magnitude of the axial movement of the hinge couplings, determined by the angle of rotation of the shaft 5, the belts are oriented with guide rollers 33, 34 and 35, 36, rotating on brackets 37, 38, in a plane passing through the axis of rotation of the brush (Fig. 3). At the end of the body 1 of the forearm, a gearbox 39 with an electric motor 40 is mounted, which causes the shaft 41 to rotate and is rigidly mounted on the body 3 of the hand (FIG. 4). On the wheel 41 on the bearing 42 and in the housing 1 on the bearing 43 there is a hollow shaft 44, at one end of which a gear wheel 45 is mounted, which meshes with the gear wheel 46 mounted on the shaft of the electric motor 47. The other end of the shaft is connected to the bevel gear 48, meshing with the gear shaft 49, carrying the gear wheel 50. Inside the hollow shaft 5 there is a gear shaft 51 with a gear wheel 52 and a spindle 53 with a bevel wheel 54. Shaft prepack 18 mounted on bearings 55 in the base 56 - ki, connected by a gearbox 57 with an electric motor 58

Module hands industrial robot works as follows.

Rotation of the electric motor 58 with the reducer 57 ensures rotation of the shaft of the forearm 18 with the housing 1 relative to the base 56 (Fig. 1). The rotation of the forearm brush is carried out by transmitting the rotation of the or the electric motor 40 through the gearbox 19, the shaft 41 to the housing 3, which is rotated on the bearings 2, changes the position, of a WIH tool spindle (not shown), set by the output end of the swing shaft 5 and receiving a driving movement from the spindle 53.

The swing of the tongs or tool spindle is rotated on bearings 4 of the swing shaft 5, which receives rotation from the electric motor 14 through the gearbox 13 and the hub 12, which, when rotated, winds or reels the parts of the driving belts 20 and 22 fixed to the pulleys 10 and 11 The latter, moving in opposite directions to the hinge sleeves, drive the belts 19 and 71, allowing the shaft 5 to rotate. A plane-parallel movement of the hinge couplings along the axis of rotation of the brush is ensured by simultaneously moving by pulleys 8, 9, 15, 16 balancing tapes 23.25 and 24.26. At the same time, due to the possibility of rotation of the coupling halves 27 and 30 relative to the coupling half 28 and 31, torque is transmitted to the shaft 5 when the belts 19, 21 and 23, 25 rotate together with the housing 3, ensuring the independence of the movements of the swing and rotation drives.

The rotation of the spindle 53 is carried out from the electric motor 47 through the gears 45, 46, crawled into l 44, the bevel gear 48, the gear shaft 49 the gears 50, 52, the shaft-gear 51 and the bevel gear 54,

The proposed technical solution has significant differences from the prototype, which are fixed in that the forearm of the arm is equipped with two hinged couplings, in the case of the coupling backs, they can be arrested one relative to the other, connecting two open and two sections and two sections, and On the other side of each coupling, diametrically, the ends of one drive and one balancer are diametrically opposed, one end of which is fixed on the swing shaft, and on the second half of the coupling halves Similarly, other parts of the belts are attached, the opposite ends of which are fixed in pairs on the driving and balancing pulleys, while the belts are oriented with guide rollers. The described set of essential differences allows to have the following advantages of the proposed solution: to improve the dynamic characteristics of the robot by allowing the engine to be transferred from the brush body to the forearm while maintaining the independence of the kinematic chains of rotation and swing;

expand the technological capabilities of the robot by telling the hand an additional degree of mobility, i.e. brush rotation; to ensure high accuracy of the hand actuators by backlighting the transmission of rotation with metal bands;

to ensure the accessibility of the robot's hand to restricted areas, since the possibility of carrying out the engine on the forearm of the hand allows for a reduction in size.

The invention was developed at the Tomsk branch of NIITM in the process of performing R & D on the topic 0 608-90 in accordance with the sectoral integrated program for technological renewal and automation of production for 1990-1995. The arm module was used in a multi-purpose adaptive robot. An experimental model will be manufactured in 1991, and in 1992-1993 it is planned to manufacture and implement 50 adaptive industrial robots at enterprises in the industry to automate clean operations on cast parts.

The invention can be widely used in other types of robots in all areas of mechanical engineering.

Claims (1)

Formula of the Invention An industrial robot arm module containing a base with a forearm drive, pivotally connected to the base, a brush pivotally connected to the forearm and carrying the executive the mechanisms, as well as the actuators of the hand and its actuators, associated with them kinematic chains in the form of flexible connections, distinguished by the fact that, in order to improve the dynamic characteristics while simultaneously expanding technological capabilities, the forearm is equipped with two hinged couplings, the half-couplings of which have the ability rotational relative to each other, and the flexible connections are made in the form of two parts of four flexible links forming two 5 19 P 21 3 2, 30 32 3 / groups of two drive and two balancing unclosed tapes connected to the respective coupling halves of the hinge couplings, with the ends of one drive and one balancing tape diametrically opposite on the first half coupling of each coupling fixed to the swing hinge and another pair of ribbons on additionally inserted pulleys mounted on the output shafts of swing drives forearm and hand / V 20 22 P "3.W / W / 0 FI.2 Fig.Z -w