SU1757874A1 - Setting arrangement of manipulator - Google Patents

Abstract

The driver is designed to remotely control a multi-stage manipulator with a large number of degrees of mobility. It contains a control knob connected to the base by a connecting mechanism. A feature of the device is that the connecting mechanism is made in the form of serially connected modules of translational and rotational displacements of a total number equal to the number of degrees of mobility of a multi-level manipulator to be controlled. Position sensors are placed on each module. The translational module consists of a carriage, guides and a synchronizing device. The module of rotational movement is made in the form of outer and inner concentric clips, between which there is a channel filled with balls. The synchronizing device has an equal-arm lever kinematically connected with a guide, separator and carriage. Sequential connection of the modules of rotational and translational movements allows to expand the functionality of the manipulators by providing control of the manipulators with different numbers of degrees of mobility. 6 yl

Description

The invention relates to the field of robotics and can be used, for example, for remote control of manipulators.

The aim of the invention is to extend the functionality of the driver.

Figure 1 shows an exemplary embodiment of the driver.

Fig 2 - connecting mechanism setting device / section A - A in Fig 1 /,

Fig 3 - setting device / detailing, axonometric /, Fig 4 - synchronizing device.

Fig 5 is the same, view A in Fig. 4; Fig 6 is a block diagram of the device

The multi-stage driver consists of the control knob 1, the connecting mechanism 2 and the base 3. The control knob 1 includes a trigger 4 for the compression / decompression grip / ff sensor,. not shown /, key 5 of the correction device / in FIG. not shown /, disk 6, gripper orientation, rotational 7 and translational 8 pair of V-ro class. On the axis of the rotational Lara 7 mounted sensor 9 angular displacements. Translational pair 8 is made in the form of two guides 10 11 and carriage 12 On two opposite XI

surfaces of the carriage 12 and on the guides 10, 11 are grooves 13, 14, which together form d /, channels filled with balls 15 installed in separators 16, 17/4 / separators 16, 17 are rigidly connected to each other . The translational pair 8 is provided with a synchronizing device 18 and a linear displacement sensor 19. The synchronizing device 18 is made in the form of an equi-arm lever, one end of which is connected to the direction 10 of the rotational pair 20 of the V-ro class, the other end to the finger 21 of the carriage 12 by the kinematic pair IV-ro wheel. In the middle part of the lever there is a slot 22, which also forms a kinematic pair of class IV-ro with the finger of the separator 16. The linear displacement sensor 19 is located on the guide 11, and its movable contacts 23 are placed on the carriage 12, the carriage 12 is spring-loaded by the spring 24 and is rigidly connected to the connecting mechanism 2. The connecting mechanism 2 (see Fig. 2) in this case consists of the module rotational movement 25 and two interconnected translational displacement modules 26, 27. The rotational movement module 25 is made in the form of an outer 28 and inner 29 cages, between which there is a channel 30 filled with balls 31. On the rotation axis 32 of the rotational speed module 25, an angular displacement sensor 33 is installed. The outer cage 28 is provided with mounting means, for example, by means of screws

34cw with the carriage 35 of the first module of the progressive movement 25. The carriage

35 comprises grooves 36, 37 on two opposite surfaces and configured to move relative to guides 38, 39, also containing grooves 40.41, with grooves 36.37 carriages 35 and grooves 40, 41 guiding 38, 39 forming two channels, filled with balls 42. Balls 42 are installed in separators 43, which are also rigidly connected with each other and with a synchronizing device (not shown in the fig.). The synchronization device of the translational displacement module 25 is made similarly to the synchronization device 18 of the translational pair 8. A sensor 44 is mounted on the guide 38, the movable contact 45 of which is placed on the carriage 35. The guides 38, 39 of the first translational module 26 are rigidly connected by means of fastening 46 with the guides 47, 48 of the second translational module 27, The second translational module 27 is made similar to the first. The carriage 49 of the second translational module 27 in this example is connected to the base 3,

The multi-stage driver operates as follows.

When the handle 1 rotates around the axis of the rotational pair 7, the control system receives a signal from the angular displacement sensor 9, while raising and lowering it sends a signal from the pioneer displacement sensor 19 to the pair of translational movement 8. When the handle 1 rotates around the axis 32 of the rotational displacement module 25 the control system receives a signal from the angular displacement sensor 33, when the carriage 35 of the first translational module 26 moves relative to the guides 38, 39, the signal is removed from the sensor 42, and when the guides 47, 48 move relative to the carriage 49 s drove removed from the sensor (Fig. not shown) of the second translational movement module 26. Thus control is effected to five degrees of mobility traffic simultaneously or separately. In addition, the operator using the gripper compression sensor 4 trigger, the correcting device key 5 and the gripper orientation disk 6 controls the compression-expansion of the shells, corrects the speed of relative displacements of the actuator parts and spatial orientation of the gripper.

To control the manipulator with an arbitrary number of translational and rotational kinematic pairs, the driver is recruited from the corresponding modules. Thus, for controlling a manipulator with 6 degrees of mobility, the master device consists of the modules shown in FIG. The rotational kinematic chests of the shaft can be controlled by means of the disk 6 and the swing of the handle 1 relative to the axis 7 (Fig. 1). Modules 26, 25 and pair 8 are used to control regional mobility levels, respectively. The degree of freedom having small angular displacements, in this case, is proposed to be controlled from a sensor located on the translational module 27.

The driver is designed to work in systems 5 of the coordinate-parametric control (SKPU) manipulators. Such systems can significantly improve the efficiency of manual control (training), since they allow for op-tersional correction of the kozffkientoz gain in the process of coordinate control of the manipulator without

violation of the conditions of mnemonchichnost. For this purpose, an electronic nonholonomic coupling is organized in the manipulator control system. The synchronous variation of the gain factors (coupling) over any of the controlled coordinates is performed using a correction device with key 5. The block diagram of the system is shown in 3 fMG.b.

Using the setting device indicated in FIG. 6, pos 5, the operator generates a vector of command coordinate voltages, which are fed into the system 50. In addition, by pressing the 5 key of the correcting device 52, the operator sets the value of the conversion coefficient for the SKPU to perform the technological operation. Outputs of the system 50 are either directly at the inputs of the actuators of the manipulator 53, or through the 54 coordinate (PC) recalculator, which serves to obtain a spatial correspondence with the position s master and actuator organs (not shown in Figures). The need for a transducer 54 arises when it is impossible to release movements along some degree of mobility in the master device or at. the presence of unlike kinematics of the task and the executive body of the manipulator.

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Claims (3)

Invention Formula 1, A manipulator driver, comprising a base, a control knob with a parametric signaling sensor and position sensors, characterized in that it is equipped with a connecting mechanism associated with the base and provides an expansion of functional capabilities by providing control of the multi-stage manipulator. with a control handle and rotational and translational modules made in series with each other, and position sensors are located on these modules. 2. The device according to claim 1, wherein the translational module is made in the form of two parallel guides, a carriage located in these guides and mounted on balls placed in the separator, and a synchronizing device, made in the form of an equal-arm lever, kinematically connected with one guide, separator and carriage. 3. The device according to claim 1, wherein the module of rotational movement is made in the form of concentric inner and outer cages, between which there is a channel filled with balls.