SU558788A1 - Manipulator - Google Patents
ManipulatorInfo
- Publication number
- SU558788A1 SU558788A1 SU2326318A SU2326318A SU558788A1 SU 558788 A1 SU558788 A1 SU 558788A1 SU 2326318 A SU2326318 A SU 2326318A SU 2326318 A SU2326318 A SU 2326318A SU 558788 A1 SU558788 A1 SU 558788A1
- Authority
- SU
- USSR - Soviet Union
- Prior art keywords
- manipulator
- cylinders
- rods
- move
- support
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
- B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
- B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
- B25J17/0216—Compliance devices comprising a stewart mechanism
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Description
1one
Изобретение относитс к машиностроению , а именно к манипул торам дл автоматиэашш вспомогательных операций на машиностроительных предпри ти х лри обслу жнванин, например, процессов пластической. двформа аии деталей, механической обработ кн , лить под давлением и сборки.FIELD OF THE INVENTION The invention relates to mechanical engineering, in particular, to manipulators for automatic auxiliary operations in machine-building enterprises, for example, plastic processes. dvforma Ai parts, machined kn, pour under pressure and assembly.
Известен манипул тор дл автоматизации вспомогательных операций, в котором схват имеет число степеней свободы, равное чис- лу механизмов линейного перемещени в приводе ХЧ.A known manipulator for automating auxiliary operations, in which the tong has a number of degrees of freedom equal to the number of linear displacement mechanisms in the HCh drive.
РазоьЛснута кинематическа цепь извест ного манипул тора снижает его эксплуатационные качества.The kinematic chain of a famous manipulator is reduced to reduce its performance.
Наиболее близок к изобретению манип л тор , в котором схват перемещаетс приводом с механизмами линейного перемещени , число которых равно числу степеней свободы 2.Closest to the invention is a manipulator in which the tong is moved by a drive with linear motion mechanisms, the number of which is equal to the number of degrees of freedom 2.
Этот манипул тор сложен по конструкции и имеет длинную разомкнутую ринематичес- кую цепь, что снижает его динамические /качества, точность позиционнров и , увел чивает массу н габариты механической руки .This manipulator is complicated in construction and has a long open rinematic chain, which reduces its dynamic / quality, positional accuracy and increases the weight and dimensions of the mechanical arm.
Цель изобретени - повышение эксплуатационных качеств и упрощение конструкшш .The purpose of the invention is to improve performance and simplify designs.
Дл этого в предлагаемом манипул тор механическа рука выполнена в виде крестовины , на одном плече которой смонтирован схват, а каждое из остальных трех плеч этой крестовины шарнирно соедино}Ш с двум одноименными звень ми механизмов Л1шейного перемещени , например со штоками, другие звень которых, например цилиндры, попарно соединены между собой и шарнирно установлены на корпусе в точках , вл ющихс вершинами равносторо него треугольника, при этом центры шарниров на крестовине расположены в вершинах подобного треугольника, повернутого относительно треугольника основани на 60°.For this, in the proposed manipulator, a mechanical arm is made in the form of a cross, on one shoulder of which a gripper is mounted, and each of the other three arms of this cross is pivotally connected} W with two identical links of the L1 motion mechanisms, for example the cylinders are pairwise interconnected and pivotally mounted on the body at points that are the vertices of the equilibrium triangle, while the centers of the hinges on the cross are located at the vertices of such a triangle, turning utogo base of the triangle at 60 °.
На чертеже дана принципиальна схема манипул тора.The drawing is a schematic diagram of a manipulator.
Манипул тор имеет механическую руку с шестые степен ми свободы, выполиол}1уюThe manipulator has a mechanical arm with sixth degrees of freedom, made out} 1
в виде крестовины с продольными 1 в поперечными 2 ппечами. На концах поперечных плеч 2 смонтированы шарнирные опоры 3 и 4. На одном продольном плече 1 установлен охват 5, а на другомша ширна опора 6. Манипул тор имеет привод в виде механизмов линейного переMemeBHHt например силовых цилиндров.in the form of a cross with longitudinal 1 in transverse 2 ppecs. At the ends of the transverse arms 2, articulated supports 3 and 4 are mounted. At one longitudinal arm 1, a span 5 is installed, and on the other there is a wide leg 6. The manipulator is driven in the form of linear memeHHt mechanisms, for example, power cylinders.
На основании также установлены три опоры 7, 8 и 9. Опоры расположены в вер шинах подобного треугольника, повернуто- го в своей плоскости относительно первого на 60°. С опорой 3 шарнирно св заны што ки цилиндров 10 и 11, с опорой 6 - штоKB шишндров 12 и 13, с опорой 4 - штокн цилиндров 14 и 15. С нижней опорой 7 шарыирно св заны цилиндры 1О и 14, с опорой 8 - цшп1ндры 11 и 12, с опорой 0 - цилиндры 13 и 15. Эсе шесть цилиин дров одинаковые.The base also contains three supports 7, 8, and 9. The supports are located in the vertices of a similar triangle, rotated in its plane relative to the first by 60 °. Rods of cylinders 10 and 11 are pivotally connected to support 3, cylinders 12 and 13 are connected to support 6, cylinders 14 and 15 are connected to support 4, cylinders 1O and 14 are spherically connected to support 4, and support 8 are cylindrical 11 and 12, with support 0 - cylinders 13 and 15. Esa has six identical firewood.
Манипул тор сработает следующим образом .The manipulator will work as follows.
: ПриДвижении штоков силовых цилиндров 12 и 13 рука поворачиваетс вокруг поперечной оси. При движении штоков силовых цилиндров|14 и 13 вверх (либо вниз), а штоков цилиндров 10 и 11 - вниз (либо вверх) рука поворачиваетс вокруг продольной оси. При штоков силовых цилиндров 10, 12 и 15 в одну сторону, на пример вверх, а штоков силовых шшиндроэ: As the rods of the power cylinders 12 and 13 move, the arm rotates around a transverse axis. When the rods of the power cylinders | 14 and 13 move up (or down), and the cylinder rods 10 and 11 go down (or up), the arm turns around its longitudinal axis. When the rods of the power cylinders 10, 12 and 15 in one direction, for example up, and the rods of power shishdroe
11,13 и 14 - в другую, рука поворач ваетс вокруг вертикальной оси. При движении штоков всех цилиндров в одном на- 1фаалешш рука перемещаетс вертикально, При движении штоков цилиндров 11 и 15 в одну сторону, а штоков цилшадров Ю,11.13 and 14 - in the other, the hand rotates around a vertical axis. When the rods of all cylinders move in one direction, the hand moves vertically, when the rods of cylinders 11 and 15 move in one direction, and the rods of cylinders Yu,
12,13 и 14 в другую, рука начинает перюмешатьс в продольном направлении. При движении штоков цилиндров 10 и 13 в одну сторону, а штоков цили1адров 12 и 14- в другую начинаетс поперечное перемещение руки.12.13 and 14 into the other, the hand begins to stir in the longitudinal direction. When the cylinder rods 10 and 13 move in one direction, and the cylinder rods 12 and 14 move to the other, lateral movement of the arm begins.
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SU2326318A SU558788A1 (en) | 1976-02-20 | 1976-02-20 | Manipulator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SU2326318A SU558788A1 (en) | 1976-02-20 | 1976-02-20 | Manipulator |
Publications (1)
Publication Number | Publication Date |
---|---|
SU558788A1 true SU558788A1 (en) | 1977-05-25 |
Family
ID=20649520
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SU2326318A SU558788A1 (en) | 1976-02-20 | 1976-02-20 | Manipulator |
Country Status (1)
Country | Link |
---|---|
SU (1) | SU558788A1 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2491380A1 (en) * | 1980-10-06 | 1982-04-09 | Simunovic Sergio | MANIPULATOR ROBOT, IN PARTICULAR FOR THE AUTOMATIC POSITIONING OF MACHINING PARTS |
US4474519A (en) * | 1981-08-28 | 1984-10-02 | Khirwadkar Prabhakar R | Vehicle for heavy loads |
WO1991003145A1 (en) * | 1989-09-01 | 1991-03-21 | Kearney & Trecker Corporation | Six axis machine tool |
US5129279A (en) * | 1991-02-28 | 1992-07-14 | Rennex Brian G | Flexible robotic limb |
WO1995011780A1 (en) * | 1993-10-26 | 1995-05-04 | Vincent Hayward | Mechanisms for orienting and placing articles |
US5451134A (en) * | 1991-10-22 | 1995-09-19 | Bryfogle; Mark D. | Material handling devices and controllers |
US5538373A (en) * | 1992-02-20 | 1996-07-23 | Giddings & Lewis, Inc. | Machine tool vibration isolation system |
US5940180A (en) * | 1994-10-11 | 1999-08-17 | Giddings & Lewis | Laser interferometer measurement system for use with machine tools |
-
1976
- 1976-02-20 SU SU2326318A patent/SU558788A1/en active
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2491380A1 (en) * | 1980-10-06 | 1982-04-09 | Simunovic Sergio | MANIPULATOR ROBOT, IN PARTICULAR FOR THE AUTOMATIC POSITIONING OF MACHINING PARTS |
US4474519A (en) * | 1981-08-28 | 1984-10-02 | Khirwadkar Prabhakar R | Vehicle for heavy loads |
WO1991003145A1 (en) * | 1989-09-01 | 1991-03-21 | Kearney & Trecker Corporation | Six axis machine tool |
US5354158A (en) * | 1989-09-01 | 1994-10-11 | Kearney & Trecker Corporation | Six axis machine tool |
US5466085A (en) * | 1989-09-01 | 1995-11-14 | Giddings & Lewis, Inc. | Gimbal assembly for six axis machine tool |
US5489168A (en) * | 1989-09-01 | 1996-02-06 | Giddings & Lewis | Metrology instrument arm system |
US5129279A (en) * | 1991-02-28 | 1992-07-14 | Rennex Brian G | Flexible robotic limb |
US5451134A (en) * | 1991-10-22 | 1995-09-19 | Bryfogle; Mark D. | Material handling devices and controllers |
US5538373A (en) * | 1992-02-20 | 1996-07-23 | Giddings & Lewis, Inc. | Machine tool vibration isolation system |
WO1995011780A1 (en) * | 1993-10-26 | 1995-05-04 | Vincent Hayward | Mechanisms for orienting and placing articles |
US5940180A (en) * | 1994-10-11 | 1999-08-17 | Giddings & Lewis | Laser interferometer measurement system for use with machine tools |
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