SU708624A1 - Mechanical arm - Google Patents

Description

(54) MECHANICAL HAND

one

The invention relates to mechanical engineering and concerns manipulators used to mechanize and automate basic and auxiliary operations in various industries.

The known mechanical arm, comprising a base, pivotally connected links, of which two are connected in series.

The disadvantage of this mechanical arm is the low accuracy of the movements along the contour due to the presence of the discreteness of the control system and the insensitive zone. drive. Increased accuracy is most needed when performing stereotypical measurements caused by the technological features of the use of mechanical hands.

The aim of the invention is to expand the technological capabilities and increase the accuracy of the movement of the hand.

The goal is achieved by the fact that in the kinematic chain of drive units of the same length a clutch is mounted and additional kinematic elements with a gear ratio between them equal to two, and one of these elements is rigidly mounted on the shaft of one drive, and the other with the software control system.

FIG. 1 shows a kinematic diagram of a mechanical arm; in fig. 2 is a “arrow A in FIG. one.

Claims (2)

The mechanical arm is formed by series-mounted and base-connected links 2-7. The link 2 is fixed by means of a hinge on the base 1. There is also installed a mechanism for compensating the kinematic interplay of the displacements of the links, formed by a number of differentials 8-14, and individual drives 15-21 connected to the arm links by kinematic chains made, for example, cable runs 22-28. The tension of the entire transmission system of the mechanical arm is carried out by a mechanism. 37 containing a series of adders differentials 29-35 with matching reducers i (if necessary) I torsion 36 and tension cable branch 37 laid on rollers 38-44. The shafts of the individual drives 16. and 17 of the links 3 and 4 are connected by an additional kinematic chain consisting of elements 45, for example gears having a gear ratio of two. A clutch 46 is mounted on the shaft of one of the individual drives, which is turned on and off by signals of the program control system. The gear ratio equal to two additional kinematic elements 45 of the chain is determined by the fact that with equal lengths of links 3 and 4 and the need to move the end of link 4 along the beam passing through the axis of rotation of link 3, the increment of the angle formed by this beam and link 3 is always equal to half the increment of the angle between links 3 and 4 and opposite to it in direction. Mechanical hand works as follows. When the actuators 15-21 rotate, signals are transmitted from the software device of the control system to the compensating mechanism (differentials 8-14), and from there cable drives 22-28, which carry out the corresponding software movements of links 2-7. In addition to the movement, the movement enters the totalizers differentials 29-35, which properly summarize the movements of the engines and ensure the rotation of the torsion 36 without unfolding it, maintaining the specified tension in the drive kinematic chains with the help of the cable branch 37. If necessary, the beam from the software device receives a signal on the clutch 46, which turns off the drive 17 and includes elements 45 in the kinematic chain between links 3 and 4 of the arm, thereby providing a predetermined trajectory. The power of the drive 16 is used to drive both links 3 and 4. The accuracy of the mechanical arm's trajectory will be greater than with a conventional software control, since a hard kinematic ratio is realized between the rotation angles of links 3 and 4. In addition, for the duration of the movement along a direct program device, it is relieved of control of the degree of freedom, and its resources can be used for other necessary computational or control functions. Claims of the invention: A mechanical arm comprising a base, pivotally connected links, of which two series-connected links have the same length, individual drives, kinematically associated with each link, a mechanism for compensating the kinematic interplay of link displacements, and a software control system that differs from in order to increase technological capabilities and increase the accuracy of the hand movement, a coupling is mounted in the kinematic chain of drive units of the same length and e kinematic transmission elements oTHomeiffleM therebetween, two, and one of these elements is rigidly mounted on one drive shaft and another shaft is connected to the second drive posredstvommufty. 2. A hand under item 1; This is due to the fact that the coupling is related to: r. Sources of information taken into consideration in the examination 1. Machine tools and instruments, 1976, No. 4, p. 7 fcjfeAJY W-S Y-S iXVr nxjCvdcV so 31 jz. .J. - /