SU709355A2 - Manipulator - Google Patents

Description

154) MANIPULATOR

The invention relates to the field of torus construction and can be used to create program-controlled manipulators. According to the main author. St. f 570482 a manipulator is known that contains a mechak hand with articulated links, an actuator, a program setting block, brakes are mounted on a mechanical arm connected to a program set block, each braking device is made in the form of a hydraulic brake with a spool block kinematically connected with adjacent links and servomotor, and the device reverse power drive. The known manipulator allows both to bake a high accuracy in working out a given trajectory. However, due to the constancy of the moments of the power drive, when operating in a wide range of loads and servicing large areas of the working space, the manipulator has low dynamic and energy characteristics. The aim of the invention is to improve the dynamic and energy characteristics of the manipulator. The essence of the invention is that the manipulator contains a computational control unit, the inputs of which are connected to the corresponding outputs of the program setting block, and the outputs to the corresponding inputs of the power drive. The drawing shows the functional scheme of the proposed manipulator, where 1 is the base, 2 is the mechanical arm, 3 is the power drive, 4 is the braking devices, 5 is the program setting block, 6 is the computing and controlling 11 block. The manipulator works as follows. With the drives of the power drive 3 turned on and the devices braked by braking devices 4, the kinematic transmissions of the links of the arm 2 are natu and the manipulator

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It is prepared for operation, while the torque points of the motors of the power drive 3 are set by the computational control unit 6, depending on the configuration of the arm and external loads. The arrival of control signals from the program setting unit 5 to the braking devices 4 causes them to be released and braked in the sequences defined by the program. As a result, the disengaged links of the arm 2 start to move under the action of the torques of the motors of the actuator 3, At the same time The control unit 6 generates the torque control signals of the motors of the power actuator 3 depending on the laws of changing the relative coordinates of the arm links 2 and the magnitudes of the external loads on the links. Information on the computational control unit 6 comes from the program setting unit 5 and, if necessary, from the sensor system of the manipulator.

The coordinated change in the torque levels of the motors of the actuator 3 provides the necessary change in the range of driving moments on the arm 2 and

allows to reduce heat dissipation in braking devices 4.

When reversing any link of the hand 2, the computational control unit 6 by controlling the torques of the motors of the power drive 3 provides the reversal of the moving cue applied to the pan link.

 The use of the invention will significantly improve the dynamic and energetic characteristics of the manipulator in the process of performing working operations associated with a wide change.

. loads and maintenance of significant areas of the manipulator working space.

Claims (1)

Claims. Manipulator tor. St. No. 570482, characterized in that, in order to increase the dynamic and energy characteristics, it contains a computational-control unit, the inputs of which are connected to the corresponding outputs of the program setting block, and the outputs to the corresponding inputs of the power drive.