SU975381A1

SU975381A1 - Manipulator actuating member

Info

Publication number: SU975381A1
Application number: SU803222775A
Authority: SU
Inventors: Умирбек Арисланович Джолдасбеков; Леонид Иосифович Слуцкий; Константин Георгиевич Параскевопулос; Леонид Николаевич Петров; Александр Валентинович Ким
Original assignee: Казахский Ордена Трудового Красного Знамени Государственный Университет Им.С.М.Кирова
Priority date: 1980-12-17
Filing date: 1980-12-17
Publication date: 1982-11-23

Description

Изобретение относится к машиностроению, а именно к манипуляторам для механизации ручных производственных операций.The invention relates to mechanical engineering, namely to manipulators for mechanization of manual manufacturing operations.

Известен исполнительный орган ₅манипулятора, содержащий двигатель, шарнирно связанные звенья и механизмы изменения длин и поворота’звеньев [1 ].Known executive body _{5 of the} manipulator, containing the engine, articulated links and mechanisms for changing the lengths and rotation of the links [1].

Ίο •Недостатком известной конструкции является наличие в ней дополнительного двигателя для изменения длин звеньев, что усложняет конструкцию, и малая зона обслуживания. ,₅ •Ο • A disadvantage of the known design is the presence in it of an additional engine for changing the lengths of the links, which complicates the design, and a small service area. ₅

Цель изобретения - упрощение конструкции и расширение его технологических возможностей.The purpose of the invention is to simplify the design and expand its technological capabilities.

Эта цель достигается тем, что известная конструкция снабжена переда- ₍ 20 точным устройством, выполненным в виде планетарного механизма, а также элементом фиксации угла поворота звеньев, причем передаточное устрой2 ство кинематически связано с двигателем и с механизмом поворота звеньев.This goal is achieved by the fact that the known design is equipped with a transmission ₍ 20 accurate device made in the form of a planetary mechanism, as well as an element for fixing the rotation angle of the links, and the transmission device is kinematically connected with the engine and with the rotation mechanism of the links.

На чертеже показан общий вид исполнительного органа манипулятора , разрез.The drawing shows a General view of the executive body of the manipulator, section.

Исполнительный орган манипулятора содержит телескопические звенья, образованные соединением деталей 1 и 2, а также 3 и 4, и двигатель 5 с редуктором. Двигатель 5 связан с валом 6, на котором жестко сидят конические шестерни 7 и 8. Кроме того, на валу 6 на подшипниках скольжения размещены шестерни 9“12. Устройство содержит также конические колеса 13 и 14, которые совместно с шестернями 9, 7 и 8, 12 образуют пару планетарных механизмов. Шестерни 10 и 11 находятся в зацеплении с коническим колесом 15, установленным на валу червячной передачи, винт 16 которой связан с гайкой 17, жестко соединенной с деталью 1 од ного из звеньев руки манипулятора. Шестерни 9 и 12 фрикционными электромагнитными муфтами соответственно 18 и 19 и аналогичные муфты 20 и 21 связывают с валом 6 шестерни 10 и 11 соответственно. Элемент 22 фиксации соединяет между собой при необходимости элементы деталей 2 и .3 звеньев исполнительного органа манипулятора .The executive body of the manipulator contains telescopic links formed by connecting parts 1 and 2, as well as 3 and 4, and the engine 5 with the gearbox. The motor 5 is connected to the shaft 6, on which the bevel gears 7 and 8 are rigidly seated. In addition, the gears 9 “12 are placed on the shaft 6 on the sliding bearings. The device also contains bevel wheels 13 and 14, which together with gears 9, 7 and 8, 12 form a pair of planetary mechanisms. Gears 10 and 11 are engaged with a bevel wheel 15 mounted on a worm gear shaft, the screw 16 of which is connected to a nut 17, rigidly connected to part 1 of one of the links of the manipulator's hand. Gears 9 and 12 by friction electromagnetic clutches 18 and 19, respectively, and similar clutches 20 and 21 are connected to the shaft 6 of gear 10 and 11, respectively. The fixing element 22 connects, if necessary, the elements of parts 2 and .3 of the links of the executive body of the manipulator.

Исполнительный орган манипулятора работает следующим образом.The Executive body of the manipulator operates as follows.

Двигатель 5 через вал 6 вращает конические шестерни 7 и 8. Последние передают вращение через конические колеса 13 и 14 на шестерни 9 и 12. Дальнейшая работа привода шарнирного соединения зависит от режимов включения муфт 18-21, В зависимости от комбинаций .включения муфт привод исполнительного органа позволяет осуществить три основных режима.The motor 5 rotates the bevel gears 7 and 8 through the shaft 6. The latter transmit the rotation through the bevel gears 13 and 14 to the gears 9 and 12. The further operation of the articulated drive depends on the engagement modes of the couplings 18-21, Depending on the combination of the actuator included, the actuator body allows for three main modes.

Первый режим.First mode.

'Муфты 18 и 19 включены, муфты 20-21 выключены. В этом случае шестерни 9 и 12 остановлены, так как они жестко связываются с основанием детали 3. Вращающие моменты шестерен 10 и 11 на коническое колесо 15 не передаются. Привод работает в режиме с постоянными длинами звеньев. Изменение направления вращения звеньев в шарнире достигается реверсированием двигателя 5.'Couplings 18 and 19 are on, couplings 20-21 are off. In this case, the gears 9 and 12 are stopped, since they are rigidly connected with the base of the part 3. The torques of the gears 10 and 11 are not transmitted to the bevel wheel 15. The drive operates in a mode with constant link lengths. Changing the direction of rotation of the links in the hinge is achieved by reversing the engine 5.

Второй режим. Муфты 20 (либо 21) и элемент 22 включены, муфты 18, 19 и 21 (либо 2Q) выключены.,Вращающий момент передается с шестерни 10 (11) через коническое колесо 15 на вал чер вячной передачи (винт 16), При этом длина звена, состоящего из деталей 1 и 2^ изменяется, а взаимное рас положение звеньев исполнительного органа остается постоянным.The second mode. Clutches 20 (or 21) and element 22 are turned on, clutches 18, 19 and 21 (or 2Q) are turned off. The torque is transmitted from gear 10 (11) through a bevel gear 15 to the shaft of the gear shaft (screw 16). the link consisting of parts 1 and 2 ^ changes, and the relative position of the links of the executive body remains constant.

Третий режим,Заключается в комбинировании первых двух. При этом муф5 ты 18, 19 и 20 (либо 21) включены, муфта 21 ( 20 ) выключена. Это обеспечивает одновременное качание в шарнире звеньев относительно друг друга и изменение длины звена, состояще10 го из деталей 1 и 2. При реверсировании двигателя 5 направление качания изменяется, в этом случае т^кже меняется переключение муфты 20 (либо 21).The third mode, consists in combining the first two. In this case, couplings 18, 19 and 20 (or 21) are turned on, clutch 21 (20) is turned off. This ensures that the links swing relative to each other in the hinge and the link length, consisting of parts 1 and 2, changes. When the engine 5 is reversed, the swing direction changes, in this case, the clutch switch 20 (or 21) also changes.

Характерной чертой предлагаемой конструкции является ее простота, а также увеличивается диапазон изменения длин звеньев-за счет использования их телескопических конструк20 ций при определенных габаритных размерах.A characteristic feature of the proposed design is its simplicity, and also the range of change in the lengths of the links is increased due to the use of their telescopic designs with certain overall dimensions.

Claims

The invention relates to mechanical engineering, namely to manipulators for the mechanization of manual manufacturing operations. Execute the 1st manipulator body, which contains an engine, articulated links and mechanisms for changing lengths and turning links 1. A disadvantage of the known construction is the presence of an additional motor in it to change the lengths of the links, which complicates the design, and a small service area. The purpose of the invention is to simplify the design and expand its technological capabilities. This goal is achieved by the fact that the known structure is equipped with a transmission device a planetary mechanism, as well as an element for fixing the angle of rotation of the links, the transmission device being kinematically connected with the engine and the mechanism of rotation of the links. The drawing shows a general view of the executive body of the manipulator, section. The executive body of the manipulator contains telescopic links formed by the combination of parts 1 and 2, as well as 3 and C, and the engine 5 with a gearbox. The motor 5 is connected to the shaft 6, on which the bevel gears 7 and 8 are rigidly seated. In addition, gears are mounted on the slide bearings on the shaft 6. The device also contains bevel wheels 13 and 14, which, together with gears 9, 7 and 8, 12, form a pair of planetary mechanisms. Gears 10 and 11 are engaged with a bevel wheel 15 mounted on a worm gear shaft, screw 16 of which is connected to a nut 17 which is rigidly connected to part 1 of a single manipulator arm. Gears 9 and 12 by friction electromagnetic clutches, 18 and 19, respectively, and similar clutches 20 and 21, are connected to shaft 6 of gears 10 and 11, respectively. The manipulator operates as follows. Motor 5 rotates bevel gears 7 and 8 through shaft 6. The latter transmit rotation through bevel wheels 13 and Il to gears 9 and 12. Further operation of the articulated drive depends on the modes the clutches are turned on 18-21. Depending on the combinations of clutch engagement, the actuator actuator allows for three basic modes. 1st mode Clutches 18 and 19 are on, clutches 20-21 are off. In this case, gears 9 and 1: stopped, as they are rigidly connected to the base of the part Zo. operates in a mode with constant link lengths. Changing the direction of rotation of the links in the hinge is achieved by reversing the 5o engine. Second mode. Couplings 20 (or 21) and element 22 are included, couplings 18 ,. 19 and 21 (or 20) are turned off. The torque is transmitted from gear 10 (11) through the bevel wheel 15 to the shaft of the axle gear (screw 16). The length of the zena, consisting of parts 1 and 2j, changes, The location of the links of the executive body remains constant. The third mode, is to combine the first two. When this coupling 1B, 19 and 20 (or 21) is on, the coupling 21 (20) is turned off. This provides simultaneous swing in the hinge links relative to each other and the change in length, consisting of parts 1 and

2. When reversing the engine 5, the direction of swing changes, in this case the switching of the coupling 20 (or 21) changes. A characteristic feature of the proposed construction is its simplicity, and also the range of variation of the lengths of the links is increased due to the use of their telescopic structures with certain overall dimensions. Claims The executive body of a manipulator containing articulated links, a motor and mechanisms for changing lengths and angle of rotation of links, characterized in that, in order to simplify the design and increase technological capabilities, it is equipped with a transmission device made in the form of a planetary mechanism, and also an element for fixing the angle of rotation of the links, the transmission device being kinematically connected with the engine and with the mechanism of the rotation of the links. Sources of information taken into account in the examination 1. USSR Author's Certificate f «8U718, class, B 25 J 3/00, 1981.