前苏联专利SU1153817A3 Transfer mechanism of manipulator arm

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优先权

专利摘要:
TRANSMISSION MECHANISM OF THE MANIPULATOR'S HAND, containing the main body, installed with the possibility of rotation around the longitudinal axis of the hand, additional housing, installed in the main body with the possibility of rotation around the axis perpendicular to the longitudinal axis of the hand, actuator located in the additional body along the longitudinal axis of the hand , rotational drives of the main body and actuator, and rotation of the additional body, as well as driven, intermediate and drive shafts, The main and auxiliary bodies and the actuator are located coaxially with the longitudinal axis of the arm and are associated with reduction gears, and the additional body and actuator actuators include bevel gears, characterized in that, in order to improve the positioning accuracy, the intermediate shafts of the additional body and tel device is made composite and installed in the main body, and the reduction gears are located directly in front of the main and additional orpusami and actuators. : l: AE EO
公开号:SU1153817A3
申请号:SU813364456
申请日:1981-12-15
公开日:1985-04-30
发明作者:Циммер Эрнст
申请人:Кука Швейсанлаген Унд Роботер Гмбх (Фирма)；
IPC主号:

专利说明:

one
The invention relates to mechanical engineering, in particular to industrial work and manipulation.
The transfer mechanism of the manipulator arm is known, comprising a main body mounted rotatably around the longitudinal axis of the arm, an additional body mounted in the main body rotatably around an axis perpendicular to the longitudinal axis of the arm, an actuator located in the additional body along the longitudinal axis of the arm , the rotational drives of the main body and the actuator, and the rotational drive of the additional body, as well as the driven, intermediate and drive shafts, and The outer shafts of the main and auxiliary bodies and the actuator are located coaxially with the longitudinal axis of the arm and are associated with downshifts, while the actuators of the auxiliary body and actuator include bevel gears fij.
The disadvantage of this hand gear is the large size of the hand, which leads to large moments on the axis of rotation of the arm of the manipulator, as well as significant gaps in gears, which leads to low positioning accuracy.
The aim of the invention is to improve positioning accuracy.
The goal is achieved by the fact that in the transfer mechanism of a manipulator arm comprising a main body rotatably mounted around the longitudinal axis of the arm, an additional housing mounted in the main body rotatably around an axis perpendicular to the longitudinal axis of the arm, the actuator located in the additional body along the longitudinal axis of the arm, the rotational drives of the main body and the actuator, and the rotational drive of the additional body, as well as the followers, precise and leading rooms, the leading rooms of the main and additional buildings and the actuating device are located coaxially with the longitudinal axis of the arm and are connected to
53817. 2
gears, and drives,. The additional housing and the actuator include bevel gears, the intermediate shafts 5 of the secondary housing and the actuating device are made up and installed in the main housing, and the downshifts are located directly in front of the main and auxiliary buildings and the actuating device.
Fig. 1 shows a kinematic manipulator circuit; in Fig.2 a section aa in Fig.1.
15 The arm 1 of the manipulator is pivotally mounted on the yoke 2 that can be rotated about the horizontal axis 3. The rocker 2 is mounted on the rotary base 0 and can be rotated about the axis 5. The base 4 also has the ability to rotate about the axis 6 of the foundation 7.
The arm 1 is made of a composite case 5 consisting of a drive 8, a middle 9 and a side 10 compartments rigidly interconnected, three engines 11, 12 and 13 connected through drive shafts 0 14, 15 and 16 to the drive shafts 17 , 18 and 19 of the mechanism of orientation of the actuator 20 and the actuator 21 itself.
The motors 11-13 are installed in the drive compartment 8 of the case of the hand 1, made of, for example, nodular cast iron, and the drive shafts 17-f9 are installed in the attachment compartment 10 of the case of the arm, which together with the middle compartment is made of lightweight material that provides a counterweight positioned on the side of the attachment compartment 10 to the orientation mechanism 20 and the actuator 21. In this case, the middle drive shaft 15 is displaced relative to the horizontal axis 3 of the arm rotation t.
0 Due to the fact that there are no reduction gears between the t1, 12 and 13 engines and the drive shafts 17, 18 and 19, the drive shafts 14, 15 and 16 are light.
and small in size, since they transmit small torques.
The mechanism 20 for the orientation of the actuator consists of os3
22 and additional 23 housings and downshifts, while the main body 22 is rotatably mounted from; the longitudinal axis of the manipulator arm 1, and the additional case 23 is rotatably mounted about the axis 24, perpendicular to the longitudinal axis of the arm 1 ( figure 1, these turns of the main and additional buildings are designated respectively I and II). The actuator 21 is installed with the possibility of rotation around its longitudinal axis (in figure 1, this rotation is designated III).
Figure 2 shows the kinematic diagram of the mechanism for the orientation of the actuator. The orientation mechanism is deployed relative to the attached body 10 by 90 compared with FIG.
The rotation of the main body 22 of the actuator orientation mechanism 20 is carried out from the engine 13 through the propeller shaft 16, a drive shaft 19 located in the bearings of the attached body 10 of the arm 1. From the drive shaft 19 through gears 25 and 26, the shaft 27 and the reduction gear 28 rotate on the driven shaft 29 of the main body 22. The reduction gear 28, mounted on the driven shaft 29, has a high reduction reaching, for example, values from 70: 1 to 120: 1. the shaft 29 is mounted in the double bearing 30 of the housing 10. With the driven shaft 29, the main body 22 is rigidly connected, consisting of supporting plates 31 and 32, covering walls 33 and 34 and a transverse web 35. Thus, the main body 22 is rotated around the longitudinal hand axis 1 manipula torus.
The additional body 23 is rotatably mounted on the main body 22 about the axis 24. This rotation is carried out from the engine 11 through the cardine shaft 14, the drive shaft 17 located in the attachment body 10, the gear wheels 36 and 37, the hollow shaft 38 mounted coaxially driven the shaft 29 of the main body 22, and the bevel wheels 39 and 40 mounted respectively on
3817 4
the cone of the hollow shaft 38 and the shaft 41, located in bearings 42 on one of the sides of the support plate 31 of the main body 22. Next
5, the movement is transmitted by a toothed-belt transmission 43, which connects pulleys 44 and 45, mounted respectively on the ends of the shafts 41 and 46, protruding beyond the nyiTOK
0 31, on the drive shaft 46, which
through a reduction gear 47, the reduction of which can be from 70: 1 to 120: 1, is associated with a driven shaft, which is made integral with an additional housing 23 consisting of support plates 48 and 49. The drive shaft 46 is mounted on bearings 50 mounted in the reference section 48 of the additional housing 23.
20 Additional housing 23 is mounted for rotation around an axis 24 on bearings 51 and 52 mounted in the main housing 22. Additional housing 23 protrudes
5 from the main body 22 through the slot made in the front side in the main body 22, and this slot is designed in such a way as to provide additional turning
3Q of the body at the required angle.
The actuator 21 is mounted in the sub-housing 23 rotatably about its longitudinal axis.
5 The actuator 21 is rotated from the engine 12 through the drive shaft 15, the drive shaft 18 located in the hollow shaft 38, and the bevel wheels 53 and 54 mounted respectively on the ends of the drive shaft 18 and the intermediate shaft 55 located in the double bearing of the main body 22. The rotation is then transmitted through
45 a gear-belt drive 56, which connects the pulleys 57 and 58, mounted respectively on the ends of the shafts 55 and 59 protruding beyond the support plate 32 of the main body 22, onto the intermediate shaft 59, which through the bevel wheels 60 and 61, the drive shaft 62 and lowering gear 63 is associated with a performance device 21. The cone wheels 60 and
55 61 mounted on the cantilever ends, respectively, of the shafts 59 and 62, each of which is installed in double bearings 64 and 65, respectively.
mounted on the main body 22 and the additional body 23, and the downshift gear 63 is mounted on the drive shaft 62 and is associated with an actuating device 21, which is mounted in bearings mounted in the support plate 49 of the additional body 23.
The hubs of the bevel gears 54 and 60 of the intermediate shafts 55 and 59 carry bearings 66 and 67, in which the ends of the shafts 41 and 46 are installed, respectively. Making the shafts 41 and 55, as well as 46 and 59 composite, reduces the dimensions of the actuator orientation mechanism.
Thus, the actuator 21 can rotate both around the longitudinal axis of the arm, and rotate around the axis 24 along with the additional body 23, since it rests on the support flap 49 and at the same time rotates around
drive shaft 62.
I
Compared with the known, the proposed device provides the least removal of the actuator from the axis of rotation of the arm, which allows reducing the torque of the motors, as well as ensuring the actuator is supplied to hard-to-reach places.
19 18 to22 24- 23 2f

权利要求:
Claims (1)
[1]
TRANSMISSION MECHANISM OF THE MANIPULATOR'S HAND, comprising a main body mounted rotatably around the longitudinal axis of the arm, an additional housing mounted in the main body rotatably around an axis perpendicular to the longitudinal axis of the arm, an actuator located in the additional housing along the longitudinal axis of the arm, rotation drives of the main body and the actuator and the rotation drive of the additional body, as well as driven, intermediate and drive shafts, the drive shafts of the main the oval and additional housings and the actuator are located coaxially with the longitudinal axis of the arm and are connected with lowering gears, and the drives of the additional housing and the actuator include bevel gears, characterized in that, in order to improve positioning accuracy, the intermediate shafts of the additional housing and the actuator are made integral and are installed in the main body, and reduction gears are located directly in front of the main and additional buildings and Yelnia device.
SU, 1153817 _th ί

类似技术:

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US4548097A|1985-10-22|

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引用文献:

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DE3480331D1|1984-08-03|1989-12-07|Kuka Schweissanlagen & Roboter|Driven-tool holder head for manipulators|

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US8893578B2|2009-02-13|2014-11-25|Fanuc Corporation|Parallel robot provided with wrist section having three degrees of freedom|

JP4659098B2|2009-02-13|2011-03-30|ファナック株式会社|Parallel link robot with posture change mechanism with 3 degrees of freedom|

KR101095690B1|2009-07-29|2011-12-20|창원대학교 산학협력단|3-axis robot and manufacturing system for gantry type using the same|

CN102259337B|2010-05-28|2013-11-06|鸿富锦精密工业（深圳）有限公司|Robot arm component|

CN103121217B|2011-11-21|2015-11-25|鸿富锦精密工业（深圳）有限公司|Robot arm|

DE102013225117A1|2013-12-06|2015-06-11|Richard Wolf Gmbh|Drive arrangement for an endoscopic shaft instrument|

法律状态:

优先权:

申请号 | 申请日 | 专利标题

DE3048067A|DE3048067C2|1980-12-19|1980-12-19|Gear arrangement for the joint head of a manipulator|

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