• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A Flexible arm for a program-controlled manipulator, having a plurality of movable arm members (19, 26, 28, 37, 39) sequentially connected to a cylindrical base (18) rotatably mounted on a non-flexible arm (4), and an operating rod (20) movably attached to the base (18) for driving the movable arm members.
    公开号:SU1168089A3
    申请号:SU823467846
    申请日:1982-07-19
    公开日:1985-07-15
    发明作者:Хироаки Фунабаси；Акира Кикучи
    申请人:Хироаки Фунабаси；Токико Лтд (Фирма)；
    IPC主号:
    专利说明:

    1 The invention relates to a flexible arm that should be used in an industrial robot or software-controlled manipulator. A flexible arm is known that contains the first, second and third elements of the shoulder attached to the carrier link, kinematically connected with each other and with leads of rotation and longitudinal movement of the second element of shoulder II. However, this shoulder is characterized by insufficient flexibility. The purpose of the invention is to increase the flexibility of the shoulder. When using the proposed flexible arm, it is possible to create a robot that has such a wide range of applications that it can be used to process workpieces that have complex shapes without difficulty. At the same time, the flexible arm possesses sufficient rigidity of a simple structure, but without using very rigid elements that can precisely set the end of the arm without any bending. The goal is achieved by the fact that in a flexible arm containing the first, second and third shoulder elements attached to the carrier link are kinematically connected to each other and to the rotation and longitudinal movement drives of the second shoulder element, the communication elements are made in the form of pairs. t g, and with each end, one end is pivotally connected to one end of the previous shoulder element, and the other hinge is connected to the subsequent shoulder element, with the first, second and third shoulder elements each made in the form of a pair of slats whose wide sides face each other. each other and connected with three longitudinal thrusts mounted between them, connected by means of universal joints, with the first longitudinal section on the thrust rod rotatably mounted by means of a bearing link and a third thrust slice connected through the second one Aulnay thrust about a first longitudinal draft type is mounted to the possibility of rotation of the third arm element. 92 FIG. 1 shows a manipulator having a flexible shoulder, side view; in fig. 2 — node 1 in FIG. 1 (flexible shoulder) i in FIG. 3 - flexible shoulder, bottom view; in fig. 4 shows section A-A in FIG. 3; in fig. 5 - one phase of the flexible arm; in fig. 6 second phase of the flexible arm. The manipulator 1 contains a platform 2, a support stand 3, a shoulder 4. A stand 3 is mounted on a turntable 5 located above the platform 2 so that it rotates around the central axis 6 in the direction of the arrows. ki B when the turntable rotates. Platform 2 is equipped with a hydraulic actuator for rotating the table 5 in the direction B. The rack 3 connected to the bracket of the rotary table 5 by means of the shaft 7 is designed to deflect or rotate in the direction of the arrow B in the vertical plane under the action of the hydraulic cylinder 8, which is placed between 3 and rotary table and is driven. The arm 4 is so connected with the post 3 via the shaft 9 that it can freely deflect or rotate in the direction of the arrow G in the vertical plane by means of a hydraulic cylinder 10 which is installed between the arm 4 and the post 3 and is hydraulically driven. A flexible arm J1 is attached to the front end of the shoulder 4, covered with a stretching and flexible casing 12. A arm 13 is attached to the shoulder 11, which is gripped by the operator to train the software-controlled manipulator. The atomizer 14 is mounted by means of a support member 15 on the rod 16, which protrudes from arm 11. The shoulder 11 is provided with a cylindrical main member 17 (carrier), which is mounted on the arm 4 rotatably in the direction of the arrow D around the central axis 18 and to which is attached a pair of first shoulder elements 19 facing a wide flat-face to each other; The first paired elements 19 in the form of slats are connected by a jumper in the form of a strap 20. The drive rod 21, passing EC through the supporting element 17, is movable in direction AI parallel
    the direction of the central axis 18, is connected by means of the shaft 22 at its front end to the pair of t g 23 (communication element). The shaft 22 has a central section 24, made in the form of a ball, to which the rod 21 is attached at its annular end 25 so that it can rotate in any desired direction relative to the shaft 22. Thus, the ball connection of the central section 24 of the shaft 22 and the annular end 25 is made. the rod 21, To both ends of the shaft 26, which passes rotatably through the pull-rod 23, is attached to the rotatably connected pair of second elements 27 in the form of slats. The latter is rotatably connected to the first shoulder elements 19 by means of shafts 28. A pair of third shoulder elements 29, which are broadly facing each other, are rotatably connected to second shoulder elements 27 by means of shafts 30 and are additionally rotatably connected to either end of a pair t g 31 (communication elements) connected via shafts 32. The other ends of the paired t g 31 are rotatably connected to the other ends of the first shoulder elements 19 via the shaft 33. The paired third elements 29 are connected to bars and 34. The other ends of the second shoulder elements 27 are rotatably connected through shafts 35 to one ends of the pulp rail 36, the other ends of which are rotatably connected through the shafts 37 to the ends of a pair of fourth shoulder elements 38 embodied in the form of slats. The paired fourth wide shoulder elements 38 are rotatably connected to the third shoulder elements 29 by means of shafts 39. A pair of fifth shoulder elements 40, which are wide and similar to the shoulder elements, are connected to each other through the shafts 41. 42 (communication elements), the other ends of which are connected through
    shafts 43 with the other ends of the third shoulder elements 29. Paired fifth shoulder elements 40 are connected by means of a pair of film elements 44. The fifth shoulder elements 40 are rotatably connected at their central sections with other
    the ends of the fourth elements 38 shoulders through the shafts.
    The sprayer rotation mechanism 45, which runs along the cyniecTBy along the central axis 18 of the shoulder 11, contains a longitudinal rod 46, which is connected to the actuator 47, longitudinal rods 48, 49, 50 and 51. The longitudinal rod 46 lies between the paired shoulder elements 19, is supported by element 17 in such a way that it can rotate in bearing 52 in direction D along the central axis 18. Longitudinal ha 46 and longitudinal ha 48, installed between the paired shoulder elements 27, longitudinal ha 48 and longitudinal ha 49, inserted between the paired elements 29 of the shoulder, longitudinal The ha ha 49 and the long ha ha 50, inserted between the paired elements 38, the long ha ha 50 and the long ha ha 51, inserted between the paired shoulder elements 40, are connected by universal joints 53, 54, 55 and 56, respectively, so that when the shoulder 11 bends , the sprayer rotation mechanism 45 respectively bends the Longitudinal ha 49 is installed with the possibility of rotation by means of a bearing 57 on the supporting element 58, which is attached to the bars 34. Similarly, the longitudinal ta 51 is rotatably installed by a bearing 59 on the Orn element 60 which is fixed on the rails 44. The rod 16 is attached to the longitudinal t n 51 so that it rotates in direction D when the rotation mechanism rotates in spray direction D.
    A hydraulic actuator 61 is connected to the rod 21, by means of which the rod 21 moves forward and backward in the direction of the arrow F or I, i.e. in the direction of the central axis 18. The hydraulic actuator 62 is so connected with the element 17 that it can rotate the latter, in the direction of the arrow D. Thus, the rotation of the element 17 and the thrusts 46 can be carried out independently of each other.
    The manipulator torus 1, which has a flexible arm, works as follows.
    Hour 3 rotates around a central axis 6 by means of a hydraulic actuator mounted in platform 2, and is deflected in a vertical plane around shaft 7 by means of a hydraulic actuator 8, and the arm is deflected in a vertical plane around shaft 9 by means of a hydraulic cylinder 10. When element 17 rotates around central axis 18 by means of hydraulic actuator 62, arm 11 similarly rotates relative to central axis 18 and, when traction 46 turns around central axis 18 by means of actuator 47, rod 16 rotates, resulting in a spray The motor 14 rotates. When the rod 21 moves in the direction of E, for example, under the action of the hydraulic actuator 61, the second elements 27 of the arm rotate in the direction of arrow E around the shafts 28. When the elements of the arm rotate in the direction of arrow E, the rods 31 rotate in the direction E around 30. When the third elements 29 rotate in the E direction, the ropes 36 rotate in the E direction around the shafts 35 and the fourth elements rotate in the E direction around the shafts 49. When the fourth shoulder elements 38 rotate in the E direction The stubs 42 rotate with in the direction E around the shafts 43 9 and the fifth shoulder elements 40 also rotate in the direction E around the shafts 63. As a result, the arm 11 is bent as shown in FIG. 5. When the arm 11 is bent in this way, the sprayer turning mechanism 45 will also be bent in accordance with the bend of the arm 11. Even in this state, the rod 16 can rotate by rotating the rod 46 using the force of the actuator 47. In addition, the arm 1 1 itself it can also rotate itself with the aid of the actuator 62. On the contrary, if the rod 21 moves in the direction W under the action of the hydraulic actuator 61, the arm 11 will bend in the direction opposite to that shown in FIG. 5, i.e. as shown in FIG. 6. Even with the bending shown in FIG. 6, the stem 16 and the shoulder 11 themselves can rotate independently of each other. The present invention can be used not only for a manipulator during painting and for welding manipulators controlled by a computer, but also, for example, dp manipulators for gripping workpieces.
    to FIG. 5 / / V
    权利要求:
    Claims (1)
    [1]
    FLEXIBLE SHOULDER containing the first, second and third shoulder elements attached to the carrier link, kinematically connected by communication elements with each other and with drives of rotation and longitudinal movement of the second shoulder element, which consists in that, in order to increase the flexibility of the shoulder , the communication elements are made in the form of pairs of rods, each rod with one end pivotally connected to one end of the previous element of the shoulder, and the other pivotally connected to the subsequent element of the shoulder, while the first, second and third elements of the shoulder are each in in the form of a pair of strips, the wide sides of which are facing each other and connected with three longitudinal rods installed between them, connected by universal joints, the first longitudinal rod installed with g rotatably via the carrier link, and the third rod connected through the second longitudinal rod with the first longitudinal thrust, mounted for rotation by the third element of the shoulder.
    SU w> 1168089
    类似技术:
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    同族专利:
    公开号 | 公开日
    DE3145891C2|1984-11-15|
    WO1982001680A1|1982-05-27|
    DE3145891A1|1982-07-08|
    GB2087837B|1984-05-02|
    GB2087837A|1982-06-03|
    FR2494618B1|1985-10-18|
    JPS5789585A|1982-06-03|
    FR2494618A1|1982-05-28|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    FR1459250A|1965-10-06|1966-04-29|Siersatom Sa|Remote manipulation arm|
    FR1496094A|1966-04-18|1967-09-29|Nantaise De Fonderies Reunies|Articulation and locking of a transmission on a remote manipulator|
    US3610058A|1969-07-14|1971-10-05|Astro Space Lab Inc|Extensible foldable manipulator|
    US3580099A|1969-09-24|1971-05-25|Gen Electric|Articulating mechanism|
    JPS5026826B1|1969-11-18|1975-09-03|
    NO137351C|1976-01-30|1978-02-22|Trallfa Nils Underhaug As|FLEXIBLE ROBOT ARM.|
    FR2378612B1|1977-01-28|1981-12-24|Renault|
    DE2730613C3|1977-07-07|1980-04-03|Bodenseewerk Perkin-Elmer & Co Gmbh, 7770 Ueberlingen|Double monochromator|JPS57205095A|1981-06-15|1982-12-16|Tokico Ltd|Robot arm|
    JPH0659635B2|1981-10-07|1994-08-10|株式会社日立製作所|Robot wrist|
    JPS5942295A|1982-08-31|1984-03-08|Kawasaki Heavy Ind Ltd|Industrial robot arm|
    US4624621A|1982-10-21|1986-11-25|Kabushiki Kaisha Kobe Seiko Sho|Wrist mechanism for industrial robots and the like|
    DE3428748C2|1983-08-03|1987-02-19|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De|
    JPS6260231B2|1983-08-29|1987-12-15|Kawasaki Heavy Ind Ltd|
    WO1985001496A1|1983-10-03|1985-04-11|American Telephone & Telegraph Company|Protective robot covering|
    SE454250B|1984-09-24|1988-04-18|Asea Ab|INDUSTRIAL ROBOT WITH LINEAR DRIVE DEVICES|
    FR2582978B1|1985-06-10|1987-09-04|Barland Michel|ARTICULATED HEAD FOR INDUSTRIAL ROBOT AND ROBOT HAVING SUCH A HEAD|
    US5102280A|1989-03-07|1992-04-07|Ade Corporation|Robot prealigner|
    DE19638801C2|1996-09-20|2000-03-23|Joerg Mueglitz|Guide mechanism based on a multi-joint, preferred for minimally invasive surgery|
    ES2360680B1|2008-08-07|2012-04-19|Francisco Andres Pepiol Espallargas|POLYARTICULATED ARM.|
    CN106217392A|2016-08-26|2016-12-14|绵阳钢猫科技有限公司|The rotary extension system matched with clear storehouse scale removal power set|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP16443380A|JPS5789585A|1980-11-21|1980-11-21|Flexible arm|
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