• 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:
    An elephant nose type arm for a programme controlled manipulator, comprises gears meshing with each other, connecting members for connecting the gears to each other and actuator for rotating the one of the gears to bend said arm.
    公开号:SU1258317A3
    申请号:SU3413239
    申请日:1982-03-16
    公开日:1986-09-15
    发明作者:Икеда Юниси；Охтани Ивао；Ютсуми Нориуки；Ноима Синиси
    申请人:Токико Лтд (Фирма)；
    IPC主号:
    专利说明:

    12
    The invention relates to mechanical engineering and can be used in the construction of industrial robots and manipulators.
    The aim of the invention is to expand the technological capabilities by ensuring that the arms of the arm are rotated relative to the axis of each joint of the joint in one direction or alternatively.
    FIG. 1 shows the hand of a mancpul torus, side view; in fig. 2 shows section A-A in FIG. one; in fig. 3 shows a section BB in FIG. 2; in fig. 4 shows an embodiment of a hand manipulated torus, side view; in fig. 5 shows an embodiment of a hand manipulated torus, side view.
    The hand of the manipulator contains a base (not shown) on which the links of the kine sati are connected, by means of gears. The support link is a driving mechanism (engine) 1, made in the form of a semi-rotary hydraulic cylinder, the body 2 of which is attached to the base or a bend arm (not shown), and the rotary shaft with axis 3, is rotated with a full rotary hydraulic shaft, passing through the housing 2, has blades 4 and 5, as separating elements attached to it. The vanes 4 and 5, together with the other vanes 6 and 7, divide the space in the body 2 into four chambers 8 and 11. As for the separating elements, the blades 6 and 7 are fixed to the body 2 with the help of bolts 12 and 13. If hydraulic working medium is pressurized in chambers 8 and 10 and is released from chambers 9 and 10, blades 4 and 5 and axis 3 are rotated in the direction of arrow 14. If hydraulic pressurized fluid is pumped into chambers 9 and 11 and released from chambers 8 and 10, blades 4 n 5 and axis 3 is rotated in the direction of arrow 15. The first unwound link is turned off. not in two parallel plates 16 and t fixed on one side at the ends of axis 3 so that case 2 is spaced between them and not in contact with them, and on the other side attached to axis 18. Axis 18 passes through a sleeve 1 ° connected at bearing support 20 and 21 with axle 18 so that they can rotate together. On one

    five
    0
    five
    0
    five
    0
    five
    five
    172
    To the side of the sleeve 19, the toothed sector 22 of the toothed gear is secured with POM1TSI screws 23. The bearing 20 is located between the inner annular surface of the toothed sector 22 and the outer annular surface of the axis 18. The toothed sector 22 is made in the form of a disk element, the cut part 24. sector 25 is attached to one of the sides of housing 2 with screws 26 and is engaged with gear sector 22. Angular movement of axis 3 causes rotation of axis 18 through an even link having parallel plates 16 17, and as a result, the sector gear 22, locates schiys meshed with the toothed sector 25 is rotated around the sector gear 25. The sleeve 19 also rotates as a result of this movement. The toothed sector 27 is fixed on one side of the plate 17 with screws 28, and the central axis of the toothed sector 27 is aligned with the axis 18. The toothed sector 27 is engaged with the toothed sector 29. The even link is made in the form of a pair of parallel plates 30 and 31 attached to jffiK on one side to the sleeve 19, and on the other side attached to the sleeve 32. The rotating axis 33 passes through the sleeve 32. At the same time, the sleeve 32 and the eight are connected by means of bearings 34 and 35 so that they can rotate together . Lodshinniki 34 and 35 are located between the inner annular surface of the sleeve 32 and the outer annular aura surface of axis 33.
    The toothed sector 29 is attached to one end of the axis 33, and the plate 36 is attached to the other end of the axis 33. When the toothed sector 29 performs a planetary motion around the toothed sector 27, the toothed sector 29 to the axis 33 performs an identical rotation and the plate 36 is rotated in an identical manner. A drive mechanism 37, similar to drive mechanism 1, is mounted on plate 36. Rotating axis 38, like axis 3, protrudes from the single face of housing 39 of drive mechanism 37 and rotates around centerline 40 as the center of propulsion of the old mechanism 37 The working tool (paint sprayer) is attached to the axis 38. Patek.Ot 41
    determines the rotation of axis 3, and potentiometer 42 determines the rotation of axis 38, respectively, each electrically. The rotation of the axis 3 is transmitted to the potentiometer 41 by means of the gear wheels 43 and 44, the gear wheels 43 are attached to the rotating axis 45 of the potentiometer 41, and the gear wheel 44 which is in engagement with the gear wheel 43, is fixed on the axis 3.
    The manipulator hand works as follows.
    The hydraulic working medium under pressure is pumped into the chambers 8 and 1 axis 3 rotates in the direction of the arrow 14, while parallel plates 16 and 17 and the gear sector 27 rotate in the same direction around axis 3 as the center. In this case, the jagged sector 22 turns around the toothed sector 25, is engaged with it, and the axis 18 is set to position 46. When the axis 18 moves in position 46, the parallel plates 30 and 31 turn in the direction of the arrow 14 around the axis 18, setting axis 33 to position 47. When axis 33 is moved to position 47, the serration sector 29 rolls in gear sector 27, leaving it in engagement, and thus rotates in the direction of arrow 14 around axis 33 as the center. Consequently, axis 38 is set to position 48, p.6, it is set at an angle b relative to the direction of the center line 40 for the arm of the manipulator, if in the initial position it is held straight. If the gear ratio (the ratio of the diameters of the pitch circles) between each of the gears is 1: 1, angle 6 is three times the angle 9, formed by the center line 40 and the straight line 49, which connects position 46 to the center of the axis 3. Similarly, axis 38 can be set to 50 and 51 by successive rotation of axis 3 in the direction of arrow 14. On the other hand, if axis 3 rotates in the direction of arrow 15, the manipulator arm can be bent in the opposite way to the described method. Thus, the arm of the manipulator can be bent as required by pumping and discharging the hydraulic work.
    j you
    , 15 20 25 40
    0
    five
    whose environment in the drive mechanism 1 and out of it, thereby allowing to install the spray gun attached to the axis 38, in a predetermined position. On the other hand, when filling and discharging the hydraulic working medium of the drive mechanism 37 and from it, the axis 38 can rotate around the center line 40 as a center, as a result, the atomizer attached to the axis 38 can simultaneously rotate around the center line 40 as a center. The degree of bending of the manipulator arm and the rotation of the atomizer attached to the axis 38 can be electrically determined by potentiometers 41 and 42, respectively.
    The described example of the execution of the manipulator arm contains four jagged sectors, however, the manipulator arm can contain 2, 3 or more than 5 sectors. Moreover, it is not necessary to always set the gear ratio (the ratio of the diameters of the divisor-HbiDc of circles) equal to 1: 1, but any other gear ratio can be set additionally.
    The arm of the manipulator (Fig. 5) may: contain eight toothed sectors 52-5 1 1: a gear ratio, changed sequentially between each toothed sectors in engagement.
    If the dimensions of the gear sectors are equal, that is, the gear ratio is 1: 1 for each coaxial group of gear sectors, that is, for the gear sectors 53 and 54, the gear sectors 55 and 56 and the gear sectors 57 and 58, respectively, and the gear ratio equals 6: 4; 3: 2; 4: 2, successively in gear train 52, 53, 55, 57 and 59, the movement of the rotating axis 60, which corresponds to the rotating axis 18 in the previous embodiment, to the line 61 with an angle Sff relative to the center line 62 causes the movement of the axis 63 (which corresponds to the axis 38 in the previous embodiment) to a line 64 with an angle of 9 (equal to 10 in) with respect to the center line 62.
    In order to reduce the dead stroke E of each engagement part of the gear sectors, the springs 65 and 66 can be installed between the gear sectors 25 and 22, between the gear sectors 27 and 29, respectively, so that
    $ 12,583
    displace each toothed sector in the same direction of rotation, or alternatively, coil springs 67 and 68 can be installed between the toothed sector 25 and the plate 16 and between the plate 30 and the toothed sector 29, respectively, in order to displace each toothed sector 27 and 22 in one the direction of rotation of these coil springs, as shown in FIG. 4 ,, Y
    17
    The drive mechanism cannot be made as a reciprocating hydraulic cylinder instead of a rotating type. In addition, the application of the invention is not limited only to a coating robot, it is also applicable to LONG welding, while the welding torch is attached as a working tool,
    and yy
    K№
    bL. 3 Guards and 36
    7/7
    6-g
    J7

    25 49 “5
    /five
    /
    FIG. four
    Editor A.Dolinich
    Compiled by V. Povetkin
    Tehred M. Khodanich Proofreader A.Obruchar
    Order 5045/60 Circulation 1031 Subscription VNIIPI USSR State Committee
    for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5
    Production and printing company, Uzhgorod, Projecto st., 4
    权利要求:
    Claims (2)
    [1]
    1. MANIPULATOR'S HAND, containing a base with sequentially pivotally connected links mounted on it, the odd of which are kinematically connected to each other and to the engine using gears, including gear elements mounted coaxially to the hinges and rigidly connected to the corresponding links, while the working body is fixed at the last link, characterized in that, in order to expand technological capabilities, even links are also kinematically connected by gears, gear the elements of which are made in the form of gear sectors mounted coaxially to the hinges and rigidly connected to the corresponding links, the first of the even links kinematically connected to the gear sector rigidly mounted on the base, and the first odd link kinematically connected to the engine, and the links are made in the form of two parallel plates connected to each other, while the plates of each odd link are interconnected by axes, and each even link by means of bushings, and, the axis of the odd link on the bushings are disposed in even-link adjacent links with the possibility of their joint rotation, and the axis of the first rotor is an odd Even, part-turn cylinder, korpvs which is rigidly connected to the base.
    [2]
    2. The manipulator arm according to claim 1, characterized in that the gear sectors> in engagement are spring-loaded relative to each other.
    M SU w, 1258317
    1 1258317 2
    类似技术:
    公开号 | 公开日 | 专利标题
    SU1258317A3|1986-09-15|Mechanical arm
    EP0048905B1|1985-03-20|An industrial robot
    US9427866B2|2016-08-30|Gear mechanism, speed reducer, and robot arm
    JP5403303B2|2014-01-29|Parallel mechanism
    US7637710B2|2009-12-29|Industrial robot
    US4807486A|1989-02-28|Three-axes wrist mechanism
    WO2015076201A1|2015-05-28|Link actuation device
    US20080202273A1|2008-08-28|Three axes rotational motion-positioning apparatus
    JP2759032B2|1998-05-28|Decelerator
    SU1436862A3|1988-11-07|Drive mechanism for mechanical arm of industrial robot
    JP2007521144A|2007-08-02|Robot parts
    US8683883B2|2014-04-01|Ball and piston rotary actuator mechanism
    US4451195A|1984-05-29|Arm for a program controlled manipulator
    US8141452B2|2012-03-27|Rotational motion-positioning apparatus
    US3283597A|1966-11-08|Structure for transmitting rotary motion through a hermetically sealed space
    JP2012529600A|2012-11-22|Eccentric adjustment mechanism for adjusting two members
    US4477221A|1984-10-16|Arm for a programme controlled manipulator
    EP0144439B1|1988-08-17|Fluid servo actuator
    SU1397652A2|1988-06-15|Link mechanism
    SU1306710A1|1987-04-30|Gripper of industrial robot
    SU1050862A2|1983-10-30|Manipulator drive
    SU1116246A1|1984-09-30|Guiding mechanism
    JP6875364B2|2021-05-26|Gear mechanism, gear adjustment method and robot
    SU1202856A1|1986-01-07|Manipulator actuating member
    RU2201019C2|2003-03-20|Turnaround device |
    同族专利:
    公开号 | 公开日
    DE3209270A1|1982-09-23|
    JPS6110942Y2|1986-04-07|
    JPS57149990U|1982-09-20|
    DE3209270C2|1986-02-06|
    US4435120A|1984-03-06|
    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|
    NO137351C|1976-01-30|1978-02-22|Trallfa Nils Underhaug As|FLEXIBLE ROBOT ARM.|
    JPS56134193A|1980-03-24|1981-10-20|Mitsubishi Heavy Ind Ltd|Narrow section inserting device by remote operation|JPH0659635B2|1981-10-07|1994-08-10|株式会社日立製作所|Robot wrist|
    US4624621A|1982-10-21|1986-11-25|Kabushiki Kaisha Kobe Seiko Sho|Wrist mechanism for industrial robots and the like|
    US4766775A|1986-05-02|1988-08-30|Hodge Steven W|Modular robot manipulator|
    US4805477A|1987-10-22|1989-02-21|Gmf Robotics Corporation|Multiple joint robot part|
    GB8902976D0|1989-02-10|1989-03-30|Vinten Broadcast|Control device for a tiltable mounting head|
    JPH03287392A|1990-03-30|1991-12-18|Toyoda Mach Works Ltd|Articulated robot|
    US5456568A|1993-12-27|1995-10-10|Kirby; Jeffrey R.|Arm mechanism|
    JP3397617B2|1997-01-29|2003-04-21|ペンタックス株式会社|Rotation transmission mechanism and binoculars using the same|
    DE19940083C1|1999-08-24|2001-04-12|Helge Ernst|Pivot hinge drive for robot arm uses first drive coupling between drive shaft and common shaft acting as pivot axis and between common shaft and output shaft|
    US20100158641A1|2008-12-19|2010-06-24|Delaware Capital Formation, Inc.|Manipulator System|
    GB2486486A|2010-12-17|2012-06-20|Uhv Design Ltd|Work piece transfer mechanism with a linear stroke|
    GB2540756B|2015-07-22|2021-03-31|Cmr Surgical Ltd|Gear packaging for robot arms|
    WO2017013451A1|2015-07-22|2017-01-26|Cambridge Medical Robotics Ltd|Gear packaging for robot arms|
    GB2541369B|2015-07-22|2021-03-31|Cmr Surgical Ltd|Drive mechanisms for robot arms|
    US11203113B1|2021-02-26|2021-12-21|Universal City Studios Llc|Segmented bending system for an amusement park attraction|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP1981038093U|JPS6110942Y2|1981-03-17|1981-03-17|
    [返回顶部]