• 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:
    The invention relates to mechanical engineering, in particular to backlash-free drives, mainly for rotating units of manipulator machines. The purpose of the invention is to increase the accuracy of the positioning of the nodes, which is achieved by placing devices for torsional tightening at the end of the kinematic chain of the drive to reduce the magnitude of the adjustment movements and increase the sensitivity to the adjustments. The torsion-elastic drive shaft is located at the beginning of the kinematic drive chain and is associated with a rotatable reduction gear train through gears. The devices for the torsional tightening are located between the turning unit. And the last - driven wheel of the drive. When adjusting the drive shaft torsional thrust, the adjusting movements are multiplied by the reduction gear, as in this case it transmits the rotation in the opposite direction and works as a multi1O plicator. Thus, a small recirculating movement provides with significant angles of tightening of the drive shaft, thereby increasing the sensitivity of the drive to the adjustments and ultimately the positioning accuracy of the nodes. 10 hp f-ly, 7 ill. Oi cl sp a
    公开号:SU1261556A3
    申请号:SU3283354
    申请日:1981-05-25
    公开日:1986-09-30
    发明作者:Циммер Эрнст
    申请人:Кука Швайсанлаген Унд Роботер Гмбх (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to mechanical engineering, in particular to non-invasive drives, mainly for rotatable machine nodes, manipulated torus.
    The purpose of the invention is to improve the accuracy of the positioning of the assemblies provided by the placement of the device for torsional tightening, which simplifies the adjustment of the torsional tightening.
    FIG. 1 shows the manipulator, general view; FIG. 2 is a view A of FIG. one; in fig. 3 shows a section BB in FIG. 2; in fig. 4 - base of the manipulator, vertical section; in fig. 5 — drive, embodiment; Fig, 6 - torsion-elastic drive shaft, cross section; in fig. 7 the same, the embodiment.
    On a rigid base 1 there is a carousel 2, with the possibility of rotation around a vertical axis.
    3 by drive motor
    4 in various directions. On the carousel 2, there is a drive console 5, the oscillating rotation of which around the axis 6 is provided by the engine 7. The axis of rotation 6 is located horizontally. Drive console weight 5
    and balancing elements located on it with a counterweight 8.
    At the free end of the drive console 5 there is an arrow 9, having the possibility of rotation around the axis 10 by means of the drive engine 11. On the arrow 9 the mechanical arm 13 is rotatably positioned relative to the axis 12, which can be equipped with any kind of tool (not shown).
    FIG. Figure 2 shows a section of the backlash-free drive for rotating the boom 9 around the axis 10. The torsion-elastic drive shaft 14 is connected to the drive motor 11 via a contour 15, for example, a toothed-belt transmission. At the ends of the shaft 14, there are two driving wheels 16 and 17, which, through reduction gears 18 and 19 and the driven wheels 20 and 21, transmit the rotation to the boom 9.
    The driven wheels 20 and 21 are rotatably mounted on the boom 9 coaxially to the axis 10 and are connected to the boom by a device for torsion pulling. The latter can be done, for example, in the form of 22
    at the ends of the hubs 23 of the driven wheels 20 and 21 of the clips 24 with the ends protruding above the hubs and the clamping screws 25 with locknuts 26. The screws 25 cooperate with the ends of the clips, and are placed on the swivel unit.- arrow 9. Similar devices can be placed and in other drives of rotation of the manipulator nodes, including his hands 13. For example, in FIG. 4 shows a variant of the rotational drive of the carousel 2. The rotation is carried out by the driving motor 4 through the counter drive 27. The flange 28 of the carousel is fork-type with a jumper 29. The driven wheels 30 and .31 of the drive are placed one on each arm of the fork. The rest of the drive may be similar to that described (Fig. 2 and, 3). The drive wheel 32 of the counterdrive 15 can be installed in the geometric middle of the torsionally elastic drive shaft 14 (Fig. 5). Here, below the geometric center of the shaft 14, the neutral zone of the shaft is lowered, in which one preliminary torsion clamping passes into another, oppositely directed. Depending on the different radii, the geometric center need not necessarily coincide with the center between the drive wheels 16 and 17. As shown in FIG. 6, it is possible to influence the geometric center of the drive shaft even when the countershaft 27 lies outside the driving wheels of the drive. In this case, the drive shaft is made of a composite of two parts 33 connected in the zone of the geometric center with one another.
    34, the last of which is made hollow and has a drive shaft.
    35, associated with a countershaft drive wheel. Both parts of the drive shaft can be hollow. The main thing is that they had the same cross section or the same elasticity. Parts of the drive shaft can be connected one to the other.
    the other and the drive shaft are flanged (not shown) or multi-toothed 36 connected. The drive wheels 16 and 17 with the drive shaft parts 33 and 34 can be made as single parts (Fig. 7), provided that their torsional elasticity is equal.
    权利要求:
    Claims (8)
    [1]
    The device works as follows. 3 Turning on the engines 4 and 11 is carried out through the counter-drive 15 or 27 and the backlash-free drive of the rotor 9, the cantilever 5 and the carousel 2. The available clearance of the B drive can lead to a significant deviation of the rotating unit from the predetermined position. In order to eliminate such a positioning error, the gaps in the waters are selected by means of devices for torsion-elastic tightening by rotating the driven wheels 20 and 21. This turning is carried out by corresponding movement of screws 25 that act on the ends of the clips 24 connected to the hubs 23 driven wheels. When turning, the driven wheels through downshifts 18 and 19, working in this case in the opposite direction as multipliers, and driving wheels 16 and 17 twist (torsionally tighten) the drive shaft 14, which ensures torsion-elastic drive tightening and, accordingly, sampling gaps in its interfaces. Moreover, the adjusting movements of screws 25 are very small, and the twist angles of the drive shaft are large due to the placement of devices for torsionally elastic tightening at the end of the kinematic drive chain, which ensures a high its sensitivity to adjustments. Claim 1. The backlash-free drive is mainly for turning units of manipulator machines, comprising a drive motor, a torsion-elastic drive shaft, on which two drive wheels, each connected to one driven wheel, are located one from another. through a downshift, and a device for torsional tightening, and the driven wheels are arranged coaxially to the drive shaft, characterized in that, in order to increase the precise positioning of the components, the device for torsion tightening is intended ENO for accommodating between each driven wheel and pivotable assembly and driven wheels are designed to be mounted rotatably on the rotatable coaxially with the axis of its node ioshfota. .564
    [2]
    2. The drive according to claim 1, of which is with the fact that at the end of the hub of each driven wheel there is a transverse groove, the device for torsional pulling is made in the form of retainers located in the grooves with the ends protruding above the hubs , and clamping screws with locknuts, interacting with the ends of the latches and placed on the swivel unit.
    [3]
    3. The drive according to claim 1, wherein the drive wheels are designed to accommodate one for each arm of the fork in the case of a fork-like turning of the rotary unit.
    [4]
    4. Drive on PP. 1, 2, and 3, which is consistent with the fact that in the geometric middle of the torsion-elastic drive shaft is installed the drive wheel of the counter drive connected to the driving engine.
    [5]
    5. Drive on PP. 1, 2, 3, and 4. characterized by the fact that the torsion-elastic drive shaft in the zone of the geometric center is divided into parts connected with one another.
    [6]
    6. Drive on PP. 1,2,3,4 and 5, characterized in that it is provided with a drive shaft, and the torsion-elastic drive shaft is hollowed on at least one side and accommodates a drive shaft in a zone of geometric midpoint and gaplessly connected to it.
    [7]
    7. Drive on PP. 5 and 6, characterized in that the parts of the torsion-elastic drive shaft are connected to each other by means of a multi-tooth joint.
    [8]
    8. Drive on PP. 5 and 6, in that the parts of the horsional-elastic drive shaft are detachably connected to one another through flanges. W. Drive on PP. 5,6,7 and 8, which is due to the fact that both parts of the torsionally elastic drive shaft have the same cross section. 10. The actuator according to claim 6, about tl and h ach and the fact that the torsion-elastic drive shaft is mounted on a riding shaft. 11. The drive according to claim. 6, about t l and h ach and with the fact that the drive shaft
    51261556 6
    connected to the driving wheel of the counter-priority; the points are: water connected to the driving motor on 29.05.80 in paragraphs. 13;
    g
    AND
    {
    (5Di / e. 2
    eleven
    3
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    同族专利:
    公开号 | 公开日
    DD160100A5|1983-05-04|
    EP0041136A1|1981-12-09|
    EP0041136B1|1984-11-28|
    DE3115061C2|1985-05-30|
    DE3115061A1|1982-02-04|
    ES502591A0|1982-04-01|
    US4399718A|1983-08-23|
    ES8204109A1|1982-04-01|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US2016149A|1933-07-20|1935-10-01|Gen Electric|Indicating device|
    DE717517C|1941-01-28|1942-02-16|Walter Klotz|Steering device, especially for motor vehicles|
    AT226849B|1958-09-19|1963-04-10|Gen Mills Inc|Drive mechanism for remote controlled manipulators|
    BE582789A|1958-09-19|
    GB1212581A|1968-02-15|1970-11-18|British Aircraft Corp Ltd|Improvements relating to power transmitting drive arrangements|
    US3996917A|1974-03-27|1976-12-14|Malz Nominees Pty. Ltd.|Solar heating apparatus|
    DE2558093A1|1975-12-19|1977-06-23|Mannesmann Ag|PLANETARY GEAR|
    FR2425016B1|1978-05-03|1980-09-19|Coudreau Jean|
    DE2930052C2|1979-07-25|1982-12-16|Carl Hurth Maschinen- und Zahnradfabrik GmbH & Co, 8000 München|Drive device for rotating a solar collector independently around two mutually perpendicular axes|JPS626958B2|1982-05-31|1987-02-14|Matsushita Electric Ind Co Ltd|
    EP0102082B1|1982-08-30|1987-05-20|Hitachi, Ltd.|Industrial robot|
    JPS5959371A|1982-09-30|1984-04-05|Fanuc Ltd|Industrial robot|
    JPS6254636B2|1983-01-26|1987-11-16|Mitsubishi Electric Corp|
    DE3308413C1|1983-03-09|1984-10-04|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg|Backlash-free adjustable swivel drive for at least one main axis of manipulators|
    JPS60161083A|1984-01-30|1985-08-22|Mitsubishi Electric Corp|Backlash compensator for turning shaft of arc welding robot|
    DE3406262C2|1984-02-21|1987-11-12|Eke Robotersysteme Gmbh, 8000 Muenchen, De|
    FR2560546A1|1984-03-01|1985-09-06|Toyoda Machine Works Ltd|Robot with articulations with forks|
    DE3448409C2|1984-12-28|1993-01-28|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De|Modular driving unit for industrial robot|
    DE3522336A1|1985-06-22|1987-01-02|Bosch Gmbh Robert|ROBOT JOINT WITH AN ELECTRIC DRIVE MOTOR|
    US4973215A|1986-02-18|1990-11-27|Robotics Research Corporation|Industrial robot with servo|
    GB2215242A|1988-02-24|1989-09-20|Jobs Spa|A head for machine tools having devices for automatically taking up play|
    US5102280A|1989-03-07|1992-04-07|Ade Corporation|Robot prealigner|
    JPH03287392A|1990-03-30|1991-12-18|Toyoda Mach Works Ltd|Articulated robot|
    US5807338A|1995-10-20|1998-09-15|United States Surgical Corporation|Modular trocar system and methods of assembly|
    US6711558B1|2000-04-07|2004-03-23|Washington University|Associative database scanning and information retrieval|
    US7374525B2|2006-01-25|2008-05-20|Protedyne Corporation|SCARA-type robotic system|
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    CN110963290B|2019-11-30|2021-07-20|无为县环江铜业有限公司|Unloading device for copper I-shaped revolving body part|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE3020378|1980-05-29|
    DE3115061A|DE3115061C2|1980-05-29|1981-04-14|Backlash-free swivel drive for swivel-mounted components|
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