• 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 device for robot manipulators having a multiply articulated manipulator arm (7, 8, 10) rotatably mounted in a swivelling socket (1), wherein all the servo-cylinders (46) are placed in the base (1) and wherein a mechanical power transmission mechanism is disposed between the tool holder (11) and each of the parts of the manipulator arm (7, 8, 10) respectively and the associated servo-cylinder (46). The linear movement of the individual servo-cylinders (46) is converted into a substantially proportional rotary movement over the whole working range of the servo-cylinder (46). Said power transmission mechanisms are so designed that when one or more of them is in action and the portions of the manipulator arm (7, 8, 10) are moved in relation to one another, the other power transmission mechanisms are not influenced as a result of these movements. All the servo-cylinders (46) have a piston rod (47), the diameter of which is reduced to below the bending limit for a conventional freely mounted piston rod, since the piston rod (47) is rigidly connected, at one end, to the piston (48) of the servo-cylinder (46) and is rigidly connected, at the other end, to a guide (50) adapted to slide or roll (51) in fixed guides (52), as a result of which the contact area and hence the friction between the piston rod (47) and piston rod packing (59) is reduced to a minimum.
    公开号:SU1304741A3
    申请号:SU833605467
    申请日:1983-06-03
    公开日:1987-04-15
    发明作者:Молеуг Оле
    申请人:Грако Роботикс,Инк (Фирма)；
    IPC主号:
    专利说明:

    2. Manipulator tor p. one . g i and - gsh psi; h; - -. :; ;;;
    Part 1 :( i :; and there, that the axis iunp: in- rglnk ;;; .Г ::; -. chg -.:--- ... ...:
    ra, losing);.: -:; --- less than 1 tl. h --- -i: v ..,., -. ;; in iiem. paiMeiueiia below;:. iiU; ko; -gi, ..-: -1 op ;; s:.:. ; i; .. i;
    through the axis of the axis zilo1; 1 r cuoiin - a s i: i and l - s -, -,: ..-,; ..,
    "And np DfiCCTOfiHHii i / 36; sha 1eto; tik-s.rvogo chns ;. gt.ii: p. —yum cne: ca dist. -:; 1and s: t: h; and 1;: .. soybeans co .-. ., - ..
    I, t,. -. one; iiiMiiimero: seovpe ijitcti en i-c.:;.::- -; nsJ, G: ag1.i11ultor MO ch and c. lis
    topics what r oo-cho: h equal to the radius ci o c donkey
    The faces of South Ossetia are 4/5 ;;. Ia - Yuskost,.: Ol-1: s ;: acpf
    meter roller first member, and ras-airov, C - n-ai i; ii, i. . .e,) i- .. f
    standing - {between the axis) and: arnira. with iplip-iu niya and:. and -pr
    li jcioijc gsmia from -1st: l and Ma.i; iia: .i
    CT pos.amio., B part; - awnings to the computer 1y :; go pet -:; -:
    , : tre; l; 1.p: iače; - ;;) ІМ .vurii obsl l: aina -p.aieno
     but. al-uiaiax. pogiles; : -: ir.i .. about l с) zhach ate:
    owls, and the first
    lchbroobsni; - ko I liCUHC goaa;
    NOSTT1; GSL-IC: ONIROV; 1; 1; -1I. i with L1
    ila:) L, schematically ..i: .io6; :) a; KCii- о1Ч} with: EOR (
    ; v,: j ({HI ... LIPELL., siK ,, Pa. fI C - B) CB (I
    ;.; l ;; a:: and galeska lie lerelachi / dpile --- L: l.stvst;
    htiw O.; , P1: lp ate; Liliaul mountain Hch hh / s / m / oroy kss
    1L; e. The link and ;;; ep:; vaTcj. eix - (lslrukklch .- ;. to:
    ) zpsna in which rvvlei-Sg lar laroe
    Ms. ge.t 1-p5STr of chalk L1 with rv ory link; -: -signal
    and UT1 is equal to: with their own; on phmgl zhg,: zi, l from above; ; -and figl b about;. IL
    1-l dvia; gogel: e 1 machppool lor z., Relstvil ushil ssl; o; 1 srilo: - .. and in the section .-;., - .., - gi i /
    hh rez it -; : l:; Lenla go; at a:; possible; l: K1 1 - I 20, .rungsch
    Maypol tor contain lsololka .. ,, ,, .., o., Op, 1,
    . linoe with; chozmo ki (.l-chvu. pervert., ,,,, |,. ,, ..,. „,,,, .. nin on the protruding gigk132 2, chrchak: -ia4i - pullcha.) ;; can 1: about orach.iac with ao - io-first of the first seal and idler (. h; h With srnol-i-3, located in the last 11
    1 and acting through t gu -4 on. ln - 30jascant-Ij third link iO manila goat; step lever 5, d-: otkreplen-l .tora can b) Ti rotated fixed to the fixed shaft 6 of the base-divided arc in .n; -o6c: iM direction away 1 One end of the first link is 7 ma - (- just the second link 8, and the holder of the torus is installed with the ability of the tool 1 can be rotated to the base, and the other 35 can rotate around its longitudinal axis.
    the end of the first link 7 the manipulator of the torus; for the big-: it is blurred in fig. 2 iso-bounded with the second link 8, p. Shena is only one of the three mentioned other end of which .n through kinematic chains, iyiH transmission
    313
    effort with hydraulic servo-drive 21.
    The movements of the third link 10 are caused by two longitudinally movable control rods placed on the second link 8 of the manipulator, of which for the sake of clarity in FIG. 1, only one is shown (position 22). The second of the mentioned pair of control rods is depicted in FIGS. 3 and 4 and is indicated by reference numeral 23.
    The rotation of the tool holder 11 around its longitudinal axis is centralized by the third control rod 24 (FIGS. 3 and 4).
    All control rods are kinematically connected with corresponding hydraulic servo-cylinders 21.
    The stem of the servo cylinder 21 is attached by means of an axis to one end of the string 25, the other end of which is connected by means of an axis to the protrusion 26 on block 27, which is fixed by means of the axis in the base 1 and which simultaneously serves as a cranked lever. The block 27 envelops the first flexible element 28 fixed on it with its one end, which then with its external side touches the roller 29 mounted on the axis in the base 1, and bends around the roller 30 mounted on the axis in the first link 7 of the manipulator under the hinge connecting the first 7 and second 8 links. The second end of the flexible element 28 is fixed at the end of the rod 31, the other end of which is hinged to the lever 32, which in turn is mounted on the axis in the second link 8 of the manipulator. The lever 32 is attached by means of a hinge.
    also the end of the rod 22. I
    In addition, the ends of the second 33 and third 34 flexible elements are attached to the block 27, which also surround the block 27, but on the opposite side of the flexible element 28, which pass through the roller 35 mounted in the base 1 and through the roller 30, The other ends of these flexible elements are fastened to a bar 31 near the ball joint connecting it with the lever 32. Thus, the flexible elements 33 and 34 are parallel along the entire path. The flexible element 28 is located in a plane perpendicular to the axis of rotation of the block 27 and the rollers 29, 30 and 35, and extends between the flexible elements 33 and 34, arranged parallel to the planes. Due to the fact that the flexible element 28 passes between the second 33 and the third 34 flexible elements, and at an angle to their direction at the Bepxnei i part of the roller 30, the stress that occurs in thread 31 under the influence of the flexible elements is not skewing. The ha 31 is rotatable for fastening flexible elements (not shown),
    K1-p) an ematic chain of drive for the links of the manipulator is designed in such a way that d: deadline 7; can be rotated (relative to support 1, and the second 3nei; o 8 relative to link 7 without influence np flexible elements 28, 33 and 34 and respectively -: a control rod; b. This is achieved thanks to steps 29 and 35 installed; base 1 equals i or almost equal; distance from the Nsecra installation at base 1 of block 27; l tg: kzhe o. chag gadar to the fact that the first link is 7; the anipulator is installed in a foundation: I, in that its axis is lying; preferably, near the plane, the rollers pass through the axes: kov 29 and 33, for example, the nickname of this plane by a distance of 1/36 of the diameter of the rollers 29 and 35, with the axis of rotation of the first link 7 located at the same distance from the axes of rotation of the rollers 29 and 35, and the diameter of the rollers is chosen such that sections of flexible elements 28 or 33, 34 are wound on them of such length that the distance between the rollers 29 and 35, respectively, by the roller 30 is reduced as a result of the first link of the first link 7, and the voltage in the flexible elements is kept constant to us. As a result of the movement of the first link 7 of the manipulator with the rollers 35 and 29, a part of the flexible elements 33, 34 or 28 is unwound for such that the distance between them and the roller 30 increases, while the voltage s of the flexible elements is kept constant. This means that the roller 30 does not rotate, and the mile 31 does not receive a longitudinal movement when moving the first link relative to the base 1. The roller 30 is mounted on the first link 7 of the manipulator at a distance from the axis of rotation of the link 7 and link 8 equal to or almost equal to 5
     roller 30 in 1h: 1hkg- ;;
    Scientific research institute, which connects N-lutsu:
    nmn n: pYa1de {and zsieyei v. with:
    Neither 7 grounds, I nt
    meter roller 30 choose; so mb t:; zom, and the axis of rotation of the lever, 32 ra. :: is assumed with respect to the 7 and 8 axes of manipulation of org
    when overpowering 8 points
    link 7 part length gi5ki
    28, Y and 3 i wind and rewind; 4) respectively: 1kk 50.
    When the distance between the isp line is1; 1,
    the roles of: -; a 30 and the hinge axis, linking the chug 32 and tgu 3, change from ee; : athe: variable; 1 and eene;,. 8 about; And - c - TejifjHo ;;; zena / nagf gw 1e in flexible
    elements of i is supported by i: osgo and: / s1m,
    those. 31 do not get g; : genus:; 1P; (5: ier (part 1e1t; w; rpzu: tt tate :: speMei: ii; vi: ::
    star; A B Ott Osntel ;; i-o link / Cn :: - ;; : st h ora
     It is stated that the preferred mailbox, /: diameter1: 1 pOJiviKOH 29 and 3 ;; ; 1 YOUR 5AT: ;-) value -5 diameter roller ;; 30, pacc fOMiii-ie, the axis of the vradengch zpepa 7 manchu.ch torus v osg ovapil l V; for; c (M1lYa Y. gek 30 ybyra. -L L: kr ;;: nei I iepci in n; -hg times bo .
     1 S. T with:.
    i1-; 1NIK (k) r :. Wow and poière h ,,; with.; 1b) ;;}; a: ifi:; - and rassping; not imes
    h: iJII ;; Oru with :; leiilOlHr
    inieiLi
    from roller 1 and 29 and 33, the link / is O | As regards the basis of the affairs of a donable lianazone,
    Man-tutor tor working - the next UNI HL dispersed,
    TpGTt.e link 10 of the manipulator of the torus -i hold / f tool M enier ;. e ca:; G - with Tpeh:} longitudinally.; E1; |, aem) s; mi wi1v1l01I1- (mi rod 7p and 22, /: 3 and ha, is as follows; e -1N mmi z link 3 ma. :: zero / bargain:
    The third link 10 manila torus is installed with the possibility of iog; orsta from -a)
    B - B mjig, 3 and h) by means of M urapffi-ipHo of attachment 9 to link 8, located behind shaft 36, mounted rotatably in link 8. with the front end of the shaft inserted in the form of a hinge part 9. A nn-a-cut 37 is covered by a nut 38 attached to the end of a longitudinally movable control rod 24. When the control rod is 2t and, therefore, the nut 38 is longitudinally displaced. c: a drop-in with a spacing of the displacement i of the control rods is 22 and 23, B 42 there is a free co1; a pin 43, which is rigidly attached to the link 8, has turned the torus,
    7 an axial extension
    line 44 of the pin 43 riepeceicaeT axial liniiu 45 shaft 36, All servililindry manipulator torus ikggt design, pos71
    it is intended to obtain the angular displacements of the links of the manipulator in direct dependence on the stroke of the pistons of the servo cylinders. The servo cylinders (Fig. 5) have a sleeve 46, a rod 47 rigidly connected to the piston 48, which is provided with sealing channels 49 (pressure distribution channels). At its other end, the rod 47 is rigidly attached to the guide 50, adapted to slide on the supports 51 with rolling friction in fixed guides
    52.The guides 50 are attached by means of an axis to one end of a gig 53, the other end of which is attached by means of an axis to a bend lever 54 rigidly attached to an installed
    rotatably to the shaft 55 mounted at the base i of the manipulator robot. The servo-cylinder measurement system (not shown) is connected by a steel wire 56 to the protrusion 57 on the guide 58.
    Due to the fact that the length a of the crank arm 54 and the length b
    53, as well as the distance c between the axis of rotation of the shaft 55 and the axial line of the rod 47 are in the range (in values a) from 1.8 ° to l, 33q relative to each other, the distance between the axis of connection the thrust 53 and the guide 50, when the axis is at a remote position, and the intersection point of the axial line of the rod 47 and the axial line perpendicular to it and passing through the axis of rotation of the shaft 55, is 0.39 a, the stroke length the servo cylinder piston is 1.66a; an effect is achieved, which is expressed in that the linear movement of the servo-piston piston is transformed into a rotary motion of the shaft 55 in such a way that the ratio between the rotation angle of the shaft 55 and a corresponding change in the location of the piston 48 votsklindra sulfuric virtually continuously over the entire operating range setting cylinder. The description is almost linear.
    -P8
    The transmission of the dvigatee from the servo cylinder to the rotating shaft 55 is graphically depicted in FIG. 6, where the curve in the coordinate system shows the value of the rotation angle V as a function of the distance between the guide 50 and the normal to the axial line of the shaft 55 when the stroke length of the piston of the servo cylinder is set to 200 mm.
    one
    Two practical parameters o and e are marked on the x-axis.
    In accordance with the invention, the friction between the rod 47 and the piston rod seal 59 in all hydraulic actuators 1-; handler lenders is minimized due to the use of a special device, in: the stem 47 diameter is reduced to a size that corresponds to a thin man flexural strength for a type freely installed in a well-known manner. With cTopOJiK, the servo cylinder is provided with a guide 58, in which, besides the seal 59, there is a roller bearing 60. Through which the current 47 passes. The roller bearing 60 has a taclae length that part of the rod 47 located inside the roller bearing 60, in any the moment acts as if it were fixed there. As a result of the fact that the rod 47 was fixed with both ends, it was possible to significantly reduce its diameter compared to the diameter of the rod, which, in connection with the possibility of bending, would be necessary if the stem 47 be free mustache installed at both ends. Thus, it was possible, for example, to reduce the diameter of the rod from 20 to 8 mm. This means that the length of the piston rod has been reduced from 62.8 to 25.1 mm. Since the friction between the piston rod and the seal is proportional to the pressure of the seal per unit area, it is significantly cross-linked.
    €.
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     , - /.

    ---. ; Y (. -Wy1 - f-f-- / - irrX - f: 5N), 0 j .-. Ta-: / --- С; L ... / /
      . I.-.

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    Tsig.Z
    77
    59

     515057 56 5252 7
     48 46
    ii ggSBi igiS:
    Editor N.Kishtulinets
    Compiled by E. Ermolaev
    Tehred V.KadarKorrektor M.Samborska
    Order 1325/58
    Circulation 954 Subscription
    VNIIPI USSR State Committee
    for inventions and discoveries 113035, Moscow. G-35. Raushsk nab. 4/5
    Production and printing company, Uzhgorod, st. Project, 4
    权利要求:
    Claims (3)
    [1]
    1. A MANIPULATOR containing a base plate and a base mounted on it with a drive for turning it, as well as three links pivotally connected in series, the first of which is installed on the base, and the last - the third link - has a tool holder located in it with the possibility of rotation and mounted on engines, each of which is connected with its kinematic chain to the corresponding link, characterized in that, in order to improve positioning accuracy, the angular displacements of the third link and rotation are kept The tool body is made in the form of three control rods, which are kinematically connected on the one hand with the third link and the tool holder, respectively, and on the other with the corresponding engines via identical kinematic chains, the third link being connected to the second link using a spherical hinge and equipped with an additional hinge whose axis is perpendicular to the axis of rotation of the tool holder and pivotally connected at its ends with the ends of two control rods pivotally connected to each other across another, in which a longitudinal groove is made, while on the second link there are three levers, as well as a guide pin, which is placed in the groove of the cross member, and a shaft. the end, the end of which is kinematically connected with the tool holder, and the other is equipped with a screw thread on which a nut is mounted, fixed on the end of the third rod, the other ends of the control rods pivotally connected by the corresponding levers of the second link, and each lever of the second link is also connected to the corresponding engine by a kinematic chain containing three flexible elements and a rod, one end of which is pivotally connected to the corresponding lever of the second link, mounted on the base of the drive unit associated with atelier, and guide rollers, one of which is installed on the first link, and the other two on the base on both sides of the plane passing through the axis of the block and the axis of the roller of the first link, while the flexible elements are fixed at one end with the ends and with the other - on traction, they cover the working surfaces of the rollers facing each other, and are located on the drive unit and the roller of the first link so that one flexible element bends around their working surface located on one side of their axis, and two other flexible elements on the other side well.
    [2]
    2. The manipulator io nJ, <ι and - especially with the fact that the <> οι> hinge that lowers the link and stitching is placed below the flat shaft passing through the axes of the rollers in the main part of the rollers. .
    [3]
    3, Manipulator with respect to, Ϊ, with the fact that the spam ί'ρ of the handles of the base is e / 5 of the diameter of the roller of the first link, and the distance between the axis of the hinge, S.
    TO' HS with whitefish -g: -shlm zhizh- and - /. ) ·: ' 2 1 And K s nerve :> <N l: s <s ‘> 1. w ··new inti a- ПТ / ДСЖ -Л С- 4 3.0 / Mania W. · : Ya-sp :: with t. : , about : And and a u w and u:  I -L -'- · ', / 4th Learn ::: / i sk a  from Do W O G from days / ί thetaevpen in ·. · ί om ave
    : 0 at a distance from the axis of the drive that doubles / veins with a link. equal to the radius outside of the w / o knockdown, inclined to cut ft tournaments, 013 / 100-310-131: 0 -two link about the fairing and about in - op, n -. <-shot-t
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    同族专利:
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    引用文献:
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    US4378959A|1979-06-13|1983-04-05|Thermwood Corporation|Apparatus for performing work functions|
    JPS5648494U|1979-09-20|1981-04-30|
    US4259876A|1979-10-02|1981-04-07|Belyanin Petr N|Mechanical arm|
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    US4353677A|1980-03-05|1982-10-12|Thermwood Corporation|Wrist construction for industrial robots|DE3434205A1|1984-09-18|1986-03-27|Wabco Westinghouse Fahrzeugbremsen GmbH, 3000 Hannover|SENSOR FOR A MANUAL TRANSMISSION OF A MOTOR VEHICLE|
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    JPH0832402B2|1989-12-28|1996-03-29|川崎重工業株式会社|Industrial robots|
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    US5220849A|1990-06-04|1993-06-22|Akr S.A., A Corp. Of Republic Of France|Gravitational torque compensation system for robot arms|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    NO813365A|NO148986C|1981-10-05|1981-10-05|ROBOT MANIPULATOR DEVICE|
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