• 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:
    Die Erfindung befaßt sich mit der Ausbildung der Getriebeköpfe von Manipulatoren, welche nach dem Stand der Technik drei sich in einem Punkt schneidende Achsen aufweisen. Dadurch wird aber die Gefahr herbeigeführt, daß sich der Getriebekopf in seiner Streckstellung nicht mehr steuern läßt. Um diesen Nachteil zu vermeiden, sieht die Erfindung die zueinander schräg gestellte Lage sämtlicher Achsen (4,5,6) des Getriebekopfes (1,2,3) vor. Damit wird erreicht, daß die Schwenkachse (6) für das hintere Kopfteil (3) niemals koaxial zur Achse (4) der konzentrischen Antriebswellen (13,18,26) zu liegen kommt und damit Zweideutigkeiten in der rechnerischen Steuerung des Getriebekopfes ausgeschlossen sind.
    公开号:SU1362396A3
    申请号:SU843770906
    申请日:1984-08-02
    公开日:1987-12-23
    发明作者:Циммер Эрнст
    申请人:Кука Швейсанлаген Унд Роботер Гмбх (Инопредприятие)；
    IPC主号:
    专利说明:

    25
    The invention relates to robotics and can be used in the heads of manipulators.
    The purpose of the invention is to increase the reliability of work.
    Figure 1 schematically shows the head in the extended position of its parts, side view; Figure 2 - the same, with the rear part located under the slope; fig.Z - the same, rotated 180; figure 4 - the same (figure 1), after turning the middle part; fig.Z - the same, after turning the middle and rear parts; FIG. 6 shows a driven disc with a longitudinal section; 7 - the same, with a drive having two coaxial drive shaft.
    The head has three successively 20 connected first front 1, second second 2 and third rear 3 parts. The front part 1 is made with the possibility of rotation around the axis 4, corresponding to the longitudinal axis of the hand of the maipulator. In this part 1, the middle part 2 is arranged for rotation around the axis of rotation 5. In the middle part 2 it is arranged for rotation around the axis 6 of rotation.
    that rear part 3. Both axes 4 and 5 intersect at intersection point 7. The axis of rotation 6 crosses the axis 4 in. point 8 intersection. The intersection point 9 of the axes 5 and 6 of the turn is 35 at a distance from the axis 4. Axes 5 and 6
    The rotations are located at an obtuse angle to each other, as a result of which the separation planes of parts 1, .2 and 2, 3 of the heads are located at an acute angle to each other. The angles are preferably chosen so that symmetry is obtained. According to the exemplary embodiment, the inclined plane between the individual parts 45 of the head is at an angle oi to the longitudinal axis 4 of parts 1-3.
    In addition, to obtain symmetry, the axes 5 and 6 are set to the longitudinal axis 4 at an angle of 1 / 2c) i, 50; as a result, the inclined rotational axes 5 and 6 are set to each other at an obtuse angle of 2 °.
    A flange plate 10 with a surface 55 11 for flanging a tool, such as a welding tool, is located on the back of the head 3. Surface 11 shows marking pin 12 showing the position
    five
    five
    0
    five
    0 5
    0
    five
    tool depending on the position of the remaining parts.
    Figure 2 shows a head with a rear part 3 turned relative to other parts, which can be rotated through 180 ° around the axis of rotation 6. Since the planes of rotation between the individual parts 1-3 of the head are symmetrically relative to each other and form an angle ui relative to each other, turning the rear part 3 around the axis of rotation 180 ° causes the part 3 of the head to be mounted at an angle ci.
    If the head in the position shown in Fig. 2 is rotated around the axis 4 by 180, as shown in Fig. 3, the rear part 3 of the head relative to the position shown in Fig. 2 takes a position in the mirror image. From the position of the axes. 5 and 6, it can be seen that, at any position, the axis of rotation 6 is not located coaxially with axis 4, since in each case the point 9 of intersection of axes 5 and 6 moves along a circular path around axis 4. As a result, the ambiguity of the axis position is avoided. Thus, software control or an automatic control technique is unnecessary.
    In addition, there are other possibilities for turning the head. Fig. 4 shows that when rotating from the initial position of Fig. 1 of the middle part 2 of the head around the axis of rotation 5, the angular position of the tool corresponding to its angular position of Fig. 3 is obtained without turning the front part 1. In this position (Fig .4) the rear part 3 of the head can be rotated around the axis of rotation 6, so that the angle of rotation of the rear part 3 of the head relative to the front part 1 is 2 oi. If in this position the part 1 is rotated around the axis 4, the marking finger 12 is moved with the greatest amplitude.
    In addition, it significantly reduces the risk of an accident during the rotation of parts 1-3 relative to each other due to the low probability of seizure. The product in the open position of the head can be rotated around the axis 4 of the drive shaft (figure 1). For this purpose, the flange plate 10 should be installed perpendicular to axis 4
    on the rear part 3. If such a coaxial arrangement of the finger 12 to the axis of the drive shafts is undesirable, the plate 10 can be installed at a different angle.
    Fig. 6 shows the design of the drive of the head in the extended position (of Fig. 1) of its parts. The inner drive coaxial shaft 13 is connected via bevel gears 14 and 15 with a hollow shaft 16, connected through a reduction gear
    17 with the middle part of 2 heads. The hryvnice part 2 is rotated around the rotary axis 5 by bevel gears 14 and 15, and it is mounted in bearings on the front part 1 for rotation in a plane located perpendicular to the axis of rotation 5.
    The device works as follows.
    Medium coaxial drive in
    18 through bevel gears
    19 and 20 rotates intermediate shaft 21 coaxially with pivot axis 5. At the end of the intermediate shaft 21 there are bevel gears 22 and 23 for rotating the drive shaft 24, which is mounted in the rear part 3





    a head that is rotatable with respect to part 2 about the axis of rotation 6. A reduction gear 25 is provided between the drive shaft 24 and the rear part 3.
    The outer drive coaxial shaft 26 rotates the rotation through the reduction gear 27, the front part 1, which is located coaxially with the arm 28 and is rotatable on it.
    All downshifts 17, 25 and 27 are located on the slave side, as a result of which it turns out to be almost backlash-free, compact, small-sized head design.
    The head can be made in various ways. Figure 7 shows a head with two drive coaxial shafts. The middle 2 and rear 3 parts of the head are driven by the drive shaft 13. In this case, the bevel gear 14 rotates the floors of the shaft 16, which through the bevel gears 22 and 23 rotates the drive shaft 24. The gear ratio of the bevel wheels 22 and 23 should sos0
    five
    n shaft
    five
    Put 1: 1, and the number of reduction gears 17 and 25 should be the same.
    With a corresponding predetermined direction of rotation of the gear 14, shaft 16, wheels 22 and 23, shaft 24, and transmission elements 25, the rear part 3 rotates in the direction opposite to the rotation of the middle part 2 of the head. Thus, a certain position of the parts is achieved (Fig. 5) when working with two drive shafts. Such an embodiment is sufficient and expedient, for example, in shielding gas welding.
    If the rear part 3 of the head needs to be rotated in the direction of rotation of the middle part 2, the gear wheel 14, the shaft 16, the wheels 22 and 23,
    24 and the transmission elements 25 should set the desired direction of rotation by means of an intermediate wheel. In this case, the working area remains the same as in the first case.
    Changing the direction of rotation of parts in the first and second cases may be appropriate for experienced programmers, regardless of external conditions. In order to realize both possibilities between parts 2 and 3 of the heads, it is necessary to install a switch gear that allows the switching of parts 2 and 3 in the same or opposite directions by switching the clutch (as on machines).
    In addition, parts 2 and 3 of the heads can also be connected by means of a coupling with a holding brake.
    0
    five
    权利要求:
    Claims (5)
    [1]
    1. A manipulator head, comprising a body and three parts, successively connected by hinges with axes intersecting at an angle to each other, the first of which is rotatably mounted in the body, and a third is made with a flange for fastening the tool, as well as coaxial drive shafts with bevel gears, mounted coaxially with the axis of rotation of the first part, one of which is connected with bevel gears with the second part, and in addition, an inclined intermediate shaft, on which is driven by a clearance a gear of said gear, located coaxially with the axis of rotation of the second part and associated with gears with conical gear
    These wheels on one side with one of the drive coaxial shafts, and on the other with a third part, characterized in that, in order to increase reliability, the intersection point of the axes of rotation of the second and third parts does not lie on the axis of the drive coaxial shafts, and the axis turning the third part in the extended position of the parts is inclined to the axis of these drive coaxial shafts,
    [2]
    2. A head according to claim 1, characterized in that the second part of the head is connected to its drive coaxial shaft by means of a hollow shaft covering the gap between the intermediate shaft and connected to the second part through a reduction gear.
    [3]
    3. The head of p6p.1, which differs from the fact that the surface of the flange of the third part is located at an acute angle to its axis of rotation.
    [4]
    4. The head according to Claim 1, characterized in that the second and third parts are kinematically connected by means of a common shaft placed coaxially to the axis of rotation of the second part, with one of the drive coaxial shafts.
    [5]
    5. The head according to claim 4, which is different from the fact that the kinematic connection of the second and third parts through a common shaft with one of the drive shafts is made with the possibility of multi-directional rotation of these parts.
    FIG. 2
    Fig.Z
    12
    Figm
    7
    Editor P.Geershi
    Compiled by E. Ermolaev.
    Tehred M.DVDYK Proofreader L.Pilipenko
    Order 6305 / 58Т.ираж 952Subscription
    VNIIPI USSR State Committee
    for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5
    Production and printing company, Uzhgorod, st. Proty Ktna, 4
    类似技术:
    公开号 | 公开日 | 专利标题
    SU1362396A3|1987-12-23|Manipulator head
    US4736645A|1988-04-12|Gear unit for a manipulator
    EP0072624B1|1985-03-20|Mechanical wrist mechanisms
    EP0178620B1|1989-05-24|Arrangement of robot joints
    DE69615223T3|2007-01-04|DIRECTLY DRIVEN, ALONG THE MULTIPLE AXES MOVABLE MILLING HEAD
    US4690012A|1987-09-01|Robot wrist
    DE3536747C2|1989-06-08|
    DE112010005838B4|2015-03-05|Ceiling-mounted SCARA robot
    DE4232892A1|1993-04-08|WRIST DEVICE FOR A ROBOT
    US4900997A|1990-02-13|Device to guide an object around two axes of rotation
    DE3448526C2|1996-08-22|Actuating head for manipulator
    EP1433576A1|2004-06-30|Jointed arm type robot with a laser device arranged at its second axis
    EP0101569A2|1984-02-29|Drive means for the two axes of the wrist of an industrial robot
    DE69821897T2|2005-01-05|An operational head for a laser machine
    US4101205A|1978-07-18|Driving mirror assembly
    DE19534063C2|2001-01-18|Angle measuring device
    DE3934661A1|1990-04-26|FEED HEAD UNIT FOR AUTOMATIC MACHINE TOOLS
    DE10348691A1|2005-05-19|Directly driven multiple-axis rotating head for machine tool spindle has third axis offset to orthogonal of second axis eccentrically towards external surface of arm
    US4594918A|1986-06-17|Wrist mechanism for industrial robot
    EP0563766A1|1993-10-06|Tool spindle, in particular boring spindle
    DE1038378B|1958-09-04|Facing head
    DE3050664C2|1988-04-14|Method for moving a point into a position, the coordinates of which are specified in an orthogonal system, and device for carrying out this method
    DE2344754C3|1978-03-30|Scanning arrangement
    DE102010001376B4|2014-05-28|rotary joint
    DE3136431C2|1989-06-22|
    同族专利:
    公开号 | 公开日
    DD226242A5|1985-08-21|
    EP0133499A3|1985-05-22|
    ES534814A0|1985-04-16|
    EP0133499A2|1985-02-27|
    US4662815A|1987-05-05|
    DE3464021D1|1987-07-09|
    JPS6056894A|1985-04-02|
    AT27561T|1987-06-15|
    AU3123084A|1985-02-07|
    JPH0583354B2|1993-11-25|
    EP0133499B1|1987-06-03|
    AU572172B2|1988-05-05|
    ES8504526A1|1985-04-16|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE837629C|1950-07-25|1952-04-28|Otto Kuehne|Gearbox with variable angle of input and output shaft|
    US3266059A|1963-06-19|1966-08-16|North American Aviation Inc|Prestressed flexible joint for mechanical arms and the like|
    JPS5425300B2|1973-01-25|1979-08-27|
    US4046262A|1974-01-24|1977-09-06|The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration|Anthropomorphic master/slave manipulator system|
    DE2435156C2|1974-07-22|1983-09-01|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg|Program controlled manipulator|
    US3922930A|1974-12-23|1975-12-02|Nasa|Remotely operable articulated manipulator|
    FR2310842B1|1975-05-15|1981-03-20|Renault|
    JPS5841996B2|1976-02-27|1983-09-16|Tsubakimoto Chain Co|
    US4068536A|1976-12-23|1978-01-17|Cincinnati Milacron Inc.|Manipulator|
    US4151390A|1977-08-04|1979-04-24|Luciano Bisiach|Tool holder head, particularly for welding yokes and guns|
    DE2927485A1|1979-07-07|1981-01-22|Daimler Benz Ag|Three axis linkage for manipulators or robots - has pivot axes inclined relative to each other at pref. 45 degrees|
    SU905065A1|1980-04-04|1982-02-15|Шахтинский филиал Новочеркасского политехнического института|Robot arm actuator|
    JPS63193B2|1980-05-20|1988-01-06|Umetani Yoji|
    DE3048067C2|1980-12-19|1984-08-09|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg|Gear arrangement for the joint head of a manipulator|
    US4402234A|1981-08-13|1983-09-06|General Motors Corporation|Three-axis wrist mechanism|
    US4502347A|1982-09-21|1985-03-05|Westinghouse Electric Corp.|Robotic wrist|DE3480331D1|1984-08-03|1989-12-07|Kuka Schweissanlagen & Roboter|Driven-tool holder head for manipulators|
    JPS61168485A|1985-01-18|1986-07-30|Tokico Ltd|Industrial robot|
    DE8511948U1|1985-04-22|1985-07-11|GdA Gesellschaft für digitale Automation mbH, 8000 München|Gear arrangement for an industrial robot hand|
    FR2582978B1|1985-06-10|1987-09-04|Barland Michel|ARTICULATED HEAD FOR INDUSTRIAL ROBOT AND ROBOT HAVING SUCH A HEAD|
    DE3525806C2|1985-07-19|1987-11-05|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De|
    DE3545068C2|1985-12-19|1987-09-24|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De|
    US4787270A|1987-02-11|1988-11-29|Cincinnati Milacron Inc.|Robotic manipulator|
    JPH02190288A|1989-01-20|1990-07-26|Kobe Steel Ltd|Wrist mechanism for robot for industrial use|
    US5305653A|1991-09-30|1994-04-26|Tokico Ltd.|Robot wrist mechanism|
    JPH07276284A|1994-04-07|1995-10-24|Bridgestone Corp|Chuck device|
    US5860327A|1997-06-10|1999-01-19|Stanev; Stefan|Apparatus for two dimensional orientation of an object|
    DE59908214D1|1999-10-14|2004-02-05|Storz Karl Gmbh & Co|SWIVEL JOINT FOR MEDICAL INSTRUMENTS|
    US6495116B1|2000-04-10|2002-12-17|Lockheed Martin Corporation|Net shape manufacturing using carbon nanotubes|
    JP2003025269A|2001-07-12|2003-01-29|National Aerospace Laboratory Of Japan|Offset rotational joint unit with rotation correction mechanism|
    JP2004148449A|2002-10-30|2004-05-27|Kawasaki Heavy Ind Ltd|Articulated manipulator|
    US9636178B2|2011-12-07|2017-05-02|Specialty Surgical Instrumentation, Inc.|System and method for an articulating shaft|
    DE102012220415A1|2012-11-09|2014-05-28|Robert Bosch Gmbh|Hand Tools Transmission Unit|
    CA2807287C|2013-02-26|2018-06-12|Ahmad Kamal Bakir|Manipulator arm module|
    US10583569B2|2014-08-08|2020-03-10|Valuebiotech S.R.L.|Articulated device for robotic systems|
    FR3040145B1|2015-08-21|2018-02-09|Nimbl'bot|ARTICULATED ROBOT ARM|
    CN105150239B|2015-08-26|2017-02-01|希美埃（芜湖）机器人技术有限公司|Hollow bias structure of wrist of industrial robot|
    CA3012573A1|2015-10-06|2017-04-13|Impossible Incorporated Llc|Snake-like robot|
    JP2019163787A|2018-03-19|2019-09-26|株式会社豊田中央研究所|Gear transmission device|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE3328071|1983-08-03|
    [返回顶部]