SU1119838A1 - Differential manipulator - Google Patents

Abstract

A DIFFERENTIAL MANIPULATOR containing a control unit, a gripper and rhombic links connected by joint nodes, each rhombic link consisting of four modules and connecting joints in pairs, each module including a lever and no more than two motors with gearboxes, and each hinge contains less than two gears installed on its axis, characterized in that, in order to extend its functionality by ensuring the transfer of torque from one rhombic link to another, each node has The laziness of the links is made in the form of three pairs of bevel gears located in the housing and three normally closed electromagnetic clutches, one external pair of a bevel gear is in constant engagement, and two internal pairs of a bevel gear are engaged by two normally closed electromagnetic clutches, installed on the output shaft of these gears, while the output shaft of both internal bevel gears is rigidly connected to the hinge of one module of the second link, and the output shaft of the outer pair of conical th transmission rigidly connected to the hinge Drew @ GoGo modulation of the second link, and a pair of external input shaft bevel gear connected to the first hinge unit furthermore a third electromagnetic clutch is installed on the housing coaxially with the input shaft. CO 00 OO 00

Description

The invention relates to mechanical engineering, in particular to industrial robots designed to automate technological processes in various fields of engineering.

A differential manipulator is known that contains a control unit, a gripper and rhombic links connected by joint nodes, each rhombic link consisting of four modules and connecting them in pairs of hinges, each module including a lever and no more than two counter-mounted rotation nodes, consisting of an engine with a gearbox, and each hinge contains at least two gear wheels 1 installed on its axis.

However, the known manipulator has limited functionality due to the fact that the magnitude of the torque on the link joints can only be obtained by the corresponding pair of link motors.

The purpose of the invention is to enhance the functionality by ensuring the transfer of torque from one rhombic link to another.

This goal is achieved by the fact that in a differential manipulator containing a control unit, a gripper and rhombic links connected by joint nodes, each rhombic link consists of four modules and connecting them in pairs of hinges, each module including a lever and not more than two engines with gearboxes, and each hinge contains at least two gear wheels mounted on its axis, each joint node of the links is made in the form of three pairs of bevel gears located in the housing, and three normally closed elec magnetic couplings, with one external pair of bevel gears being in constant engagement, and two internal bevel gear pairs are meshing through two normally closed electromagnetic clutches mounted on the output shaft of these gears, while the output shaft of both internal bevel gears is rigidly connected is connected to the hinge of one module of the second link, and the output shaft of the outer pair of bevel gear is rigidly connected to the hinge of another module of the second link, and the input shaft of the outer pair of bevel gear connects It is not with the hinge of the first link, besides, a third of the electromagnetic clutch is mounted on the housing coaxially with the input shaft.

FIG. 1 shows the differential manipulator, general view; in fig. 2 - structure of the articulation; in fig. 3-9 - kinematic diagrams of a joint node of a manipulator, corresponding to various modes of its operation.

The differential manipulator includes a block 1 control, a gripper 2 and rhombic links 3 connected by joint nodes 4 (Fig. 1). Each link consists of four modules 5 interconnected by hinges 6. Each hinge b contains gears 7 mounted on an axis 8. Each joint assembly 4 includes a housing 9 (Fig. 2) mounted on the housing coaxially with the input shaft 10 a coupling 11

 and three pairs of bevel gears 12-14 installed inside the housing 9. Two couplings 16 and 17 are mounted coaxially to the output shaft 15, the shaft being connected to the hinge 6 of one module 5 of the vertical link 3, and

5, the output shaft 18 is connected to the hinge 6 of another module 5 of the same link 3. The input shaft 10 of the bevel gear is connected to the hinge b of the horizontal link. In addition, on the lower hinge 6 of the supporting vertical link is installed supporting ko Leso 19.

When the differential manipulator is in operation, the rotation nodes of each link 3 convert the angular motions of the modules 5 into longitudinal movement or lateral movement.

5 rotation of the links, as well as in the circular rotation of the hinge 6, equipped with a wheel 19.

At the junction of horizontal and vertical links 3, by applying the appropriate voltage from unit 1

 control to couplings 11, 16 and 17, the torque is transmitted from the engines of the horizontal link 3 to the vertical link 3 and back from the engines of the vertical link to the horizontal.

5 If there is no voltage on all couplings 11, 16 and 17, a common mode of longitudinal movement of the vertical link is created by setting all the couplings in the closed state. At the same time, the torque from a pair of engines of vertical

The link 0 is created on the shafts 18 and 15, rigidly interconnected due to the articulation of all three bevel gears 12-14 by couplings 11, 16 and 17. When the hinges 6 of the two modules 5 of the vertical shaft 5 rotate (Fig. 3) in the opposite direction from the corresponding a pair of engines of these modules is carried out continuous movement of the vertical link.

By rotating the hinge 6 of the two modules 5 0 of the vertical link (Fig. 4) in the consonant direction from the same engines, a common mode of angular displacement of the vertical link is created.

When voltage is applied from block 1 to 5, the coupling 11 of the joint (Fig. 5) creates a normal mode of orienting the vertical link by setting the coupling to an open state. Here, the torque is transmitted from

a pair of horizontal link motors through shaft 10 onto joint 4, causing the vertical link to rotate around shaft 10 together with joint 4.

When voltage is applied from block 1 to the coupling 16 of the joint 4, a mode of torque transmission from the horizontal link to the longitudinal movement of the vertical link and back is created by setting the coupling 16 to the open state.

When transmitting a torque from a pair of horizontal link motors (Fig. 6) from the input shaft 10 through the taper of pairs 12 and 14 and the output shafts 18 and 15 to the hinges 6 of modules 5 of the vertical link, longitudinal compression or stretching of the vertical link is achieved depending on the direction rotation of the input shaft 10.

When torque is transmitted from a pair of vertical link motors (Fig. 7) when it is longitudinally moved from shafts 15 and 18 through conical pairs 12 and 14 and shaft 10 to hinge 6 of a horizontal link, this hinge 6 rotates to the left or to the right, depending on compress or stretch the vertical link.

When voltage is applied to the coupling 17 of the joint 4, a torque transmission mode is created from the horizontal link to the angular movement of the vertical link and back by setting the coupling 17 to an open state.

When torque is transmitted from a pair of horizontal link motors (Fig. 8) from shaft 10 through conical pairs 12 and 13 and output shafts 18 and 15 to the hinges of the modules of the vertical link, the angular displacement of the vertical link to the left and right is achieved depending on the direction of rotation of the input link. shaft 10.

When transmitting torque from a pair of engines of a vertical link {FIG. 9) when it is angularly moved from the shafts 15 and 18 through the conical pairs 12 and 13 and the shaft 10 to the hinge 6 of the horizontal link, this hinge 6 rotates circularly to the left or right depending on the direction of the angular movement of the vertical link.

The technical advantage of the invention is the expansion

Its functionality by summing the torques of two pairs of engines of horizontal and vertical links, carried out by means of an articulation unit of these links. Due to this, the total torque obtained at the hinges of the vertical and horizontal rhombic links reaches twice the value. The consequence of an increase in torque at the angular displacement of the vertical link is a twofold increase in the speed or capacity of the differential manipulator.

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Claims (1)

A DIFFERENTIAL MANIPULATOR comprising a control unit, a gripper and rhombic links connected by articulation units, each rhombic link consisting of four modules and hinges connecting them in pairs, each module comprising a lever and no more than two motors with gears, and each hinge contains at least two gears mounted on its axis, characterized in that, in order to expand its functionality by providing torque transmission from one rhombic link to another, each node is articulated The links are made in the form of three pairs of bevel gears located in the housing and three normally closed electromagnetic couplings, with one external bevel gear pair being constantly engaged, and two internal bevel gear pairs being meshed by two normally closed electromagnetic couplings mounted on the output shaft of these gears, while the output shaft of both internal bevel gears is rigidly connected to the hinge of one module of the second link, and the output shaft of the outer pair of the bevel gear of a tight joint connected with dru- g GoGo second link module, and a pair of external input shaft bevel gear connected to the first hinge unit furthermore a third electromagnetic clutch is installed on the housing coaxially with the input shaft. SU p. 1119838 0and. /