• 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. The purpose of the invention is to expand the functionality of the gearhead for the manipulator by ensuring the rotation of the last link without having to rotate the first link around its axis. For this reduction, the head has three drive shafts concentrically located relative to each other. Through these shafts, four different rotational movements can be performed: rotation of the first link 1 of the head around the axis of the drive shafts, rotation of the middle link 2 relative to the first link 1 around the first inclined axis 7, rotation of the last link 3 of the head relative to the middle link around the second inclined axis 8, and rotation of the tool holder 4 within the last link 3 heads. 6 hp f-ly, 14 ill. ABOUT)
    公开号:SU1421250A3
    申请号:SU864027874
    申请日:1986-07-18
    公开日:1988-08-30
    发明作者:Циммер Эрнст
    申请人:Кука Швейсанлаген Унд Роботер Гмбх (Фирма)；
    IPC主号:
    专利说明:

    B
    to
    S 01
     SP
    fput. J
    The invention relates to mechanical engineering, namely to gearbox heads for manipulators.
    The aim of the invention is to expand the functionality of the gearhead for the manipulator by ensuring the rotation of the last link without rotating the first link around its axis.
    Fig. 1 is a diagram of the proposed: gearbox head in an extended position, side view; figure 2 is the same, with an obliquely located output part, side view; in fig. 3 - the same, when turning the last link through an angle of 2 ° (in figure 4 - the same, when turning the middle link through angle d, in figure 5 - the same, in an extended position with different angles of inclination The axes in FIG. 6 are the same, with the intersection point of the inclined axes in the plane of the drawing in FIG. 7, the same with the axes located outside the plane of the drawing; FIG. 8 is the same with the axes intersecting on the drive axis; FIG. .9 is the same, in an extended position when the output axis is inclined; FIG. 10 is the same, with the intersection point of the inclined axes in the plane of the drawing, side view; FIG. 11 is the same, top view; FIG. 12 shows a flanged disk drive with a coaxial arrangement of the output axis with the axis of the drive; FIG. 13 is the same with a parallel arrangement of the output axis with the axis of the drive; FIG. 14 is the same, with an inclined position of the output axis to the axis of the drive;
    The gearhead for manipulators is formed by the links: the first link 1, the middle link 2 and the last link 3 "
    When controlled by a computing machine, there is ambiguity if the tool holder 51 or flange disk 4 is installed on the last link 3 of the gear head rotatably around output axis 5j aligned coaxially with the axis 6 of the drive (No. F, IX In this In this case, the rotation of the tool holder around the output axis 5 could also be realized by rotating the first link 1 of the gearbox head BOKpyi of the drive axis. 6. In this situation, ambiguity can be fixed only if Install the link 1 of the head without the possibility of rotation around axis 6.
    g q
    Q 5 Q
    , five
    five
    0
    Positions 7 and 8 denote inclined pivots, around which the relative rotational movement of the middle link 2 of the head relative to the first and last links 1 and 3 takes place.
    Fig. 2 shows one of the possibilities for eliminating such ambiguity due to the fact that the output axis 5 is set obliquely at an acute angle to the axis 6 of the drive. Preferably, the output axis 5 intersects the point 9 of the intersection of two inclined axes 7 and 8, to facilitate the calculation of movements. Positions 10 and 11 are marked conical gears to drive the flange disk 4. If rotational movement of the holder around the axis 5 is necessary, it is clear that for this purpose it is not necessary to turn on the drive of the first link 1 of the gear head, therefore ambiguity is eliminated.
    The last link 3 of the gearhead (Fig. 3 and 4) is rotated relative to the axis 6 of the drive by an angle of 2 dl, using different rotation drives. In the first case, the last link 3 of the gear head rotates on a relatively stationary middle link 2. In the second case, the middle link 2 with the last link 3 remaining in the same position relative to jc to the middle link 2 rotates 180 ° relative to the first link 1 of the gear reducer heads. The name 1c as a result of this, ambiguity can be eliminated by one of the variants of the gear head (Figures 5-11).
    . The angles o (i and оС (fig, 5) of the arrangement of both axes 7 and 8 are unequal, therefore their intersection point 9 will be located with a lateral displacement from the symmetry position in fig. 1. Thus, the same rotation of links 2 and 3 of the heads leads to different
    from each other angular: position m.
    FIG. 6 shows that
    axis 7 extends obliquely from the plane of the drawing in such a way that the intersection point 9 of both oblique axes 7 and 8 remains in the plane of the drawing. The ellipse 12 symbolizes an inclined plane of rotation, along which both links 1 and 2 of the gear head mate with each other.
    FIG. 7 shows a design variant according to which both inclined axes 7 and 8 obliquely depart from the plane of the drawing. The point 9 of the intersection of the inclined axes 7 and 8 may lie away from the axis 6 or in the plane of the drawing.
    A significant simplification of the calculation of automatic motion control is provided if the intersection point 9 of the inclined axes 7 and 8 lies on axis 6 and if the output axes 5, 5 and 5 intersect this point 9. To make it more clear (FIG. 8-11) The output axis 5 also has the designation 5, if it is located coaxially with the axis 6 of the drive and intersects point 9 (FIGS. 8-10), it receives the designation 5 if it forms an angle with the axis 6 of the drive, also the point 9 (Fig.9 and 10).
    The inclined shafts 7 and 8 in the first and last link x 1 and 3 are arranged with such a lateral displacement, at which they intersect on the axis 6 of the drive.
    Figure 9 additionally shows the oblique position of the output axis 5 relative to the axis 6 of the drive, which (as already said) eliminates the ambiguity of control of these axes. Axis 5 can overlap. With Viv, this is denoted by position 5, which on the one hand is equivalent to a reduction in the transmitting elements and, consequently, in construction costs, and on the other hand to a decrease in the range of displacements, which, however, is quite sufficient in most cases. As a result of the coaxiality of the axes 8 and 5, there is no ambiguity when operating with the help of a computer, since with simultaneous kinematic coupling of the axes 7 and 8, the latter as a separate axis has no functions.
    The axes 6,7,8,5, 5 and 5 (Figs 8 and 9) in the extended drawing head of the gearbox are assumed to be in the plane of the drawing. In the embodiment shown in FIG. 8, ambiguity has not yet been resolved. But as is known from Figs. 6 and 7, this ambiguity can be eliminated with the help of axes 7 and 8, obliquely out of the plane of drawing. Fig. 10 and 11 show the encoder head, side view and top view, but separate links 1,2 and 3 heads have speakers in one hundred
    five
    The portions of the housing are for inclined axes 7 and 8 that extend back and forth from the plane of the drawing, and the intersection point 9 of the inclined axes 7 and 8 lies in the plane of the drawing and is the common end point for axes 6 and 5 and 5. In addition, the output axis 5 is located obliquely, as a result of which it does not lie on the same axis with the axis 6 of the drive in the plane of the drawing and, therefore, there is no ambiguity when operating using a computer.
    The intersection point 9 of the axes 6,7,8,5,5 and 5 shown in FIG. 11 may be the center of a ball or universal joint 13, with which the drive axis 6 is movably connected to the output axis 5, 5 and 5. The ball or universal joint 13 can be made in various modifications.
    Figures 12-14 show the options for performing the drive of the flange disk 4. The output axis 5 (FIG. 12) is located coaxially, and in FIG. 13 it is parallel with the axis 6 of the drive. The point 9 of the intersection of the axes 7 and 8 is the common end point of the axes 6 and 5, 5 and
    0
    0
    Slave Slave Position
    five
    0
    A shaft 14 located on axis 5 and 5 is preferred in manipulators with a contour control, in order to eliminate ambiguities. Internal drive shaft
    15 through horses Ški gears
    16 and 17 is connected to the hollow shaft 18, which is connected through the gearbox 19 to the middle link 2 of the head. The middle link 2, by means of the bevel gears 16 and 17, rotates around the axis of rotation 7. Link 2 by means of bearings 20 is installed on the first link 1 and is located in the plane,
    perpendicular to the axis of rotation 7.
    The outer drive shaft 21 through the gearbox 22 directly acts on the first link 1 of the head, which is located coaxially with the bracket
     23 and rotatably mounted thereon. All gearboxes 19, 24, 22 and 25 are located on the output side, as a result of which a backlash-free, compact and compact design of the gearhead is ensured. Gearboxes 19, 24, 22 and 25 are characterized by a reduction with a large decrease. Along the second inclined axis 8
    ten
    15
    20
    25
    51A212
    a hollow shaft 26 is located, which through conical gears 27 and .28 is connected to the hollow shaft 18 preceding it. Hollow vap 18 through a reduction gear 19 with a large lowering, which is mounted on the first link 1, causes the middle link 2 to rotate around an inclined axis 7. The other hollow shaft 26 with a gearbox 24 with a large decrease rests on the middle link 2 and causes the last link 3 to rotate around the second inclined axis 8. Both gear boxes 19 and 24 have the same degree of decrease and are preferably located relative to each other, due to which contiguous units 2 and 3 of the head during rotation of the hollow shafts 18 and 26 are carried out simultaneously with, but opposite the direction of rotational movement,
    Thus, using hollow shafts 18 and 26, a drive kinematic chain can be drawn, which starts from the central drive shaft 27 and through the intermediate shafts 28 and 29 located inside and the conical pairs of wheels 30.31 and 10.11 affect the driven shaft 14 mounted on the last link there are 3 heads by means of a gearbox 25 with a large decrease. Thanks to this; The flange is rotated which, with the help of the bearing 32, is mounted on the last link 3 of the head and provided with a tool holder.
    The last link 3 of the head is mounted by bearing. 33 is rotatably mounted on the middle link 2, which is also installed on the first link 1 by means of the bearing 3A. The intermediate wrap 29 is mounted on the last link 3 of the head 3 from the output side 3 by means of underhead 36 - on the floor 26, which, in turn, through underside 37, is installed on an average of 2 heads.
    In Fig. 12, the intersection point 9 on the axle axes (Fig. 12) is provided to the side of the drive axis 6, but the intersection point may also lie in the axle 6, as shown in tor.13. In this case, the displacement of the intermediate 55 Vein 38 is carried out with the help of lingual elements 39 and 40,
    The consequence of this is the side room of the slave vila 14 parallep30
    35
    40
    45
    50
    ten
    15
    20
    25
    12

    five
    thirty
    35
    0
    45
    0
    506
    but axis 6 drive. If it is necessary to prevent this, for example, for the case of positional control, then in the rear link of the head it is possible to provide for ob-. The effective displacement 41 when installing the drive shaft 14, which compensates for the lateral displacement and, therefore, ensures that the driven shaft 14 in the extended position of the gear head will be aligned with the axis 6 of the drive. 14 shows the drive of a flange disk for manipulators with contour control, which provides for the elimination of ambiguity, in which preferably the inclined position of the output axis 5. The output axis 3 (Fig. 14) is obtained due to the reverse offset 41 of the driven shaft 1 | B accordance option shown in Fig,
    The slope of the output axis 5 relative to the axis 6 of the drive can be not only directed downwards (as shown in FIG. 14), but also upward, which is indicated by a dot-breaker.
    权利要求:
    Claims (7)
    [1]
    1. A gearbox head for manipulators consisting of three links, successively located on inclined one relative to the other axes of the drive, embodied from three concentric drive shafts, kinematically connected with the corresponding link, and their kinematic chains run along inclined axes and have gears with a large lowering, and the axes of each link, when the gear head is moved apart, form sharp corners with the longitudinal axis of the head, which open in opposite directions, which oh, with the aim of extending the 1st functionality due to ensuring the rotation of the last leg of the link without rotating the first link around its axis, it is equipped with a drive unit located in the last link and fulfilled as a leading gearbox installed in the last link of the gearbox, and a flange disk installed in This link can be rotated by means of a reducer, and the kinematic chain, connecting the middle and the last link, consists of hollow shafts with tapered vubchatye wheels at their ends, forming meshed e and in the cavity of the shaft flange disc placed kinematic drive chain, wherein two of the three links of the gear head, preferably, the average and last, are associated with one of the three drive shafts.
    [2]
    2, Head POP.1, characterized in that the kinematic connection of the middle and last links takes place via gears installed in the middle link, connected respectively to the hollow shafts of this link.
    [3]
    3. The head according to claims 1 and 2, so that, in order to eliminate ambiguity in computer control, the axis of the drive shaft of the drive unit is inclined with respect to the axis of the drive, and the sharp angles formed by the inclination of both axes The middle link of the gear head is not equal in magnitude.
    ten
    212508
    [4]
    4. Head according to claims 1-3, characterized in that when the drive shaft of the drive unit is inclined, its axis passes through the intersection point of both inclined axes of the middle link.
    [5]
    5. The head according to claims 1-4, characterized in that, at least one of the two inclined axes of the middle link is located in a plane,
     inclined to the plane of the drawing,
    [6]
    6. The head according to claims 1-5, about tl and is that with the location of both inclined axes outside the plane of the drawing, their intersection point lies in the plane of the drawing.
    [7]
    7. Head according to claims 1-6, characterized in that the point of intersection of the inclined axes of the middle link with the axis of the drive and with the axes of the output vap of the drive unit is the center of the ball or universal joint connecting the axes.
    20
    FIG. 2
    2oL
    FIG. 3
    Phi ".7
    7 5 8 f2
    J 5
    five
     five
    L /
    Fib. eleven
    21
    j35
    tij, 019
    29, y
    FIG. 12
    26, 10
    32
    but
    in 7l
    FIG. Gz
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    同族专利:
    公开号 | 公开日
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE3525806A|DE3525806C2|1985-07-19|1985-07-19|
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