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SU704777A2 - Joint for manipulator links - Google Patents

Joint for manipulator links

Info

Publication number
SU704777A2
SU704777A2 SU782622460A SU2622460A SU704777A2 SU 704777 A2 SU704777 A2 SU 704777A2 SU 782622460 A SU782622460 A SU 782622460A SU 2622460 A SU2622460 A SU 2622460A SU 704777 A2 SU704777 A2 SU 704777A2
Authority
SU
USSR - Soviet Union
Prior art keywords
links
joint
manipulator
conical
shaft
Prior art date
Application number
SU782622460A
Other languages
Russian (ru)
Inventor
Борис Александрович Виноградов
Вячеслав Петрович Михальченко
Николай Кузьмич Парц
Original Assignee
Предприятие П/Я В-8721
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Предприятие П/Я В-8721 filed Critical Предприятие П/Я В-8721
Priority to SU782622460A priority Critical patent/SU704777A2/en
Application granted granted Critical
Publication of SU704777A2 publication Critical patent/SU704777A2/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0283Three-dimensional joints

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Description

1. . .Изобретение относитс  к машиностроению , а.именно к манипул торам например, копирующего типа. По основному авт, св. W 293432 известно шарнирное соединение, звеньев манипул тора, содержащёё прив ные валы с коническими шестерн ми на концах и блок конических и цйли рических колес на ос х/ перпендику л рных этим звень м; на ос х сблргкированных колес выполнено водило, зубчатый сектор которого св зан с конической шестерней вала относительного поворота звеньев,, а само водило соедин ет между собой звень манипул тора 1, Известное шарнирное соединение звеньев манипул тора не обладает достаточной кинематической жесткостью и имеет большие габариты, Цель изобретени  - повышение кинематической жесткости и сокращение габаритов. Дп  этого звень  снабжены зубчатыми секторами, сцепленными между собой, а полюс их зацеплени  расположен на оси относительного поворота этих звеньев. На чертеже изображено описывавyige соединение, разрез. Шарнирное соединение, содержит два звена: локоть 1 и кисть 2, соединенные между, собой водилоМЗ, которое установлено на ос х 4 и 5. На водиле закреплен зубчатый сектор 6, св за.нный с конической шестерней 7 вала 8 относительного поворота звеньев.. В звень х установлены приводные валы 9-12, на концах которых насажены конические колеса 13-16, сцепл ющиес  с б.поками 17-20 конических и цилиндрических колес, сид щих на ос х 4 и 5, перпендикул рных приводным . На звень х выполнены сцепл нвдиес : между собой зубчатые сектора 21, образующие шарнир изгиба вместе с цилиндрическими колесами блоков конических и цилиндрических колес. Передача движени  на вращение, зах:Бата осуществл етс  цепью: вал 9, зубчатое коническое колесо 13, блоки 17 и 19 конических и цилиндрических колес, коническое колесо 15 и вал 1J. Передача движени  на смыкание размыкание губок захвата осуществ-г л етс  цепью: вал Ю, коническое колесо 14, блоки 18 и 20 конических и цилиндрическихколес, коническое колесо 16 к вал 12,one. . The invention relates to mechanical engineering, and, in particular, to manipulators, for example, of a copying type. On the main auth, sv. W 293432 is known a swivel joint, links of the manipulator, containing privy shafts with bevel gears at the ends and a block of conical and cylindrical wheels on axles / perpendicular to these links; on the axles of the assembled wheels, a carrier is made, the toothed sector of which is connected with the bevel gear of the relative rotation of the links, and the carrier itself interconnects the links of the manipulator 1, The known hinged connection of the links of the manipulator does not have sufficient kinematic rigidity and has large dimensions The purpose of the invention is to increase the kinematic rigidity and reduce the size. Dp of this links are equipped with toothed sectors, coupled to each other, and the pole of their engagement is located on the axis of relative rotation of these links. The drawing shows describing the connection, incision. The hinge joint contains two links: an elbow 1 and a brush 2 connected between each other by means of a driver, which is mounted on axes 4 and 5. The gear sector 6 is fixed on the carrier and connected to the bevel gear 7 of the shaft 8 relative rotation of the links. In the links, drive shafts 9–12 are installed, on the ends of which conical wheels 13–16 are mounted, which engage with coils 17–20 of conical and cylindrical wheels, which sit on axes 4 and 5, which are perpendicular to drive ones. The links are made of coupled nvdies: between themselves, the toothed sectors 21, which form the hinge of the bend together with the cylindrical wheels of the blocks of conical and cylindrical wheels. The transfer of movement to rotation, zah: Bata is carried out by the chain: shaft 9, toothed bevel gear 13, blocks 17 and 19 of bevel and cylindrical wheels, bevel wheel 15 and shaft 1J. The transfer of movement to the closure of the opening of the gripping jaws is carried out by the chain: shaft Yu, bevel wheel 14, blocks 18 and 20 of conical and cylindrical wheels, bevel wheel 16 to shaft 12,

SU782622460A 1978-06-02 1978-06-02 Joint for manipulator links SU704777A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SU782622460A SU704777A2 (en) 1978-06-02 1978-06-02 Joint for manipulator links

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SU782622460A SU704777A2 (en) 1978-06-02 1978-06-02 Joint for manipulator links

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
SU293432 Addition

Publications (1)

Publication Number Publication Date
SU704777A2 true SU704777A2 (en) 1979-12-25

Family

ID=20767520

Family Applications (1)

Application Number Title Priority Date Filing Date
SU782622460A SU704777A2 (en) 1978-06-02 1978-06-02 Joint for manipulator links

Country Status (1)

Country Link
SU (1) SU704777A2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1987004539A1 (en) * 1986-01-21 1987-07-30 Rosheim Mark E Compact robot wrist actuator
US4703668A (en) * 1985-09-25 1987-11-03 Champion Spark Plug Company Wrist mechanism for a robot arm
US7540867B2 (en) * 2005-03-29 2009-06-02 Kabushiki Kaisha Toshiba Manipulator

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4703668A (en) * 1985-09-25 1987-11-03 Champion Spark Plug Company Wrist mechanism for a robot arm
WO1987004539A1 (en) * 1986-01-21 1987-07-30 Rosheim Mark E Compact robot wrist actuator
US4686866A (en) * 1986-01-21 1987-08-18 Rosheim Mark E Compact robot wrist acuator
US7540867B2 (en) * 2005-03-29 2009-06-02 Kabushiki Kaisha Toshiba Manipulator
US8512316B2 (en) 2005-03-29 2013-08-20 Terumo Kabushiki Kaisha Manipulator

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