The manipulator platform |
|
IPC classes for russian patent The manipulator platform (RU 2093344):
   
 The module manipulator / 2028928
 The module manipulator / 2022773
 Trunk manipulator / 2009884
The invention relates to mechanical engineering and can be used in industrial robots for painting works
 Balanced manipulator / 2090351
The invention relates to the field of engineering and is intended for use in industrial work, used for loading and unloading, laying piece goods
 Swivel for robot arm / 2087300
The invention relates to a hinged connection, intended for installation on the robot arm, as well as for use with clip spot welding machines or other devices, for example, with spectacular device
 Manipulator / 2041056
The invention relates to the field of engineering and is intended for use in industrial robots used for material handling and process operations on the installation
 The hand of an industrial robot / 2028932
 The hinge arm / 2022783
The invention relates to mechanical engineering, in particular for micro robots
 Manipulator articulation joint assembly / 2283217
Articulation joint assembly of manipulator includes two driving links. Each driving link is joined with base and with respective driven link through rotating kinematics pairs. Driven links are joined through rotating kinematics pair; one of driven links is outlet link. Axes of all rotating kinematics pairs cross in center of articulation joint assembly. The last also includes additional supporting spherical kinematics pairs formed by joining of concave surfaces of driving links with convex surfaces of driven links. Axes of kinematics pairs joining each driving link with base are arranged in one straight line.
 Manipulator joint (variants) / 2284896
Joint consists of spherical mechanisms of parallel structure, transferring movement from drives to manipulation object, having two or three independent controllable angular coordinates.
 Carrying mechanical system / 2301142
The carrying mechanical system has two kinematic turning pairs, the first of which is formed by a table and a platform, and he second one-by a platform and a base, two electric motors and a clamping device. The second kinematic turning pair is provided with two brackets. Both brackets are fastened to its movable links. The brackets are so made that the surface of the table mounted together with the platform on them is positioned below the axis of rotation of the second kinematic pair at its horizontal position. The table rotary drive kinematically linked with the toothed wheel fastened to the table is positioned in one of the brackets. The drive shaft of this mechanism located in the hollow movable link of the second kinematic forming pair is coupled to the electric motor shaft of table turning mounted on the base. The interchangeable clamping device is provided with an adjusting base providing for alignment of the spherical-shaped workpiece axes of symmetry with the axis of rotation of this part.
 Robot coiled arm / 2301143
The robot coiled arm has the first and second hinge member, each of them cam perform a restricted motion relative to the other member, and flexible elastomeric facilities, which are positioned between the mentioned first and second members, in the form of a thin layer by gluing or by means of bosses and cavities. The relative motion of the members in the direction corresponding to bending of the robot arm causes of shift displacement inside the elastomeric facilities and weakens any displacement in the direction corresponding to a compression because of a relative displacement of the first and second member.
 Artificial muscle (versions) / 2372056
Invention concerns control drives for electric to mechanical energy transduction transformation and can be used in mechanical engineering, robotics, medicine to design artificial limbs. An artificial muscle comprises chambers with elastic wall filled to generate wall pressure with ferromagnetic substance, and provided with conductive windings. According to the first version, the chambers with elastic walls are toroid-shape and enclosed in a hollow elastic shell shaped as an elongated ellipsoid, and arranged lengthways. According to the second version, the chambers with elastic walls are toroid-shape and enclosed in at least two elastic shells gapped one inside the other and shaped as elongated ellipsoids. Each shell comprises the chambers lengthways.
 Parallel kinematic mechanism / 2395380
Invention refers to machines, namely to robots intended for being used in industry. Parallel kinematic mechanism (1) includes installation devices (4.1, 4.2, 4.3) having the possibility of individual elongation and shortening and connected to installation head (11) by means of the first connection (8, 9, 10), and to bottom (2) by means of cardan hinge (3.1, 3.2, 3.3). Installation head (11) is located with possibility of being moved within the limits of the working area at manoeuvring of installation devices (4.1, 4.2, 4.3). Reinforcing beams (5.1, 5.2, 5.2.1, 5.2.2) are attached to installation head (11) by means of the appropriate rotary support (100.1, 100.2) of the beam, each of which has only one degree of freedom and has the possibility of sliding in transverse direction in support (17.1, 17.2, 17.2.1, 17.2.2) of the beam at bottom (2) at elongation or shortening of one or more installation devices (4.1, 4.2, 4.3). Each support (17.1, 17.2, 17.2.1, 17.2.2) of the beam is attached to bottom (2) by means of hinge (BU1, BU2) of the support. Support (17.2, 17.2.1, 17.2.2) of reinforcing beam (5.2, 5.2.1, 5.2.2) is located with possibility of being turned about the axis located parallel to longitudinal axis of reinforcing beam (5.2, 5.2.1, 5.2.2).
 High-speed parallel-kinematics robot with four degrees of freedom / 2400351
Invention relates to high-speed parallel-kinematics robot with four degrees of freedom. Proposed robot comprises four kinematic circuits 1 with their ends connected to movable platform 4 supporting tool 5 and their other ends connected, via joint 2, with suitable drives secured on base plate 3. Movable platform 4 consists of four elements (11), (11'), (12), (12') inter-jointed by pivot joints (13). Note here that drives are arranged in symmetry on base plate 3, preferably, at angles of 45°, 135°, 225° and 315°.
 Wrist of robot arm with pivot joints / 2412045
Invention refers to handlers, particularly to wrist of robot arm. Wrist (20) consists of: first support element (22) mounted on component of a robot and rotating around axis (IV), of second support element (24) mounted on support component (22) and rotating around axis (V) positioned at angle relative to axis(IV), and of first engine (28), base of which is support component (22). A shaft of first engine (28) is connected at its rotation with support component (24) by means of the first tooth gear. Further, the wrist consists of third support component (26) mounted on support component (24) and rotating around third axis (VI) positioned at angle relative to axis (V), and of second engine (30) supported with support component (24). The shaft of second engine (30) at rotation is connected to third support component (26) via the second tooth gear.
 Hinge joint / 2463157
Invention relates to industrial robot hinge joint between working tool and wrist comprising reversing rotary shaft of robot body with rotary section incorporating rotary section. Proposed hinge joint comprises fixed wall fitted on wrist to receive no shaft torque and wall to receive reversing shaft torque and turn joint with said shaft, fluid circulation circuit communicating wrist with working tool. Fluid circulation circuit comprises fluid feed hose and fluid discharge hose. Said hoses are wound about rotary section coupled with said shaft to turn jointly therewith to make loose coiling spiral between wrist and working tool. Note here that one end of every hose is secured to said fixed wall while opposite end of every hose may displace in displacement of said shaft.
 Manipulator joint with adjustable gapless tooth gearing (versions) / 2497658
Invention relates to machine building, particularly, to manipulator joint drives. Proposed joint comprises drive link with rotary drive with gear fitted on its output shaft and driven link engaged with said gear via tooth engagement of split gear wheel composed of two toothed elastically coupled aligned discs fitted in bearing on the shaft engaged with aforesaid output link. In compliance with first version, one of said discs is rigidly engaged with driven link while second disc moves relative to the first one. Said joint incorporates resilient radial beam and cross-interaction force adjustment device fitted on fixed or moving disc opposite resilient element made integral with said fixed or moving disc. In compliance with second version, one of said discs is fixed and rigidly engaged with driven link while second disc moves relative to the first one. This hinge is furnished with cross-interaction force adjustment link fitted at fixed or moving disc opposite said resilient element composed of a beam and rigidly fixed thereat radially outside of tooth engagement zone.
 Robot module for resistance spot welding / 2304498
Invention relates to resistance spot welding device for manufacture of spacer grids of nuclear reactor fuel assemblies. Provides robot module includes welding machine, industrial robot with welding gun with electrodes installed on robot arm, control system and tables with device for fastening spacer grid to be welded. Device for fastening spacer grid to be welded is made in from of multijaw chuck with jaws enclosing perimeter of said grid. Electrodes of welding guns have spherical working surface and they are provided with cylindrical connecting element. Said connecting element is arranged in electrode holder at angle to perpendicular drawn to welded surfaces. Multijaw chuck is provided with platform with reduced height sections. Slots are made on jaws enclosing perimeter of spacer grid.
 Robot module for resistance spot welding / 2325979
Invention relates to nuclear power, in particular, to production of power reactor fuel element spacer lattice using a robot module for resistance spot welding. The module incorporates a welding machine, an industrial robot with tongs fitted on the robot arm and fixing the electrodes, a control system, a table accommodating an attachment device for spacer lattice to be welded, the said device being made in the form of multi-jaw chuck with jaws enveloping the lattice perimeter. The chuck is provided with a platform with a blind hole to receive a sleeve. The hole depth corresponds to the size the sleeve extends by relative to the lattice cell. The said platform incorporates the spacer lattice locks, spacer lattice reference point and a spring-loaded bar. The locks allow their arrangement in the lattice cells. The reference point allows its arrangement in one of the spacer lattice channel holes. The bar is fixed on the platform and can move towards the sleeve. There are base elements arranged on the bar face to enter the sleeve slot.
|
(57) Abstract: The invention relates to robotics and can be used in handling systems automated technological complexes that require precise movement of the parts of the blanks on complex curved or spherical surfaces for welding, cutting, surface hardening, etc., the Manipulator platform contains the control blocks for each channel drives, spherical electromechanism with arc motor, the plane of rotary motion which is perpendicular to the plane of the ring body, arc cores one pair of stationary engines are mounted on the annular body, the other pair is installed in it the hinge, the movable part of the spherical mechanism in the plane of the ring between the two pairs of inductors arc electric motors mounted platform having pairs on mutually perpendicular axes corresponding to the axes of the arc motors, inductors torque of the electric motor and the magnetic-rotor compound table, and one pair of inductors platform still connected with a pair of inductors arc motor connected pivotally to the body, the other PA is digno, cross table is movably mounted relative to the magnetic circuit of the rotor by the alignment perpendicular to the plane of the table, it includes the magnetic linear motors, inductors which are mounted on the magnetic core of the rotor. The invention provides a moving part three rotational and three translational motions. 5 Il. The invention relates to robotics and can be used in handling systems in many sectors of the economy. Known manipulators designed for the attachment, migration and installation of welded parts in the positions required to meet the requirements of technology and accessibility of welding. The positioning of the welded parts is done automatically from the control system, discretely, at certain distances and angles (automation engineering: Textbook. allowance for machinists. spec. universities/ J. Buda, C. Hanowski, C. C. wichman and others Under. Ed. by A. I., Dushenko, M Above. SHK. 1991, page 291 292). The disadvantage is the small number of degrees of freedom of the desktop and the lack of opportunities for continuous transportation of workpieces or parts to ensure welding, cutting, thermal alrabaa functionality of the proposed manipulator platform is provided with a housing with two mutually perpendicular mounting surfaces, in the movable part of the spherical mechanism (type A. S. N 1821354, bull. N 22 from 15.06.93 g), in the plane of the ring between the pairs of inductors arc electric motors mounted platform having pairs on perpendicular axes corresponding to the axes of the arc motors, inductors torque of the electric motor and the magnetic-rotor compound table, and one pair of inductors platform still connected with a pair of inductors arc motor connected pivotally to the body, another pair of inductors are connected pivotally with a pair of inductors arc electric motors connected to the body motionless, cross table is mounted stationary relative to the magnetic circuit of the rotor by the alignment perpendicular to the plane of the table, it includes the magnetic linear motors, the inductors are mounted on the magnetic core of the rotor. In Fig. 1 shows a kinematic diagram of the manipulator platform with the block diagram of the control device of Fig. 2 General view of the platform with the magnetic-rotor compound-table; Fig. 3 5 General view of the manipulator platform with a coordinate table and the laser (left, right and right). Device control is stowage table 3, blocks 4 and 5 arc elektrodvigateli rotation crusade table 3 with respect to the axes X and Y block motor linear cross table 3 along the axis Z'. Blocks 2, 4, 5 and 6 contain microprocessors 7, d / a converters 8, the power amplifier 9 and an analog-to-digital Converter 10. The motors of axes X and Y contain, respectively, the inductors 11 and 12, mounted movably on the guide magnetic arc electric motors 13 and 14. The inductors 11 and the horizontal axis Y is stationary, and the inductors 12 along the horizontal axis X of the hinge, connected to the platform 15. The magnetic arc electric motors 13 and 14 are mounted on the annular casing 16 pairs in perpendicular planes, and the magnetic arc electric motor 13 by means of the swivel connection, the magnetic circuit 14 is stationary. In a hinged connection along the Y-axis is mounted sensor angular positions 17, coaxial with the axis Y mounted yaw rate 18. In a hinged connection along the X-axis is mounted sensor angular positions 19, coaxial with the axis X mounted yaw rate 20. The platform 15 (Fig. 2) contains the inductors 21, which by means of the carriages 22 and the annular guide 23 is mounted movably who isobologram branches which are fixed inductor 26 and the magnetic core 27 linear motor (type of A. C. N 553451, bull. N 13 from 05.04.77, at least three of the circumference of the magnetic core of the rotor 24), mounted cross table 3, which consists of two circuit boards 28 and 29, and the card 28 has a rigid connection with the inductor 26, the card 29 has a rigid connection with the magnetic core 27. The inductor 21 of the rotational motion about the Z-axis is mounted a sensor of angular position 30, the crusade table 3 is mounted yaw rate 31. The inductor 26 linear motor axis Z' is mounted a linear position sensor 32, the crusade table 3 is mounted sensor linear acceleration 33. On Board 28 cross table (3) determine the item (blank) 34, to balance on the Board 29 is mounted cargo 35, equal weight parts 34, and Vice versa. The manipulator platform 36 can be mounted on an XY table 37 with the laser 38 on the installation surface 39 of the annular casing 16 (Fig. 3, 4) and on the installation surface 40 of the ring body (Fig. 5) for processing different configuration of the parts of the workpieces, for example, spherical strip 34 (Fig. 2) or ball (Fig. 5). Not shown device for contactless transmission of electrical signals from a stationary part of the device by moving in an arc drives to not use electrocute, curved in a sine wave, allowing moving parts of the spherical mechanism pumped at specified angles (like A. S. N 1092638, bull. N 18 from 15.05.84 year). When assembling, adjusting Electromechanical part of the spherical mechanism with arc and linear motors for maximum accuracy, use a known process. It includes an exhibition and fixation Zubovich areas of mobile and immobile parts of the arc motors for each coordinate using electromagnetic fields own inductors (type A. S. N 1328885, bull. N 29 from 07.08.87 year). The moving parts of the manipulator platform is balanced due to the symmetrical design of the spherical mechanism and electro-mechanical cross-table, and also in accordance with known methods (for type A. S. N 783609, bull. N 44 from 30.11.80,). The manipulator platform works as follows. Details 34 or 41 machined surfaces (spherical or curvilinear) should in our teams and the focal plane of the laser beam installation 38, relative to the stationary light spot of the laser. These complex movements are provided by the actuators of the manipulator platform that allows you to manipulate the Cres is. is sending signals required for rotation and translational movement of the cross table 3 in the X, Y, Z and Z', respectively, is fed to the input of the microprocessor 7 blocks 2, 4, 5 and 6 of the control system automated system, including compound table 37 and the laser system 38. In microprocessors 7, d / a converters 8 blocks are formed corresponding control signals through the amplifiers 9 are fed to the inputs of the inductors 11, 12, 21 arc motors and 26 of the linear motor. Arc and linear motors, respectively, rotate and move the cross table 3 with details 34 or 41 to the specified value , and h. According to the block diagram, the signals are transmitted to the comparison with the control signals digital-to-analog converters 6 four channel q, and h, the difference of these signals are again fed to the inputs of the respective amplifiers 9 to complete testing of the quantities q, and h. In addition, the feedback signals from the position sensors 17, 19, 30 and 32 are passed through respective analog-to-digital dual converters 10 to the microprocessor 7 of each channel, in which, if necessary, the computation of the feedback signal on the masks of the corresponding signals of the control system of the robot. In addition to the position feedback in the block diagram there is feedback to accelerate by four channels q, and h. The signals from the acceleration sensors 18, 20, 31, and 33 through respective analog-to-digital converters 10 are received in the microprocessor 7, which is used for the calculations:the efforts made to cross the table for generating the appropriate voltages and currents control; average speeds cross table 3 for a more smooth movement. The proposed device enhances the automated laser system with a coordinate table and provides for the part (workpiece) three rotational and three translational motion. The technical effect is obvious, and the economic effect at this stage to estimate not possible. The manipulator platform containing blocks the generation of control signals, including microprocessors, digital-analog and analog-to-digital converters, amplifiers, linear and arc motors, spherical mechanism with sensors angular positions and accelerations having a circular casing, which in mutually perpendicular diametral planes in pairs from the s on ring body motionless, and the second pair of hinge, characterized in that it is equipped with a cross table, magnetic-rotor platform mounted in the plane of the ring body between the two pairs of inductors arc electric motors, while the platform is connected with the magnetic-rotor and has two pairs of inductors, located along the axes of the coils arc motors and interacts with the magnetic circuit of the rotor, and a cross table is movably mounted relative to the magnetic circuit of the rotor and has a magnetic linear motors, inductors are mounted on the magnetic circuit of the rotor, the casing is made of two mutually perpendicular mounting surface.
|
