Robot coiled arm

FIELD: improvement of hardware and software for positioning of the working tool or sensor.

SUBSTANCE: 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.

EFFECT: improved efficiency.

34 cl, 10 dwg

 

The technical field to which the invention relates.

The present invention relates to improving the positioning of the robot, the working instrument and sensors within its operating environment and in particular relates to improvements in mechanical and software means for positioning the working tool or sensor.

The level of technology

Traditionally maintenance of mechanical equipment such as engines and machinery, comprising a housing, is performed according to the regulations of the regular maintenance. In the case of malfunctions, the operator or engineer to conduct a test machine or engine to perform a number of control functions in accordance with the program of search and Troubleshooting and note the reaction of the machine or engine for each control function. Watching the execution of a given control function or response of the machine it can be diagnosed, at least in part the one area where there has been a violation of normal operation. After that, the car is dismantled to the extent which is sufficient to determine possible faults and repairs.

In a parallel patent application UK 0020461.0 belonging to the applicant of the present invention, the contents of which are incorporated in this description by reference to which it described and claimed apparatus containing a working cylinder, which is adapted to move the tool or the analyzing element for the purpose of performing in a certain area of the machine's internal operations or internal inspection. This apparatus includes a bearing arm to the working head, which is adapted for insertion inside the machine in order to install the working head in the desired operating position, means to control the operation of the above-mentioned working head and means for controlling the spatial position and the positioning of the hands inside the machine. When this carrier is a hand that contains at least one segment consisting of a set of links, where each link is pivotally connected to the adjacent link, and also controls the positioning and/or spatial position of the segment relative to some reference point. This hand has the ability, adapting, follow the given trajectory inside the machine from entering into the housing of the machine to the operating area.

A separate aspect of the invention described in this application is that each segment contains many links, and between adjacent links, there is some degree of joint mobility. Maintaining links articulated links in each of the segments in the stressed state, you can precisely control p is strastveni position of each segment, giving my hand an opportunity to follow a curved path and to direct the working tool in the car. The hand of this type are sometimes called serpentine hand because of her ability like a snake to stretch along its own axis and around obstacles along a curved path.

The invention described in the referenced patent application No. 0020461.0, requires precise manufacturing techniques each element, in order to minimize friction losses at the point of hinge connection between the links of each pair. In the iterative segment these friction losses are accumulated, and the robot arm consisting of several segments, the total friction losses that have to be overcome in the process of manipulating hand, can be significant. There is therefore a need in the device, the components of which could be produced by a relatively simple technology and friction losses which could be reduced. In the device described in the patent application No. 0020461.0, compensation tension forces generated by control cables and causing the preload links, is provided spring means.

The authors of the present invention, it was found that, if you refuse springs and install them instead of the layer of rubber or elastomeric material, glued it to the two adjacent elements constituting hinge pair with whom Genta, or linking it with them by means of projections and depressions, the rubber may form between the elements of the hinge contact surface of the fixed friction and at the same time provide the ability to the elastic displacement in the direction corresponding to the shift that you want to create a "rigidity" swivel.

Disclosure of inventions

In connection with the above one aspect of the present invention is the creation of a robotic arm (in particular, serpentine hands), which contains:

the first and second hinge elements, each of which can perform a limited movement relative to another,

resilient elastomeric means which is placed between the first and second elements and glued to them or connected with them by means of projections and depressions;

while moving between the first and second elements causes shear displacement within the elastomeric means, placed between them.

The elastomer may be a natural rubber, or synthetic rubber, or any other suitable elastic or elastomeric material. The elastomer preferably be positioned in a layer between the first and second hinge elements. According to one variant of implementation of the present invention the first and second elements may be given the shape of interacting the Rog with each other, mating parts, and elastomeric means may be placed between them in the form of a thin layer. Thanks to this performance is the relative movement between the elements in the direction corresponding to the curvature of the robot arm, creates a shear displacement within the elastomeric means and to at least reduce any offset in the direction corresponding to the compression resulting from the relative movement of the first and second elements. The elastomer can be used to create axial rigidity and elasticity in bending the joints of elements.

It is desirable that the layer thickness was as small as possible. It was found that the optimum thickness of the layers shall be not more than 3 mm, especially 1 mm or less. Layer can either be glued to one or both elements, or may be associated with one or both of the elements by means of projections and depressions. Preferably, each contact surface element of the hinge, was when the work is fixed so that relative movement of the elements caused inside the elastomer shear displacement. Reducing the thickness of the layer reduces the tendency of occurrence of displacement in the direction corresponding to the compression, and therefore provides a higher stability of the positioning component, and increases the axial stiffness when turning each SV is on the hinge segment.

Elastomeric means may contain several layers of elastomer and then each layer of elastomer may be separated from the next by a hard layer that is adhered to adjacent layers or associated with them by means of projections and depressions.

Elastomeric means may be a laminate (laminate), and a layer or intermediate hard layers between layers of elastomer can be a hard layers of any type from any material that can be bonded to the elastomer or associated with him by means of projections and depressions. The intermediate layer should be sufficiently rigid to minimize the movement of the elastomer in the direction corresponding to the compression. A typical material for the intermediate layer can serve as sheet metal, fiberglass, a layer of carbon fiber or Kevlar woven and non-woven forms.

Thus, the robot arm may include at least one segment containing many links of the type described, and means to control the movement of these units within the segment, and management tools support these links in a state of tension or compression. Controls may constitute at least one cable passing from one end of the segment to the other.

In the preferred embodiment, this is part II of the invention controls can contain three cables, each of which runs from one end of the segment to the other, thus changing the tension of the cables relative to each other causes the parts to bend or enables them to bend, thereby controlling movement of the segment. To maintain links in pojetom condition it is desirable that the cables under tension. The difference between the tension of the cables relative to each other causes the segment to move, or bend, or allows him to make such movements.

In a specific embodiment of the invention each link of the hinge may be composed of three elements:

the outer plate, preferably with holes under the control cables to the control cables ran from the outer side from the other elements of the hinge,

the internal drive, which should be located essentially inside of the outer plate and which has a Central hole to accommodate the controls and/or power of the working head,

disk or layer of elastomer, which fills the gap between each inner and outer disks and which are glued to each disk, or attached by means of projections and depressions, or freely mounted between the inner and outer disks, so that the internal disk is not imposed limiting communication directly from the rest of the s elements.

In accordance with the invention, the robot arm can contain multiple segments, where each segment is equipped with controls. At least one of the elements of each link of the hinge may be equipped with means for the control cables from one end of the segment to the other.

Cables can be located on the outer side of the links of the hinge segment. Each cable can be terminated tip, which should sit in a corresponding notch (obnizka) end cover segment so that when the tension the tip was brought into contact with the end cover to transfer compressive loads on each of the segments to maintain the rigidity of the links of the hinge in the segment.

Every cable management can operate the driving mechanism, and when there are control cables for multiple segments, the drivers come along one or more arcs on the panel drives or on the ledge adjacent to one end of the first segment. Usually, a set of drivers for each cable has a drive mechanism, and the actuating mechanisms of the set can be located arcuate trace in the space of a truncated cone. The cable from each drive mechanism can be carried out around the sending device, such as a pulley, to provide the th input control wire rope parallel to the axis of the inlet.

In an alternative embodiment of the present invention, at least some of the drivers can be located within a segment, and in this case it will be necessary funds to bring these drive mechanisms in action. Such means may include communications cables for data transmission or wireless transmission of data types, which are well known in this technical field. In the latter case it will be necessary to consider the properties of the environment in which you will be using drive mechanisms to determine the best means of control.

The segment can be assembled sequentially from a series of hinged links or segment can be assembled entirely in a template, with the elastomer Inuktitut in the gaps between the elements, as in the mold. In this way it is relatively easy and quickly you can get completely glued, finished segments.

In an alternative embodiment of the present invention each link of the hinge can be obtained from a pair of polozenie that can be assembled together end to end. In this way, half of the inner element link (internal polozeno) and half of the outer element link (outside polozeno) can be collected by connecting them together with a rubber layer. Polus the nya can be collected then the rear or front ends together, to form a single hinge element, which forms a segment.

When developing the present invention it was found that each polozeno hinge can be made of three separate, individual elements, namely: an outer member (outer polozona), inner element (internal polozona) and rubber liner. All that is required in this case is to provide the connection of the pad with each of the elements by means of projections and depressions so that when you try to move one member relative to another in the rubber liner was created shear displacement or force. Then the various elements that are already linked in polozenie, can be bonded together by means of dowel pins mounted in corresponding holes provided in each of the items. Articulated joint of the robot arm can be made "loose", through many job openings in the peripheral parts of the outer elements may be missing the cables connected to the drive mechanism or panel actuators. In another embodiment, the elements may be detachable connected to each other, for example, by gluing. When drivers are responsible for the control signal to create a panel drives some degree of tension, the whole W is Mirny node is held in the tightened condition, so, by varying the tension, you can force the segment accordingly to bend.

The first and second element forming part of each link or polozona can determine the form of its intermediate rubber component (liner): either spherical, or conical, or some kind of average between the spherical and conical or toroidal. If this component has a spherical shape, while rotation of the inner disk relative to the outer deformation of the spherical component is entirely shear. If the design of the component to change so that he will cease to be spherical, then any rotation of one part relative to another along the shearing component will cause the volumetric deformation of the elastomer, resulting in the formation of local tension and compression parallel to the axis of the hinge. This makes any non-spherical hinges more rigid compared to the equivalent size of the spherical hinge.

As mentioned above, a great advantage of replacing rubber parts every link on a multilayer material with the purpose of introducing two more thin layers of metal. This allows you to extend the range of motion of such a link is more efficient than if you simply double the number of links in the segment. Length added to the link for two at the helicene bending angle, less than double the initial step of the links. This idea can be distributed in reasonable limits. Slim hard liner between two layers of rubber imposes on rubber parts (layers) such communication that the two rubber parts provide almost the same stiffness in shear, and one rubber piece double thickness. However, two rubber parts smaller thickness are greater stiffness in compression than one item is double thickness.

In this embodiment of the invention, if two adjacent link are bent so that their outer peripheral parts are brought together, the diametrically opposite points diverge, thereby determining the ring segment. Under such conditions, the internal disks freely move relative to the outer disk. The goal of this design is to maintain the center of rotation of the elements unchanged at the point where the center of the spherical surface of the inner disk when the link is in the undeformed state. Essentially, the link works like a spherical hinge without friction, with the exception of the hysteresis losses inside a rubber and a small axial compression required to maintain the rigidity of the link.

Through the use between each pair moving parts in every link of disk elastomer achieved a significant reduction of t is possible. At the same time, the device becomes extremely simple, i.e. suitable for production in large quantities. After made the snap and form, playing in large quantities becomes relatively simple. You can release the segments are made of a large number of links, the optimal control for each segment is implemented by three cables. Although, perhaps, in the segment to abandon one of the ropes or at least from one of the workers cables, it is desirable to use at least three cable management to manipulate the segment in an optimal way. In the case of multi-hand for each segment will need a set of three control cables. Thus, for a hand with eight segments only need 24 control cable, each of which must be managed from a separate drive mechanism.

In accordance with another aspect of the present invention around each segment may be provided in the outer sleeve. In a specific embodiment of the invention the sleeve may take the form of shirred casing. The use of such membranes has several advantages, namely that it increases the rigidity of the links on the curl. This is particularly advantageous because using match the current design of the shirred casing, it is possible to increase the rigidity of the hand to curl with a very small increase in stiffness in bending.

Additional advantages of such a shell is to protect the cables and other components from external factors that can cause damage, as well as the fact that the shell allows you to completely fill the segment grease. Typical lubricating material may be a dry powder or a liquid, such as grease and/or oil. The physical characteristics of the lubricant, which is included in hand, you can choose in accordance with the environment in which hand will work. One of the features of this variant embodiment of the invention is that, when the arm bends, the geometric shape of the gaps between adjacent links is changed, resulting in the displacement or "pumping" of grease from one segment to another. It provides continuous lubrication of the components due to the circulation of the lubricant within each segment. Another aspect of the invention is that the arm can be provided with a lubricant reservoir and a lubricant can be continuously pumped through the hand and return to the tank. Such an implementation option is particularly useful when the hand should be used in an aggressive environment and when cooling is required the uki. In this case, the composition of the lubricant reservoir can be included cooling medium.

By using the mechanism corresponding to the present invention, it is possible to set the path, remotely controlling the working end of the hand from the joystick, or, alternatively, may be provided by computer control in online mode or in offline mode on the CAD model of the specified workspace.

The following description is given with reference to the accompanying drawings, which show embodiments of the device corresponding to the present invention.

Brief description of drawings

Figure 1 is a perspective images of multiple segments in the segment corresponding to the present invention.

Figure 2 is an image of polozona", shown in figure 1, in disassembled form.

Figure 3 shows a view of the end item level or item polozona depicted in figures 1 and 2; and figa shows a section along line a-a in figure 3.

Figure 4 is a perspective representation of the end cap showing the fastening of a tip at the distal end of the segment.

Figure 5 shows a cross section along the line a-a in Fig.6.

Figure 6 shows a view of an end face for an alternative implementation of the present invention.

Fig.7 represents the Wallpaper image "polozona", the corresponding figure 5 and 6, in disassembled form.

Fig panel depicts the drives in a configuration with three drivers for one segment.

Figure 9 shows the configuration in the form of a truncated cone for several drive mechanisms, control cables of the robot arm that contains multiple segments.

Figure 10 is a perspective projection of the segment in the shell in accordance with the present invention.

The implementation of the invention

In accordance with the present invention, the robot arm contains multiple segments, generally designated as 10, which are assembled end to end, with the aim of obtaining a serpentine hands elongated shape. Each segment contains a few links, designated as 11. Each link contains an internal disk 12 and the outer disk 13, which is a guiding element cables. The form of the inner disc 12 is made with an annular arcuate surface profile, generally designated as 14, and the outer disk 13 has a response surface 15 of arcuate profile.

As shown in figure 1, the inner ring 12 and outer disk 13 are assembled so that they are separated from each other by a layer 16 of rubber that can be formed at the place of Assembly. The layer 16 of rubber glued to each outer disk 13 and the inner disc 12 and network drives, the ability to move one relative to the positive of the other. Each internal disk provided with a Central hole 17, which defines a Central lumen passing along the axis of the device and designed to accommodate the power source and control mechanism of the working head on the end of the hand. Each link 11 can be obtained from the pair of polozenie", which is best seen in figure 2. Each polozeno contains the outer element 13 polozona, the inner element 12 polozona and rubber disk 16, or insert which is adapted for installation between these two elements. Items can be glued together to get polozeno, which can then be connected to its adjacent elements, forming a continuous segment, consisting of the links. It should be noted that the surface 15 of the arcuate profile of the outer element 13 polozona adapted to work together with the corresponding bottom surface (as shown in figure 2) item 12. The disk 16 given such a form that it could be placed between these two elements and could be glued together with them. This is best seen from tiga, which glued the elements shown in section.

According to one aspect of the present invention, the outer disk (i.e. guide ropes) 13 provided with several holes 23 under the pin lying on the same circle, and the inner disk cache with corresponding diametrically spaced holes 24 under the pin. Specialists in this field it is clear that when the nodes are assembled together by means of pins, disposable, respectively, in the openings 23 and 24, and then tightened control cables, they do not necessarily need to be bonded rigid, non-separable way. The outer disk 13 is provided with many through holes 25 forming the guide holes for the ropes, which can accommodate cables of the control device.

Each segment can be equipped with end cover 30 (see figure 4), on the periphery of which is provided with holes for the cables and the neck 26 of enlarged diameter (obniza), which receives a sleeve 27 that is attached to the end of the rope 28 management. When assembling the end cap 30 is fixed to the adjacent disk 13 of the end link, and the cable 28 management is carried out through the appropriate omnisky (cut) 26 in the end cap 30, and then through corresponding holes 25 in each outer disc 13 of each link segment.

Several segments then connect end to end to receive the hand of the appropriate length to achieve the planned goal. This snake hand can be manipulated: it can easily move in the axial direction along its length and, like a snake, to follow along the curved path.

The ends of the cables passed back to the drive mechanism and pull the ropes t is to, to the sleeve 27 is pressed against the end cap and the whole site was in a state of stress. If a node, i.e. a set of hinge elements, result in a stress state in this way, it is possible to prevent adhesion of the elements, but instead, as shown in figure 5, b, 7, at the mating end faces of the inner and outer disks to make the grooves, in which sits the response profile of the rubber disc 16. These grooves (profiling) are used for fixing the disk 16 in a position between the inner and outer disks 12 and 13 and, in addition, allow one of the discs 12, 13 to move relative to another in response to changes in the tension of the cables 28 management. This eliminates the need for gluing disks and makes it relatively easy to replace damaged items within any given segment.

In the assembled segment of the outer surface of the disc and the control cables can hermetically close, and the formed cavity and guide ropes to fill any lubricant, so that the control cables worked in the lubricant. It also helps to reduce friction losses in the process.

By changing the tension of each of the cables, you can control the operation of each segment. On Fig in simplified form, shows a panel drives three drives, which contains the basis of the W 40. On the one hand, provides the node 41 vertical mounting panel, to which can be attached to the end plate segment 42. The cables 28 management pass through the node 41 vertical mounting panel to the guide tube 43 on each of the drive mechanisms 44. To the average drive mechanism 44, the cable 28 is suitable segment essentially directly, while the cables of each of the side drive mechanisms to reduce friction or wear threaded through the pulleys 45.

To control each of the drive mechanisms 44 with a change in the tension of the three cables 28 can be either manually or from your computer. Depending on the combination of the tension of the individual links in response to changes in the tension of the cables will tend to move, thereby creating a movement segment that allows you to bring the end of the segment at the given point in the workspace.

If snake robot arm contains multiple segments, then they will need a lot more drive mechanisms, usually three mechanisms on one segment. In this case, it is necessary to build drivers to provide access to the control cables where they exit the end of the first segment in a relatively narrow space. In accordance with this driving mechanism can be positioned on an arc so that the control cables or tubes, through which it is thtat to each drive mechanism, formed a cone, similar to that shown in Fig.9.

Rubber disks 16 can be a single piece of rubber or may be in the form of a composite elastomer with a hard layer. It was found that the thinner individual layers of rubber, the more effectively does the total layer and the stronger is the connection between the inner disk and the respective outer disk.

In the hand of the robot corresponding to the present invention, is also provided with a sealed insulation bearing surfaces between the inner and outer disks, warning hit in the mechanism of harmful substances from the atmosphere (see figure 10). In addition, the Central hole (lumen) 17 securely sealed and provides easy access to a power source and controls the working head located at the end of the robot arm.

Airtight insulation can be made in the form of a sleeve 100, which is provided with annular corrugation 101. The sleeve 100 is held on the outside relative to the outer surface of each of the outer plate 13. The sleeve 100, hermetically closing the gaps between the outer disks 13, is filled with oil or other lubricating material, providing an opportunity for the control cables to work in the lubricant. Suitable lubricants are oils, powders and grease. Their WASC is the terrain and other physical characteristics should be chosen with regard to the environment, in which will be operated by the hand.

The use of sleeve 100 pleated design gives the effect of increasing the stiffness by mutual twisting and/or bending of the adjacent links. This helps to increase the rigidity of the robot arm in relation to curl with a very slight increase in stiffness in bending. The design also provides for protection of cables and other elements from harmful external factors.

Sealed retention of lubricant within the sleeve 100 provides an important advantage in the operation of the device. As described, when the segment does bend, adjacent peripheral areas of the outer disks 13 for cables converge, while the diametrically opposite parts of the same disk 13 diverge. As a result, the cavity containing a lubricant, changes its shape from a toroidal permanent, essentially identical in cross section to "wedge" shape. This leads to the displacement of lubricant from the narrow side of the wedge and its transfer to the "wide" side of the wedge, i.e. to the outer side of the curve. In the process, the lubricant flows around a lot of cables. Therefore, whenever a segment makes bending or changing the plane of deflection, due to this effect of pumping is forced lubrication of internal parts of the hands and, in particular, each cable.

It is desirable that the lubricant can be introduced into the hand in several different ways. According to one of embodiments of the present invention the cavity can be filled with a lubricant when assembling and securely sealed with the expectation of the lifetime of the device. In an alternative embodiment, the individual sections or segments of the hands can be isolated and grease to enter through the special places, such as grease fittings. While too much oil can be produced through an extra hole or release valve. In another embodiment of the invention the arm can be lubricated as a whole, using the cable hole of the external links for the transmission of lubricant along the entire length of the hands. The liquid lubricant can be continuously pumped through the hand and return back to the main tank. This design allows you to control the temperature of the lubricant in his hand, stirring or cooling lubricant. Thus, the present invention includes the ability to install controls the temperature of the liquid lubricant inside the wrist.

1. The robot arm containing the first and second hinge elements, each of which can perform a limited movement relative to the other, and the elastic elasto Ernie means, placed between the first and second elements, wherein the first and second elements are configured to mate and communicate with each other, and elastomeric means located between them in the form of a thin layer and connected with the first and with the second element by means of projections and depressions, or by gluing, so that the relative movement of the elements in the direction corresponding to the curvature of the robot arm, causing shear displacement within the elastomeric means and weakens any offset in the direction corresponding to the compression due to the relative displacement of the first and second elements.

2. The robot arm according to claim 1, characterized in that the elastomer is a natural rubber or synthetic rubber.

3. The robot arm according to claim 1 or 2, characterized in that the elastomer is located between the first and second hinge elements in the form of a layer.

4. The robot arm according to claim 3, characterized in that the layer thickness is not more than 3 mm.

5. The robot arm according to claim 3, characterized in that the layer of elastomer bonded to one or both of these elements of the hinge and/or associated with them by means of projections and depressions.

6. The robot arm according to claim 5, characterized in that each surface of the elastomeric layer adjacent to the hinge element fixed relative to the specified element, so that in the process the work items are moved relative to each other creates a shear displacement of the inside of the elastomer, moreover, the small thickness of the layer reduces the tendency of the material to compression, thereby increasing the consistency of the positioning elements of the hinge.

7. The robot arm according to claim 1, characterized in that the elastomeric means contain several layers of elastomer.

8. The robot arm according to claim 7, characterized in that adjacent layers of elastomer bonded or attached by means of projections and depressions of the hard layer to separate one layer from the adjacent layer.

9. The robot arm according to claim 7 or 8, characterized in that the elastomeric form the laminate.

10. The robot arm according to claim 7, characterized in that between each pair of layers of elastomer is an intermediate hard layer made from a material that can be sealed with elastomer or connected with it by means of projections and depressions.

11. The robot arm of claim 10, wherein the intermediate layer is tough enough to weaken to a minimum compression of the elastomer during movement of the hinge elements.

12. The robot arm according to claim 7 or 8, characterized in that the intermediate layer comprises a thin metal layer, fiberglass or a frame made of woven or non-woven material.

13. The robot arm according to item 12, wherein the woven or non-woven material is a carbon fiber or Kevlar.

14. The robot arm according to claim 1, characterized in that churn the turning elements form links, United in the segment, and the robot arm contains controls movement of the links within a segment that supports these links in a state of tension or compression.

15. The robot arm according to 14, characterized in that the control means include at least one cable passing from one end of the segment to the other.

16. The robot arm according to 14, characterized in that the control means include three cables, each of which runs from one end of the segment to another, the change in tension of the cables relative to each other causes the bending of the links or provides the possibility of such a curve for the implementation of the motion control segment.

17. The robot arm according to item 16, characterized in that the ropes are taut to maintain the links in the compression state, and created the difference of the tension of the cables causes the movement or bending of the segment or enables such movement.

18. The robot arm according to item 16, characterized in that each link contains the outer disk, which has openings for control cables, so that the control cables pass from the outer side relative to the other elements of the link, an internal drive, which is located essentially inside of the outer plate and which has a Central hole to accommodate the controls and/or power work is her head, and a rubber disk or layer located between each of the inner and outer disks and glued to each drive or connected with each of them by means of projections and depressions, but with the possibility of free movement between the specified inner and outer disks, so that the internal disk is not imposed limiting communicate directly with the other elements of the robot arm.

19. The robot arm according to claim 1, characterized in that it contains multiple segments, and controls are provided for each segment.

20. The robot arm according to claim 19, characterized in that each segment is completed, the end cap, which has means for the control cables control other segments of the arms and means of fixation, distributed around the cover on the arc of a circle, for fixing control cables in the specified segment.

21. The robot arm according to item 16, characterized in that at least one of the elements of each link is equipped with means for guiding the cables from one end of the segment to the other.

22. The robot arm according to item 16, characterized in that each cable is located on the outer side relative to the links of the segment and completed a sleeve inserted in the corresponding notch of the end cover segment, and when the tension sleeve is introduced into contact with the end cover for the transmission of compressive N. the load on each link in order to maintain the rigidity of the links within the segment.

23. The robot arm according to any one of p-22, characterized in that each control cable powered drive mechanism, and the drive mechanisms associated with their control cables, are located on one or more arcs of a circle around one end of the first segment in contact with the panel drives.

24. The robot arm according to item 23, wherein in the group of drive mechanisms the mechanisms that control the individual cables are located on the arc of a circle forming in the space of a truncated cone, with the cable extending from each of the drive mechanism, held around the guide or pulley so that the control cable from each drive mechanism is included in the opening segment parallel to the axis of the hole.

25. The robot arm according to item 23, wherein each link is a pair of polozenie, designed to build end to end, and internal polozeno and the outer polozeno made with the possibility of Assembly together with associated binding layer for the formation of single units which can be assembled together to form a segment.

26. The robot arm on A.25, characterized in that each polozeno as a component contains three separate elements: the outer element of the element, the inner element of the link and rubber the liner, the liner associated with each of the elements of the link by means of projections and depressions, or by gluing, and when you try to move one element relative to another within the rubber element develops shear displacement or shear.

27. The robot arm on p, characterized in that each of polozenie can be fixed in a predetermined position by means of dowel pins that are entered into the corresponding holes in each of the collected polozenie, so that the robot arm can be made without additional connections between Polozheniye, and the cable drawn through functional holes in the peripheral portion of the outer element of the link, dockable panel drivers, however drivers are included to create tension in the panel and the tension in the ropes and choke thus all elements of the hinge with the possibility of implementation of a given manipulation segment by changing the tension of the cables.

28. The robot arm according to any one of p-22, characterized in that around each of the segments is provided outside the sleeve.

29. The robot arm on p, characterized in that the sleeve is a corrugated shell.

30. The robot arm according to clause 29, wherein the membrane material and its form is selected from the condition of increasing the rigidity of the ru and the robot twist with a slight increase in stiffness in bending.

31. The robot arm on p, characterized in that enclosed in the shell segment is filled with a lubricant.

32. The robot arm on p, characterized in that the lubricant is either dry powder or liquid, such as grease and/or oil, while the physical characteristics of the lubricant introduced into the composition hands, chosen, taking into account the environment in which the hand is supposed to work.

33. The robot arm on p or 32, characterized in that provided with a lubricant reservoir, and means for pumping lubricant through the arm and return it back into the tank.

34. The robot arm on p, characterized in that it includes means for cooling the lubricant for cooling hands when used in corrosive environment.



 

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The invention relates to the actuating arms and Chatam working in clean environments and in vacuum

FIELD: robotics, applicable in carrying mechanical systems of manipulators designed for rotation of workpieces in configured spherical trajectories.

SUBSTANCE: 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.

EFFECT: improved controllability of the table turning drive, simplified hinge suspension of the table relative to the base, reduced quantity of used electric motors.

6 dwg, 2 ex

FIELD: robot engineering, possible use in manipulators, performing turn of object of manipulation relatively to independent angular coordinates, and also in constructions of spatial multi-coordinate manipulators.

SUBSTANCE: joint consists of spherical mechanisms of parallel structure, transferring movement from drives to manipulation object, having two or three independent controllable angular coordinates.

EFFECT: creation of additional supporting spherical kinematic pairs between links of joint increases their load capacity, rigidity and kinematic precision at given dimension.

2 cl, 5 dwg

FIELD: robotics, possibly manipulators for rotating object to be handled according to two separate angular coordinates, constructions of three-dimensional multi-coordinate manipulators.

SUBSTANCE: 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.

EFFECT: improved rigidity, loading capability, kinematics accuracy of articulation joint assembly.

3 cl, 4 dwg

The invention relates to the design of manipulators, in particular hinged connections of the elements of the manipulator, and can be used in the forest industry

The hinge arm // 2169069
The invention relates to a device for moving the Executive bodies of the robots and manipulators

Hinge arm // 2156689
The invention relates to mechanical engineering and can be used in manipulators and robots

Hinge arm // 2156688
The invention relates to mechanical engineering and can be used in manipulators and robots

Hinge arm // 2156687
The invention relates to the field of engineering and is intended for use in the manipulators and robots

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 invention relates to the field of engineering and is intended for use in industrial work, used for loading and unloading, laying piece goods

FIELD: robotics, possibly manipulators for rotating object to be handled according to two separate angular coordinates, constructions of three-dimensional multi-coordinate manipulators.

SUBSTANCE: 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.

EFFECT: improved rigidity, loading capability, kinematics accuracy of articulation joint assembly.

3 cl, 4 dwg

FIELD: robot engineering, possible use in manipulators, performing turn of object of manipulation relatively to independent angular coordinates, and also in constructions of spatial multi-coordinate manipulators.

SUBSTANCE: joint consists of spherical mechanisms of parallel structure, transferring movement from drives to manipulation object, having two or three independent controllable angular coordinates.

EFFECT: creation of additional supporting spherical kinematic pairs between links of joint increases their load capacity, rigidity and kinematic precision at given dimension.

2 cl, 5 dwg

FIELD: robotics, applicable in carrying mechanical systems of manipulators designed for rotation of workpieces in configured spherical trajectories.

SUBSTANCE: 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.

EFFECT: improved controllability of the table turning drive, simplified hinge suspension of the table relative to the base, reduced quantity of used electric motors.

6 dwg, 2 ex

Robot coiled arm // 2301143

FIELD: improvement of hardware and software for positioning of the working tool or sensor.

SUBSTANCE: 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.

EFFECT: improved efficiency.

34 cl, 10 dwg

FIELD: medicine.

SUBSTANCE: 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.

EFFECT: invention allows improving reliability, reducing power consumption, extending performance of the device with its downsizing and weight reduction.

4 cl, 2 dwg

FIELD: machine building.

SUBSTANCE: 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).

EFFECT: increasing rigidity and improving the accuracy of mechanism which has simple design.

22 cl, 7 dwg

FIELD: instrument making.

SUBSTANCE: 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.

EFFECT: robot that features high rigidity, precision, regular working parametres, fine dynamic characteristics and high speeds and acceleration in whatever direction.

19 cl, 9 dwg

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