公开(公告)号：US4872362A

公开(公告)日：1989-10-10

申请号：US327412

申请日：1989-03-22

申请人： Nicolaas R. Kemper ,  Henricus J. J. Bouwens ,  Marinus P. Koster ,  Willem L. G. De Peuter

发明人： Nicolaas R. Kemper ,  Henricus J. J. Bouwens ,  Marinus P. Koster ,  Willem L. G. De Peuter

IPC分类号： B25J9/06 ,  B23Q5/32 ,  B25J9/10 ,  B25J9/12 ,  F16H25/22 ,  F16H25/24

CPC分类号： F16H25/2261 ,  B23Q5/326 ,  B25J9/102 ,  B25J9/107 ,  B25J9/12 ,  Y10T74/18664 ,  Y10T74/19902 ,  Y10T74/20323

摘要： A driving mechanism having a spindle which is provided with a first helical threaded portion having a lefthand direction of rotation and with a second helical threaded portion having a righthand direction of rotation. A pair of spindle guides each engage a respective spindle threaded portion for rotating the spindle and translating the spindle in an axial direction. Each spindle guide has three pairs of runner rollers on a sleeve for centering and supporting the spindle within the sleeves. The three pairs of runner rollers on each sleeve kinematically constrain the six degrees of freedom of the spindle without overconstraint to reduce friction and binding of the spindle in the spindle guides.

公开(公告)号：US4874286A

公开(公告)日：1989-10-17

申请号：US198618

申请日：1988-05-20

申请人： Marinus P. Koster ,  Henricus J. J. Bouwens ,  Anton A. J. Van Tartwijk ,  Willem L. G. De Peuter

发明人： Marinus P. Koster ,  Henricus J. J. Bouwens ,  Anton A. J. Van Tartwijk ,  Willem L. G. De Peuter

IPC分类号： B25J9/00 ,  B25J9/02 ,  B25J9/06 ,  B25J9/10

CPC分类号： B25J9/107

摘要： The invention relates to a manipulator comprising an end effector (27) displaceable by means of a rod mechanism comprising four arms (11,13,15,17). By means of simultaneously activated individual drives (29,35) for two of the arms (11,15) which are of equal length, which individual drives are integrated in a differential drive, a displacement of the rod mechanism is obtained in a plane at right angles to a main axis (3) about which the two arms (11,15) are rotatable. At the same and oppositely directed angular velocities of the arms (11,15) about the main axis (3), a radial (R) positioning of the end effector (27) takes place, while at the same angular velocities of the arms (11,15) in the same direction an angular (.theta.) displacement of the end effector (27) about the main axis is obtained. The manipulator is particularly suitable for use as assembling robot.

摘要翻译： 本发明涉及一种操纵器，其包括通过包括四个臂（11,13,15,17）的杆机构移动的端部执行器（27）。 通过对于具有相同长度的两个臂（11,15）的同时激活的单个驱动器（29,35），哪个单个驱动器集成在差速驱动器中，在机器的平面中获得杆机构的位移 与两个臂（11,15）可旋转的主轴线（3）成直角。 在臂（11,15）相对于主轴线（3）的相同和相反方向的角速度下，发生端部执行器（27）的径向（R）定位，同时在臂的相同角速度 11,15）在相同方向上获得端部执行器（27）围绕主轴线的角（θ）位移。 机械手特别适用于组装机器人。