| 摘要 |
The invention refers to an electrically driven manipulator with five degrees of freedom, designed to carry small loads for relatively short distances and position them with high precision, especially within flexible manufacturing cells or automatic storage lines. The manipulator consists of a linear induction motor which is located at the base of the manipulator and is made up of a profiled armature [2], on which a carriage [A], connected to some inductors [1], is displaced by means of a roll [7]. The carriage [A] supports a first mechanism that ensures the translation of a platform [B] along the OZ axis and the rotation of the same platform [B] around the same axis. The platform [B] supports a second mechanism for the translation and rotation, in respect with the OY axis, of a frame [46], which carries a prehensor [C]. A rotating step-by-step motor [15] drives a pinion [19] that engages either with a first gear [20], which is connected to a threaded shaft [21] in order to achieve its translation along the OZ axis, or to a second gear wheel [29] in order to achieve its rotation around the OZ axis. The gear wheel [29] transmits the movement to a toothed crown wheel [33] that is fixed to an end plate [26] connected to some guide columns [25], which support the second translation mechanism. The movements are controlled by means of a moving-coil transducer which is made up of a cursor [27], fixed onto the threaded shaft [21], and a circular scale [28], mounted on the toothed crown wheel [33].
|
