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Multi-joint flexible mechanical arm

A flexible robotic arm and multi-joint technology, applied in the field of flexible robots, achieves the effect of achieving flexibility, large flexibility, and high load-to-weight ratio

Inactive Publication Date: 2007-11-28
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The use of a motor-driven multi-joint light-duty serial manipulator has not been reported

Method used

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  • Multi-joint flexible mechanical arm
  • Multi-joint flexible mechanical arm
  • Multi-joint flexible mechanical arm

Examples

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with drawings and embodiments.

[0019] In the embodiment shown in FIG. 1 , the entire robotic arm is composed of a base 1 and five joint modules connected in series, and each joint module is composed of a torsion joint 2 and a bending joint 3 . The power comes from the motor on the base 1, and the motion of the motor is transmitted to the bending joint 3 through the torsion joint 2. Adding the same joint module at the end of the manipulator can expand the length and degree of freedom of the manipulator.

[0020] As shown in Fig. 2A, Fig. 2B, and Fig. 2C, the torsional joint includes a torsional input reversing gear set, a torsional clutch set, a torsional output reversing gear set, a torsional reducer, a torsional driving arm and a spur gear planetary gear train; the torsional input The reversing gear set is composed of twisting input central gear 6, twisting left reversing gear 4, twisting overwheel ...

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Abstract

The present invention is polyarticular flexible mechanical arm, and belongs to the field of flexible robot technology. The polyarticular flexible mechanical arm includes M serially connected joint modules comprising one torsion joint and one bending joint each mounted on the pedestal. The torsion joint driving the bending joint and the next joint module to rotate around the said joint axis includes one input reversing gear set, one clutch set, one output reversing gear set, one speed reducer, one driving arm, and one spur gear-planet gear train. The bending joint driving the next joint module to rotate around the axis of the said joint speed reducer includes one input reversing gear set, one clutch set, one output reversing gear set, one speed reducer, one driving arm, and one bevel gear-planet gear train. The present invention has standard modules, great flexibility, light weight, several freedoms and high expandability.

Description

technical field [0001] The invention belongs to flexible robots, in particular to a multi-joint, highly flexible, and large-range moving mechanical arm. Background technique [0002] The multi-joint flexible manipulator is a component that provides support for the manipulator. The manipulator is required to be lightweight and flexible so that the end effector can reach the target position in multiple directions. Usually, the mechanical arm is driven by multiple motors. For example, the mechanical arm assembled on the ETS-VII is composed of 6 joints in series, about 2 meters long, and weighs about 150kg. Each joint is composed of a brushless DC motor and a harmonic reducer. Drive, the output force and torque at the end of the mechanical arm are 40N and 10Nm respectively. Compared with its own weight, the load capacity of the mechanical arm is very small. The use of a motor-driven multi-joint light-duty serial manipulator has not been reported yet. Contents of the invention...

Claims

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Application Information

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IPC IPC(8): B25J18/04
Inventor 李世其刘洋谢明谢涛孙新远
Owner HUAZHONG UNIV OF SCI & TECH
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