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Safe type mechanical arm

A mechanical arm and safety technology, applied in the direction of manipulators, claw arms, joints, etc.

Inactive Publication Date: 2008-02-27
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since each joint in this technology uses rigid transmission such as gear transmission or worm gear transmission, there are no overload protection parts in the transmission system, ignoring the possible hazards that may occur when the robot collides or overloads during operation. Is a non-safe mechanical arm

Method used

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Embodiment Construction

[0017] The embodiments of the present invention are described in detail below: the present embodiment is implemented under the premise of the technical solution of the present invention, and detailed implementation and specific operation process are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0018] As shown in Figure 1, Figure 2 and Figure 3, this embodiment includes: waist joint 1, shoulder joint 2, elbow joint 3, wrist joint 4, hand claw 5, waist joint torque limiter 9, elbow joint torque limiter 26 . Among them: the waist joint 1, the shoulder joint 2, and the elbow joint 3 each have one degree of freedom of rotational swing, the wrist joint 4 has three orthogonal rotational degrees of freedom, and the hand claw 5 has one degree of freedom of opening and closing movement. The waist joint torque limiter 9 is arranged in the waist joint 1, and the elbow joint torque limiter 26 is arranged in the elbow...

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PUM

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Abstract

The invention discloses a safely mechanic arm in the robot technical domain, which comprises the following parts: waist joint, shoulder joint, elbow joint, carpal joints and grip, wherein the waist torque limiter is set in the waist joint; the elbow joint torque limiter is set in the elbow joint; the waist torque limiter and elbow joint torque limiter limit the maximum load torque of the waist joint and elbow joint separately; the central axle of the waist joint and shoulder joint is mutually vertical and crossing; the central axle of the shoulder joint is perpendicular and crossing to the axle of rotation shaft of elbow joint; the waist joint, shoulder joint and elbow joint have one rotary swaying freedom degree; the waist torque limiter and elbow joint torque limiter protect the mechanic arm effectively under occasional condition, such as overload or collision and so on; the invention is especially for helping invalid or nursing.

Description

technical field [0001] The invention relates to a mechanism in the technical field of robots, in particular to a safe mechanical arm, especially suitable for assisting the disabled or nursing. Background technique [0002] Most of the transmission systems related to the mechanical arm mechanism in the robot do not have mechanical overload protection devices. At present, some famous robot research institutions abroad, such as the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR), are conducting research on safe robots, with the purpose of improving the safe cooperation between robots and humans in the future, such as for assisting the disabled or Nursing robots cannot do any harm to disabled patients during work, that is, when there is a collision between the robot and humans or excessive impact is caused by misoperation, the safety type can automatically reduce the impact on humans and protect Humans are not harmed. [0003] After searching the ex...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J17/00
Inventor 高雪官翟嘉心陈卫东杨军顿向明
Owner SHANGHAI JIAO TONG UNIV
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