Safe type mechanical arm

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...

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