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Five degree-of-freedom reconfigurable modular service robot arm

A service robot and degree of freedom technology, applied in the field of robot arms, can solve the problems of complex arm structure, high quality and high cost, and achieve the effect of compact overall structure, large working space and good packaging.

Active Publication Date: 2010-08-18
SHANGHAI MUNICIPAL ELECTRIC POWER CO +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing robot arms are complex in structure, larger in size, larger in mass, and higher in cost

Method used

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  • Five degree-of-freedom reconfigurable modular service robot arm
  • Five degree-of-freedom reconfigurable modular service robot arm
  • Five degree-of-freedom reconfigurable modular service robot arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] Embodiment one: see figure 1 , the five-degree-of-freedom reconfigurable modular service robot arm includes a large arm, a small arm and a control system. The large arm is composed of a base connected to a first joint and a second joint in turn, and the first joint is used for rotation. Movement, with one degree of freedom, the second joint performs swinging motion, with one degree of freedom; the forearm is composed of a third joint, a fourth joint, and a fifth joint connected in sequence, and the three joints all rotate The movement each has one degree of freedom; the five joints are all modular joints, which are sequentially connected through four connecting frames to form an open-chain space mechanism with five degrees of freedom.

Embodiment 2

[0027] Embodiment two: see figure 1 , this embodiment is basically the same as Embodiment 1, and the special feature is: the structure that the five joints are sequentially connected through four connecting frames is: the threaded hole 62 on the base 26 is fixed on the mobile platform by screws, the first The boss in the joint has a sleeve-1 and the hole on the base 26 constitutes a base hole system transition fit and is fixed together by screws. The first joint and the second joint are connected together by a connecting frame-4, wherein the first In the joint, the output end of the harmonic reducer 1 and the outside of a vertical panel in the connecting frame 4 are fixed together by screws, and the second joint has the boss in the sleeve 2 5 and the other piece of the connecting frame 4 The holes in the inner panel of the vertical panel form the transition fit of the base hole system and are fixed together by screws. In turn, the second joint has the output end of the harmoni...

Embodiment 3

[0028] Embodiment three: see figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 and Figure 6 , the present embodiment is basically the same as Embodiment 2, and the special features are as follows: the first modular joint includes: DC servo motor-28, brake 27, planetary gearbox-29, driver-61, sensor-40, harmonic deceleration Device one 3, connecting plate one 2, sleeve one 1, there is wiring hole 41 on the brake 27, and its connection relationship is: brake 27, DC servo motor one 28 and planetary gear box one 29 are packaged in the sleeve one 1 , the sleeve-1 is connected to the connecting plate-2 by screws, the input end of the harmonic reducer-3 is connected to the connecting plate-2 by screws, the output end of the harmonic reducer-3 is connected to the connecting frame-2 by screws, The driver one 61 is fixed on the base 26 with screws, the sensor one 40 is fixed on the connection plate one 20, the zero position non-contact sheet one 25 and the first joint stoppe...

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Abstract

The invention provides a five degree-of-freedom (DOF) reconfigurable modular service robot arm, comprising an upper arm, a lower arm and a control system, wherein the upper arm is formed in such a way that a base is connected with a first joint and a second joint in sequence; the first joint does rotary motion and the second joint does pendulum motion; the lower arm is formed by a third joint, a fourth joint and a fifth joint which are connected in sequence; the three joints all do rotary motion; the five joints are all modular joints, are connected into an open-chain space mechanism in sequence by four connecting frames and have five degrees of freedom. The robot arm completes various specific actions under the action of the control system. The joint composition has modularization characteristic in structure and also has reconfiguration characteristic, and the joints are convenient to machine and manufacture, easy to debug, maintain and change, compact in overall structure, easy in realization of transmission and drive system interfaces, good in encapsulation, high in modularization degree, simple in installation and large in achievable working space.

Description

technical field [0001] The invention belongs to a robot arm, in particular to a five-degree-of-freedom reconfigurable modular service robot arm. Background technique [0002] In recent years, robots have been used more and more widely in people's daily life, such as in medical, catering, entertainment and other fields. Compared with general industrial robots, these robots are collectively called service robots. Simple, flexible in movement, low in quality, and diverse in function, some even have a certain degree of intelligence and can communicate with people. The application prospects of service robots are very broad. [0003] Due to the wide application of robots in non-manufacturing fields, there are more and more robot operations in non-structural environments. In this environment, the tasks of robots are difficult to determine in advance, and the working environment of robots is also difficult to be completely known in advance. , At this time, the robot is required to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J17/00
Inventor 何斌韩立志李桂琴李明李伟刘文珍
Owner SHANGHAI MUNICIPAL ELECTRIC POWER CO
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