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Passive compliance impedance mechanism and mechanical arm

A compliant and passive technology, applied in manipulators, claw arms, manufacturing tools, etc., can solve the problems of complex structure of impedance mechanism, easy damage of electronic components, timely reflection, etc., and achieve the effect of simple structure, fast response speed and low cost.

Inactive Publication Date: 2014-02-26
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most of the research is focused on the field of impedance control, using force, torque sensors and other sensing elements for feedback control, but electronic components are easy to damage, and require response time, cannot respond to the outside world in time, and some designed impedance mechanisms Complex structure or high cost

Method used

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  • Passive compliance impedance mechanism and mechanical arm
  • Passive compliance impedance mechanism and mechanical arm
  • Passive compliance impedance mechanism and mechanical arm

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Embodiment Construction

[0021] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0022] Such as Figure 1 to Figure 4 As shown, a passive compliance resistance mechanism includes a base 2, a linear slide rail 3 provided on the base 2, a slider 4 provided on the linear slide rail 3, and a base fixed on the base 2. The guide rod holder 5 above, and the guide rod 6 fixed on the guide rod holder 5, and the elastic device 7 set on the guide rod 6, the guide rod 6 is arranged in parallel with the linear slide rail 3, so that The guide rod 6 is assembled in the slider 4, the upper end surface of the slider 4 is also connected with a roller 8, the guide rod fixing frame 5 is provided with a rotating wheel 9, and the middle part of the rotating wheel 9 is prov...

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Abstract

The invention discloses a passive compliance impedance mechanism. The passive compliance impedance mechanism comprises a base, a linear slide track, a sliding block, a guide rod fixing rack, a guide rod and an elastic device, wherein the linear slide track is arranged on the base; the sliding block is arranged on the linear slide track; the guide rod fixing rack is fixed above the base; the guide rod is fixed on the guide rod fixing rack; the elastic device is sleeved on the guide rod; the guide rod is parallel to the linear slide track and is arranged in the sliding block; the upper end surface of the sliding block is also connected with a roller; a rotating wheel is arranged above the guide rod fixing rack; a bearing is arranged in the middle of the rotating wheel and is in close fit to a boss in the middle of the base; and the rotating wheel is provided with a through hole, so that the roller which extends in the through hole can be driven, and the sliding block can be driven to slide along the linear slide track. The passive compliance impedance mechanism is simple in structure, high in response speed, low in manufacturing cost and easy to mount, is formed integrally, and has effects of reducing external impact force and timely responding the external.

Description

technical field [0001] The present invention is applied to the joints of the robotic arm of a robot. The purpose is to respond quickly when the mechanical arm collides with a person, so that the mechanical arm has a certain flexibility, relieves the external impact force, and reduces the impact force. The function of protecting human safety specifically relates to a passive compliance resistance mechanism and a mechanical arm. Background technique [0002] With the continuous development and wide application of robots, there are more and more opportunities for robots to come into contact with humans in the same environment. Therefore, it is inevitable that they will collide with humans and cause harm to humans, so it must have certain The flexibility and adaptability of the vehicle can generate some compliance responses, so as to reduce the damage suffered by human beings in the collision. At present, most of the research is focused on the field of impedance control, using ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/06B25J18/00
Inventor 刘效骆敏舟徐林森赵江海张丽华缪琴
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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