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Active-Passive Connection Mechanism for Multi-section Mobile Robot

A mobile robot, combined with connection technology, applied in the direction of joints, manipulators, manufacturing tools, etc., can solve the problems of inaccuracy, insensitive control, complex structure, etc., and achieve the effect of simple manufacturing, precise control and simple structure

Active Publication Date: 2015-09-09
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the transmission of the existing robot connection mechanism relies on hydraulic transmission, which has complex structure, insensitive control and inaccuracy, the present invention provides an active-passive combination connection mechanism for multi-section mobile robots

Method used

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  • Active-Passive Connection Mechanism for Multi-section Mobile Robot
  • Active-Passive Connection Mechanism for Multi-section Mobile Robot
  • Active-Passive Connection Mechanism for Multi-section Mobile Robot

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0011] Specific implementation mode one: combine Figure 1 to Figure 4 Describe this embodiment. This embodiment includes a stepped shaft 1, a three-degree-of-freedom master-slave module 2, a first connecting piece 4, a second connecting piece 5, a transmission shaft 6, a plug-in body 7, a driven gear 8, and a driving gear 9 , a motor 10, an electromagnetic fastener 11 and two lead screw adjustment modules 3, the two lead screw adjustment modules 3 are arranged side by side in parallel, one end of each lead screw adjustment module 3 is hinged with the first connector 4, and the lead screw The other end of the adjustment module 3 is hinged to the second connector 5, the other end of the first connector 4 is connected to the driven gear 8 through the transmission shaft 6, the driven gear 8 meshes with the driving gear 9, and the driving gear 9 is installed on the motor 10, The other end of the second connector 5 is fixedly connected to the plug-in body 7. The three-degree-of-fre...

specific Embodiment approach 2

[0012] Specific implementation mode two: combination Image 6 To illustrate this embodiment, each lead screw adjustment module 3 of this embodiment includes a rotating end connection block 3-1, a first movable block 3-2, a lead screw connector 3-3, a lead screw 3-4, and a lead screw nut 3-5, screw cover outer 3-6, screw cover connector 3-7, second movable block 3-8, fixed connector 3-9 and six pin shafts 3-10, rotating end connection block 3- The outer end of 1 is hinged with the first connector 4, one end of the first movable block 3-2 is hinged with the rotating end connecting block 3-1 through a pin shaft 3-10, and the other end of the first movable block 3-2 is connected through a Pin shaft 3-10 is hinged with one end of lead screw connector 3-3, and the other end of lead screw connector 3-3 is hinged with one end of lead screw 3-4 by a pin shaft 3-10, and the lead screw 3-4 The other end is threadedly connected with the leading screw nut 3-5, and the leading screw nut 3-...

specific Embodiment approach 3

[0013] Specific implementation mode three: combination Figure 5 Describe this embodiment, the three-degree-of-freedom master-slave module 2 of this embodiment includes the X direction rotating block 2-1, the Z direction rotating block 2-2, the bolt 2-3, the pin 2-4, the nut 2-5 and the Y direction Direction rotating block 2-6, one end of X direction rotating block 2-1 and Z direction rotating block 2-2 are hinged by pin 2-4, the other end of Z direction rotating block 2-2 is provided with fork plate installation groove 2-2 -1, the connection end of the Y direction rotating block 2-6 is set in the fork plate installation groove 2-2-1, and the Y direction rotating block 2-6 is connected with the Z direction rotating block 2 through the bolt 2-3 and the nut 2-5 -2 hinged.

[0014] In this embodiment, the Z axis is the vertical direction, and the X axis and the Y axis are the rectangular coordinate system on the horizontal plane. Other compositions and connections are the same ...

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Abstract

The invention relates to a connecting mechanism used for a multi-section mobile robot, in particular to a driving and driven combined connecting mechanism used for the multi-section mobile robot, so that the problems that by the adoption of hydraulic transmission, an existing connecting mechanism of the robot is complex in structure and imprecise in control are solved. One end of a screw rod adjusting module is hinged to a first connecting piece, the other end of the screw rod adjusting module is hinged to a second connecting piece, the other end of the first connecting piece is connected with a driven gear through a transmission shaft, the driven gear is meshed with a driving gear which is installed on a motor, and the other end of the second connecting piece is fixedly connected with an inserting-connecting body; a three-freedom-degree driving and driven module is arranged below the two screw rod adjusting modules, a Y-direction rotating block on the three-freedom-degree driving and driven module is located at one end of a vertical connecting plate, a stepped shaft is located below the three-freedom-degree driving and driven module and connected with an X-direction rotating block on the three-freedom-degree driving and driven module, and an electromagnetic fastener is fixedly installed on the stepped shaft. The connecting mechanism is used for connection between the robot modules.

Description

technical field [0001] The invention relates to a connection mechanism for a multi-section mobile robot, in particular to an active-passive combination connection mechanism for a multi-section mobile robot. Background technique [0002] With the development of society and the development of robot technology, people's demand for robots is increasing, and the requirements are getting higher and higher. Robots are developing towards miniaturization, high precision, sensitivity, and light weight. Robot joints are the foundation of robots. The performance of parts directly affects the performance of the robot. The robot connection mechanism can be applied not only to the joints of various robots, but also to the connection between robot modules, automobiles and other fields. The transmission of the existing robot connection mechanism is based on hydraulic transmission. Although this transmission method can well realize the designed function, the structure is relatively complicat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J19/00
Inventor 臧希喆朱延河赵杰
Owner HARBIN INST OF TECH
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