Passive compliance impedance mechanism used on mechanical arm of service robot

A service robot and mechanical arm technology, applied in the field of robots, can solve the problems of easily damaged sensing elements and long reaction time, and achieve the effect of realizing safety, simple device structure, and alleviating external impact force.

Active Publication Date: 2014-06-11
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a passive compliance impedance mechanism applied to the mechanical arm

Method used

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  • Passive compliance impedance mechanism used on mechanical arm of service robot
  • Passive compliance impedance mechanism used on mechanical arm of service robot
  • Passive compliance impedance mechanism used on mechanical arm of service robot

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Embodiment Construction

[0018] 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.

[0019] Such as Figure 1 to Figure 3 As shown, a passive compliance resistance mechanism applied to the mechanical arm of a service robot includes a baffle 1, an offset cam 3, a bearing 4, a bracket 5, a roller 6, a first slider 7, a linear guide 8, a sleeve The first spring guide bar 10, the base 11 that is provided with the first spring 9, the base slide block that is located on the base 11, the fixed plate 12, the second spring guide bar 16 that is sleeved with the second spring 13, the base slide groove; the partial cam 3 is rotatably mounted on the bracket shaft 501 of the bracket 5 through the bearing 4; the roller 6 is arranged on the first slider 7; the first slid...

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Abstract

The invention discloses a passive compliance impedance mechanism used on a mechanical arm of a service robot. The passive compliance impedance mechanism used on the mechanical arm of the service robot comprises a baffle, an eccentric cam, a bearing, a support, a rolling shaft, a first sliding block, a linear guide rail, a first spring guide rod on which a first spring is sheathed, a base, a base sliding block which is arranged on the base, a fixed tray, a second spring guide rod on which a second spring is sheathed and a base sliding groove, wherein the eccentric cam is rotatably installed on a support shaft of the support through the bearing; the rolling shaft is arranged on the first sliding block; the first sliding block is arranged on the linear guide rail; the baffle and the support are fixedly arranged on the base; one end of the first spring guide rod is fixedly arranged on the baffle and the other end of the first spring guide rod is sheathed in a through hole in the first sliding block; one end of the second spring guide rod is fixedly arranged on the side wall of the base sliding groove and the other end of the second spring guide rod is sheathed in a through hole in the base sliding block; a first limiting switch is arranged on the baffle; a second limiting switch is arranged in the base sliding groove. The passive compliance impedance mechanism used on the mechanical arm of the service robot has the advantages that when external impact is encountered, the external impact can be quickly relieved and the people can be prevented from being injured by the external impact.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a passive compliance impedance mechanism applied to a mechanical arm of a service robot. 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 people in the same environment. It will inevitably cause contact collisions with people and cause harm to the human body, so it must have certain Flexibility and adaptability to generate some compliant responses to reduce injuries to humans in collisions. 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 easily damaged, and require response time, and cannot respond to the outside world in a timely manner. Therefore, there is an urgent need to design a novel mechanism for alleviatin...

Claims

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Application Information

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IPC IPC(8): B25J19/00
Inventor 徐林森刘效骆敏舟梅涛赵江海施云高
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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