Bendable miniature wrist

A miniature, wrist-based technology, applied in the directions of manipulators, manufacturing tools, joints, etc., can solve the problems of easy deformation of ropes, easy wear of gear transmission, and difficult application, and achieve the effect of compact structure, small moment of inertia, and fast motion response.

Inactive Publication Date: 2014-11-12
SHANGHAI UNIV OF ENG SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the gear transmission is easy to wear, the transmission accuracy is low, the cost of precision and compactness is high, and it is difficult to realize the application with narrow working space
Da Vinci's endowrist minimally invasive manipulator is driven by a rope. Although it can achieve multiple degrees of freedom, the rope is prone to deformation after use, resulting in action failure.

Method used

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  • Bendable miniature wrist
  • Bendable miniature wrist
  • Bendable miniature wrist

Examples

Experimental program
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Embodiment Construction

[0019] see figure 1 , with reference to figure 2 , image 3 , Figure 4 , Figure 5 , the flexible micro-wrist of the present invention includes a first end effector 1, a second end effector 2, a first-level sleeve 3, a second-level sleeve 4, a first kinematic branch chain 5, and a second kinematic branch chain 6 and the third kinematic branch 7 . Wherein, the first end effector 1 and the second end effector 2 are combined into clamps or grippers and are respectively rotatably connected with the first-level sleeve 3 (through a rotating pair); the second-level sleeve 4 is connected with the first-level The sleeve 3 is rotatably connected; the first kinematic branch chain 5 is rotatably connected to the first end effector 1, the second kinematic branch chain 6 is rotatably connected to the second end effector 2, and the third kinematic branch chain 7 is rotatably connected to the first end effector 2. The stage sleeve 3 is rotatably connected; the combined movement of the ...

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Abstract

A bendable miniature wrist comprises a first end effector, a second end effector, a primary sleeve, a secondary sleeve, a first motion support chain, a second motion support chain and a third motion support chain, wherein the first end effector and the second end effector are combined to form a clamp or a gripper and respectively rotationally connected with the primary sleeve which is rotationally connected with the secondary sleeve; the first motion support chain is in drive connection with the first end effector, the second motion support chain is in drive connection with the second end effector, and the third motion support chain is in drive connection with the primary sleeve; the clamp or the gripper is opened or closed under driving of combined motion of the first motion support chain and the second motion support chain; and the third motion support chain moves to drive primary sleeve to perform pitching swing . The bendable miniature wrist has opening and bending freedom degree, can imitate a human hand to achieve flexible actions, and is simple in structure and high in bearing capacity.

Description

technical field [0001] The invention relates to robot components, in particular to a bendable miniature wrist. Background technique [0002] Industrial robots are usually composed of three parts: mechanical system, control system and intelligent system. The mechanical system is further divided into an actuator and a drive mechanism. The actuator is generally composed of a hand, a wrist, an arm, a waist and a frame. The robot wrist (wrist) is the connection part between the arm and the hand, the adjustment mechanism of the robot, and the most complicated part in the industrial robot manipulator. Wrists can be divided into single-degree-of-freedom wrists, two-degree-of-freedom wrists, and three-degree-of-freedom wrists according to the number of degrees of freedom. The wrist is at the end of the arm, and it is required to have a compact structure and light weight; in order to make the wrist in any direction in space and realize various operations flexibly, the wrist preferab...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
Inventor 张帆刘燕宋芳
Owner SHANGHAI UNIV OF ENG SCI
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