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Seven-DOF (Degree of Freedom) human-simulated mechanical arm on basis of parallel differential driving joint

A differential drive, degree of freedom technology, applied in the directions of manipulators, claw arms, joints, etc., can solve the problems of poor motion accuracy and large volume of the manipulator, and achieve the effect of improving motion accuracy, increasing accuracy, and increasing compactness

Active Publication Date: 2015-03-04
洛阳尚奇机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention proposes a seven-degree-of-freedom humanoid manipulator based on parallel differential drive joints in order to solve the problems of large volume and poor motion accuracy of existing manipulators

Method used

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  • Seven-DOF (Degree of Freedom) human-simulated mechanical arm on basis of parallel differential driving joint
  • Seven-DOF (Degree of Freedom) human-simulated mechanical arm on basis of parallel differential driving joint
  • Seven-DOF (Degree of Freedom) human-simulated mechanical arm on basis of parallel differential driving joint

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Experimental program
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specific Embodiment approach 1

[0028] Specific implementation mode one: combine Figure 1 to Figure 21 Describe this embodiment, this embodiment includes shoulder joint C, elbow joint D, wrist joint E, shell 35, big arm shell 33 and forearm shell 45,

[0029] The shoulder joint C includes a first inner ring motor 1, a first middle ring motor 2, a first outer ring motor 3, a first flange 4, a first inner ring reducer 5, a first middle ring reducer 6, a first Outer ring reducer 7, first middle ring main shaft 8, first outer ring main shaft 9, first inner ring transmission gear 11, first middle ring transmission gear 12, first outer ring transmission gear 13, first inner ring spur gear 14. The first inner ring gear shaft 15, the first inner ring bevel gear 16, the first middle ring gear shaft cylinder 17, the first middle ring spur gear 18, the first middle ring bevel gear 19, the second rolling bearing 20, the first The outer ring gear shaft cylinder 21, the first outer ring spur gear 22, the first rear conn...

specific Embodiment approach 2

[0043] Specific implementation mode two: combination Figure 7 , Figure 8 , Figure 9 , Figure 18 , Figure 19 , Figure 20 To illustrate this embodiment, the first outer ring gear shaft cylinder 21 of this embodiment is integrated with the first rear connecting frame 23, the first connecting sleeve 26 is integrated with the first front connecting frame 24, and the second outer ring gear shaft The barrel 65 is integrated with the second rear connecting frame 69 , and the second connecting sleeve 78 is integrated with the second front connecting frame 70 . This design makes the stability of the first rear connecting frame 23 , the first front connecting frame 24 , the second rear connecting frame 69 and the second front connecting frame 70 improved. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0044] Specific embodiment three: specific embodiment four: combine image 3 and Figure 4 The present embodiment will be described. In this embodiment, the first inner ring transmission gear 11 , the first middle ring transmission gear 12 and the first outer ring transmission gear 13 have the same number of teeth. This design makes the structure more reasonable. Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention relates to a seven-DOF (Degree of Freedom) human-simulated mechanical arm, in particular to a seven-DOF human-simulated mechanical arm on the basis of a parallel differential driving joint, and aims to solve the problems of large size, poor kinematic accuracy and the like of the existing mechanical arm. The seven-DOF human-simulated mechanical arm comprises a shoulder joint, an elbow joint, a wrist joint, a shell, a large-arm shell and a small-arm shell, wherein a first flange plate on the shoulder joint is arranged at the bottom of the shell, the outer surface of a first outer-ring gear shaft barrel on the shoulder joint is connected with the shell through a third rolling bearing, both ends of an elbow-joint rotating shaft on the elbow joint are respectively installed in lifting lugs on the large-arm shell through a sixth rolling bearing, the small-arm shell is fixedly installed on the elbow-joint rotating shaft in the elbow joint, and a second flange plate on the wrist joint is fixedly installed in the small-arm shell. The seven-DOF human-simulated mechanical arm is used on a robot.

Description

technical field [0001] The invention relates to a humanoid robot arm with seven degrees of freedom, in particular to a humanoid robot arm with seven degrees of freedom based on parallel differential drive joints. Background technique [0002] The seven-degree-of-freedom humanoid robotic arm can perform many tasks for humans or assist humans in their work. Especially when working in harsh environments, humanoid robotic arms have greater advantages over humans. However, most of the current existing manipulators are mainly designed in series structure, which has poor motion accuracy, and each degree of freedom is driven by a separate motor, which makes the motor burden large, resulting in an increase in the size of the motor. However, the existing parallel structures are mostly in the form of connecting rod hinges, and the range of motion is also greatly limited. Contents of the invention [0003] The present invention proposes a seven-degree-of-freedom humanoid robot arm b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J17/00
Inventor 朱延河赵杰
Owner 洛阳尚奇机器人科技有限公司