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A continuous multi-joint mechanical arm device

A technology of multi-joint manipulators and manipulators, applied in manipulators, program-controlled manipulators, claw arms, etc., can solve problems such as less degrees of freedom, higher working environment requirements, and large activity space, so as to improve control accuracy and avoid Good barrier capacity and good carrying capacity

Inactive Publication Date: 2016-04-27
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional robotic arms are not suitable for use in narrow and complicated workspace environments such as ruins search and rescue, mechanical parts assembly, etc. High requirements, large activity space, and application limitations
At present, there are many inventions in the structural design of this type of super-redundant manipulator, but due to the large number of joints and the large number of degrees of freedom, further research is needed in terms of algorithms and control

Method used

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  • A continuous multi-joint mechanical arm device
  • A continuous multi-joint mechanical arm device
  • A continuous multi-joint mechanical arm device

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] Such as figure 1 As shown, the present invention is composed of base I and mechanical arm II, wherein the mechanical arm can be composed of multiple joints, but here only 10 joints are taken as an example.

[0020] Such as figure 2 As shown, the base I consists of several driving parts a at the bottom, the lower motor fixing plate b, the upper motor fixing plate d, the lower fixing plate f of the pulley, the upper fixing plate i of the pulley, and the lower fixing plate arranged under the pulley. The pulley group g on the fixed plate f, the first connecting rod c connecting the lower fixed plate b of the motor and the upper fixed plate d of the motor, the second connecting rod e connecting the upper fixed plate d of the motor and the lower fixed plate f of the pulley, and the lower fixed plate connecting the pulley The plate f and the third connecting rod h t...

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Abstract

The invention provides a continuous multi-joint mechanical arm device. The continuous multi-joint mechanical arm device comprises two parts, i.e. a pedestal and a mechanical arm, wherein the pedestal part consists of a driving part, a lower motor fixing plate, an upper motor fixing plate, a lower pulley plate, an upper pulley plate, a pulley component and connecting rods; the connecting rods are arranged among the plates; the driving part comprises a motor, a coupler and a screw rod; the mechanical arm consists of a joint with two freedom degrees and a plurality of joint backbones; each joint and each joint backbone are of the same structure; the driving part is arranged in the pedestal of the mechanical arm device; the other end of the driving device is connected with a rope; the other end of the rope is fixed to joint plates of the joint backbones. The mechanical arm provided by the invention is flexible in structure, so that the continuous multi-joint mechanical arm device is good in obstacle avoidance ability; the mechanical arm is applied in a narrow and complex work space environment, such as ruins rescuing and mechanical fitting assembly, so that the continuous multi-joint mechanical arm device is wide in application range.

Description

technical field [0001] The invention relates to the technical field of industrial manipulators, in particular to a continuous multi-joint manipulator device. Background technique [0002] At present, robotic arms are widely used, mainly in industrial production, through automatic control to help people complete some repetitive and tedious tasks. Traditional robotic arms are not suitable for use in narrow and complicated workspace environments such as ruins search and rescue, mechanical parts assembly, etc. It has high requirements, requires a large activity space, and has application limitations. At present, there are many inventions in the structural design of this type of super-redundant manipulator, but due to the large number of joints and the large number of degrees of freedom, further research is needed in terms of algorithm and control. Contents of the invention [0003] In view of the defects existing in the prior art, the purpose of the present invention is to p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/06B25J17/00B25J18/06
Inventor 曹亚飞孙存俊张震张润忤
Owner SHANGHAI UNIV