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Variable-freedom-degree modular mechanical arm

A technology of manipulators and degrees of freedom, applied in the field of manipulators, can solve the problems of inability to complete the combination and replacement of joints, poor flexibility, and different joint structures, etc., to achieve compact overall structure design, reduce costs, and facilitate internal wiring Effect

Active Publication Date: 2015-07-22
AUBO BEIJING ROBOTICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the different structural forms of each joint, each joint cannot be combined and replaced arbitrarily, and the flexibility is poor

Method used

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  • Variable-freedom-degree modular mechanical arm
  • Variable-freedom-degree modular mechanical arm
  • Variable-freedom-degree modular mechanical arm

Examples

Experimental program
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Effect test

Embodiment Construction

[0052] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0053] The modularized mechanical arm with variable degrees of freedom of the present invention includes a base 1, a mechanical arm link 2 and a mechanical arm joint 3; the base is used to support the mechanical arm and realize the setting and installation of the mechanical arm; the mechanical arm link 2 between the manipulator link 2 and the base 1, and between the manipulator link 2 and the end effector are all connected through the manipulator joints, as figure 1 shown.

[0054] The mechanical arm joint 3 includes an output flange shaft 301, a harmonic reducer 302, a hollow shaft motor 303, a brake device 304, a double code disc positioning mechanism 305 and a housing 306, such as figure 2 shown.

[0055] The output flange shaft 301 is an integral structure composed of two parts, the output flange 301a and the output shaft 301b, as image 3 As shown, t...

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Abstract

The invention discloses a variable-freedom-degree modular mechanical arm. According to the variable-freedom-degree modular mechanical arm, the modular design idea is introduced into the design of light mechanical arms, and modular mechanical arms with different freedom degrees can be obtained through splicing by means of multiple modular mechanical arm joints. The variable-freedom-degree modular mechanical arm comprises an output flange shaft, a harmonic reducer, a hollow shaft motor, a brake device and a double-weight disc positioning mechanism, wherein the output flange shaft is composed of an output flange and an output shaft, and the output shaft is sleeved with the harmonic reducer, the hollow shaft motor, the brake device and the double-weight disc positioning mechanism. The harmonic reducer is fixed to the output flange and is also fixed to a hollow shaft of the hollow shaft motor. The hollow shaft drives the output flange to rotate after rotating to be decelerated through the harmonic reducer. The brake device is used for conducting emergency brake when an emergency occurs. The double-weight disc positioning mechanism is used for obtaining the speed information of the hollow shaft and the position information of the output shaft. All the components are controlled through a servo driving circuit. The variable-freedom-degree modular mechanical arm has the advantages of being higher in environmental adaptability and high in functional expandability, flexibility and adaptability.

Description

technical field [0001] The invention relates to a manipulator, specifically, a modular manipulator with variable degrees of freedom, which is composed of a plurality of independent modular units and connectors, and has typical modular characteristics. Background technique [0002] With the development of mechatronics technology, industrial products are developing in the direction of intelligence, systematization, miniaturization and modularization. Especially in the field of light manipulators, the manipulators have the development trend of high precision, modularization, light weight and multi-axis. For the traditional manipulator, due to its relatively fixed configuration, the structural form of each degree of freedom is different, it is not replaceable, and the composition method is relatively simple. Due to the limitation of its own structure, its single function is determined. and cannot adapt to complex and changeable environments and tasks. [0003] The existing tra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J18/00B25J9/16
Inventor 陶宁
Owner AUBO BEIJING ROBOTICS TECH CO LTD
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