A multi-joint manipulator with shared power

Abstract

The invention discloses a power-shared multi-joint mechanical arm device. The power-shared multi-joint mechanical arm device comprises two motor, corresponding control devices, a plurality of transverse joints, a longitudinal joint and scissors. One of the two motors is used for providing power, the other one of the two motors achieves the control effect, and therefore the motors can be fixed to the positions far away from the joints. Rotation of the power motor is transmitted through a synchronous belt to power synchronous belt wheels of the transverse joints and the longitudinal joint. Rotation of the control motor is also transmitted through a synchronous belt to control driving synchronous belt wheels of the joints and then transmitted to control driven synchronous belt wheels through control clutches. Cams are fixed to the two faces of each control driving synchronous belt wheel respectively. A certain phase difference exists between cam working faces of each joint. When the cams are rotated by certain angles, the corresponding joints can be activated and generate rotation. By means of the power-shared multi-joint mechanical arm device, the number of the use motors is small, and cost can be reduced; electrification devices of the joints are omitted, and therefore the power-shared multi-joint mechanical arm device can be used for the special environment, such as a coal mine, with the anti-explosion requirement.

Description

technical field [0001] The invention relates to a manipulator device, in particular to a multi-joint manipulator device sharing power. Background technique [0002] At present, highly automated manipulators are becoming more and more popular not only in the field of industrial production, but also in other fields such as service and rescue. Usually, the manipulator provides power to a single joint through a dedicated motor, and realizes the movement of the corresponding joint by controlling each motor. This method is relatively mature and widely used in the working environment without special requirements. The disadvantage is that for a manipulator that requires precise control, the servo motors and drivers for each joint are very expensive, and if the number is large, it will cause high costs. On the other hand, in coal mines, oil wells and disaster environments with flammable gas leakage, there are explosion-proof requirements for operating robots. At present, a solutio...

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Problems solved by technology

But the heavy explosion-proof casing will seriously affect the flexibility of the manipulator

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