Power drive mechanism of multi-freedom-degree mechanical arm

Abstract

The invention belongs to the technical field of mechanical arm drive, and particularly relates to a power drive mechanism of a multi-freedom-degree mechanical arm. The power drive mechanism comprises a reciprocating drive motor, a rocker, a gear drive motor, a grooved wheel, a gear drive motor clamping shaft, an electric conduction block and the like. Clearance rotation of the reciprocating motor is achieved through cooperation of a rotating arm and the grooved wheel. The gear drive motor is driven by a rocker mechanism to do clearance reciprocating movement. A plurality of gear drive mechanisms are arranged on the gear drive motor clamping shaft side by side, the drive motor corresponds to only one gear drive mechanism during each period of clearance standing time of the drive motor, the rotation angles of drive gears are controlled by changing the torque and the rotation angle of the drive motor, and a certain freedom degree of the mechanical arm is controlled in a driving manner. Under the condition that one drive motor is used, the aim of controlling the rotation angles of the multiple gears is achieved through a clearance mechanism and the rocker mechanism, and the mechanical arm with multiple freedom degrees is then controlled; and the structure of the mechanical arm is greatly simplified because the number of drive motors is greatly decreased, and therefore a good practical effect is achieved.

Description

Technical field [0001] The invention belongs to the technical field of mechanical arm driving, and in particular relates to a power driving mechanism of a multi-degree-of-freedom mechanical arm. Background technique [0002] At present, most of the driving methods of manipulators use servo motor drive, wire drive, hydraulic drive, etc., and a few use artificial muscle drive; among them, servo motor drive and wire drive need to use the same number of drive motors as the number of degrees of freedom of the manipulator, resulting in a relatively high mechanism. Complex, of course, the cost is the lowest; hydraulic drive requires strong power to pressurize the hydraulic oil, which will increase the weight of the equipment and require higher technical maturity, so the cost is higher. For artificial muscle drive, although the drive The method is advanced, but the manufacturing cost is currently the highest, which makes it very uneconomical for general robotic arms to use artificia...

AI Technical Summary

Problems solved by technology

[0002] At present, most of the driving methods of the manipulator use servo motor drive, steel wire drive, hydraulic drive, etc., and a small part use artificial muscle drive; among them, the servo motor drive and steel wire drive need to use the same number of drive motors as the number of degrees of freedom of the manipulator, resulting in a more complex mechanism. Complicated, of course, the cost is the lowest; hydraulic drive requires strong power to pressurize the hydraulic oil, which will increase the weight of the equipment and require higher technical maturity, so the cost is higher. For artificial muscle drive, although the drive The method is advanced, but the manufacturing cost is currently the highest, which makes it uneconomical to use artificial muscles to drive ordinary robotic arms.

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