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robot arm

A technology of robotic arms and arm segments, applied in manipulators, program-controlled manipulators, instruments, etc., can solve the problems of lengthy putting on and taking off process, heavy equipment, etc.

Active Publication Date: 2018-05-08
FERROBOTICS COMPLIANT ROBOT TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the shell-like construction, the device is very heavy and the putting on and taking off process is quite tedious

Method used

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Experimental program
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Embodiment Construction

[0032] figure 1 An exemplary embodiment of a robotic arm is shown. In this exemplary embodiment, the first arm section 21 and the second arm section 32 are shown movable relative to each other by the electric motor 41 via a V-belt or timing belt drive 42 . For example, the arm segment (arm segment 21 ) may be driven by a motor or moved by an external force (eg, a human arm during therapy). figure 1 The two arm segments form at their connection point a coupling element 30 on which they can be rotated along a plane towards each other. exist figure 1 In the exemplary embodiment of the present invention, the second arm section 32 is non-rotatably connected to the base 22 .

[0033] As an example, in this case the second arm segment 32 may form a support on which the robot arm stands. On the other hand, the first arm segment 21 forms a swivel part of the robot arm. A motor 41 provided on the first arm section 21 moves the first arm section 21 via the coupling element 30, said ...

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PUM

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Abstract

A robot includes a yielding element for mechanically coupling first and second arm segments of a robot arm. A motor moves the second arm segment relative to the first arm segment. A sensor determines a relative position of the first arm segment in relation to the second arm segment and outputs a position sensor signal representing the relative position. A control unit controls the motor in accordance with the position sensor signal such that the first arm segment is moved into a desired relative position in relation to the second arm segment, when no external force is applied to the robot arm, and when an external force is applied to the robot arm, the motor generates a counterforce which depends on the deviation between the actual and desired positions. The control unit has a predetermined time constant so that changes in the external force are substantially absorbed by damping elements.

Description

technical field [0001] The present invention relates to a flexible robotic arm driven by an electric actuator. Background technique [0002] DE 3630822C2 (Bridgestone, Bridgestone) shows an arm for an industrial robot that can be turned around exactly one axis. The arms are connected to rotatably mounted pulleys on which a rope is suspended, at each end of which are placed so-called pneumatic muscles. The pneumatic muscle consists of a tubular middle part and two plate-shaped end pieces, at least one of which is provided with ventilation holes. When the tubular middle section is inflated, its diameter increases and its length decreases. This contraction of its length may occur while overcoming an external pulling force. According to DE 3630822, when a pneumatic muscle contracts during use, the arm swings in one rotational direction; when said pneumatic muscle is released and a second pneumatic muscle contracts, the arm swings in the opposite direction. The arm is able to...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1633B25J9/1641G05B2219/39186G05B2219/39197G05B2219/39342G05B2219/39345
Inventor P·费拉拉R·纳德雷
Owner FERROBOTICS COMPLIANT ROBOT TECH