A single-degree-of-freedom linkage flexible charging robot joint group

Abstract

The invention relates to the field of robots and discloses an SDOF (single degree of freedom) linked flexible charging robot joint group. The SDOF linked flexible charging robot joint group comprises a first linkage joint, a second linkage joint, a third linkage joint, a first connecting part, a second connecting part and a linkage rope, wherein the first connecting part is located between the first linkage joint and the second linkage joint, fixedly connected with the first linkage joint and rotationally connected with the second linkage joint, and the second connecting part is located between the second linkage joint and the third linkage joint; when the first linkage joint drives the first connecting part to rotate relative to the second linkage joint, the second connecting part drives the third linkage joint to rotate in the same direction and at the same angle relative to the second linkage joint under the drive of the linkage rope. Compared with the prior art, the SDOF linked flexible charging robot joint group has the advantages that the use number of motors and the mass of mechanical arms can be reduced, and accordingly, the response speed can be increased; joints in the joint group are linked together through a linkage mechanism with the adoption of the linkage joints, and joint movement at the constant curvature and in the same direction is realized.

Description

technical field [0001] The invention relates to the field of charging robots, in particular to a joint group composed of a plurality of linkage joints. Background technique [0002] According to statistics from the China Association of Automobile Manufacturers, in 2015, the overall production and sales of automobiles grew steadily, exceeding 24.5 million vehicles, a record high in the world, ranking first in the world for seven consecutive years. Correspondingly, there is a gap of at least 50 million parking spaces in my country, and the problem of difficult parking is intensifying. The development of three-dimensional garages with high space utilization is imminent. At the same time, with the explosive growth of the new energy vehicle market, China has become the world's largest new energy vehicle market. According to the "New Energy Vehicle Blue Book: China's New Energy Vehicle Industry Development Report (2016 )” shows that in 2015, the output of new energy vehicles reach...

AI Technical Summary

Problems solved by technology

The current continuous manipulators can be roughly divided into two categories. One is a fully constrained single-joint rope-driven manipulator. A single joint has two degrees of freedom and is controlled by three motors. Therefore, the number of drive motors is quite large, reducing the system stability

Another type of continuous manipulator uses elastic body as a support, and a joint segment is used as a large joint, which is driven by two or three motors. Although this kind of manipulator reduces the number of driving motors, it is also extremely Greatly reduces the stiffness of the robotic arm, affecting its load capacity and ability to move in space

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