Coaxial linkage type flexible mechanical arm based on universal structures

A technology of flexible manipulator and universal structure, applied in the field of manipulator, can solve the problems of structural deformation, increase of flexibility effect, decrease of precision, etc., and achieve the effect of light structure, low cost and simple principle.

Inactive Publication Date: 2018-02-02
江门市众能电控科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Deformation of the structure due to increased flexibility effects of the joints and linkages during motion, reducing the accuracy of task execution

Method used

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  • Coaxial linkage type flexible mechanical arm based on universal structures
  • Coaxial linkage type flexible mechanical arm based on universal structures
  • Coaxial linkage type flexible mechanical arm based on universal structures

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Embodiment Construction

[0020] The idea, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, features and effects of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts belong to protection scope of the present invention. In addition, all connection relationships mentioned in this article do not refer to the direct connection of components, but mean that a better connection structure can be formed by adding or reducing connection accessories according to specific implementation conditions. The various technical features in the invention can be combined interactively on the premise of not conflicting with each other.

[0021] Sp...

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Abstract

The invention discloses a coaxial linkage flexible mechanical arm based on a universal structure, which includes several cross shafts connected in series, a universal structure connecting adjacent cross shafts, and a power assembly. The pulley, the steel wire passing through the pulley, and the fixed part arranged on the cross shaft, the fixed part includes a first fixed part arranged on one side of the rotating shaft 1/rotating shaft 2, and a second fixing part arranged on the other side of the rotating shaft 1/rotating shaft 2 In the fixing part, the two ends of the steel wire are respectively connected with the first fixing part and the second fixing part. The coaxial linkage flexible manipulator based on the universal structure sets an easy-to-rotate universal structure between the cross shafts in series, and combines the power components composed of pulleys and steel wires interspersed between the cross shafts to make the manipulator The full-angle rotation can be realized conveniently, the principle is simple, the structure is light and handy, and the cost is low, and it can be applied to various fields such as industrial machinery automatic assembly, pipeline fault detection and repair.

Description

technical field [0001] The invention relates to the field of mechanical arms, in particular to a coaxial linkage flexible mechanical arm based on a universal structure. Background technique [0002] In recent years, with the development of robotics technology, the application of high-speed, high-precision, and high-load-to-weight ratio robot structures has attracted attention from the industrial and aerospace fields. Due to the increased flexibility effects of joints and linkages during motion, the structure is deformed and the accuracy of task execution is reduced. Therefore, the structural flexibility of the robot manipulator must be considered, and the system dynamics must also be considered to achieve high-precision and effective control of the flexible manipulator. The flexible manipulator is a very complex dynamic system, and its dynamic equation has the characteristics of nonlinearity, strong coupling, and real change. The flexible manipulator is not only a rigid-fl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J18/06
CPCB25J9/0009B25J18/06
Inventor 陈松盛
Owner 江门市众能电控科技有限公司
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