High-flexibility humanoid mechanical arm

Abstract

The invention provides a high-flexibility humanoid mechanical arm, including a pedestal, an upper arm, a lower arm and a plurality of joints. One joint is connected between the pedestal and the upperarm, the other joint is connected between the upper arm and the lower arm, and another joint is connected to the tail end of the lower arm. Each joint includes an equal ratio bevel gear mechanism, andincludes two motors, two first equal ratio bevel gears and a second equal ratio bevel gear. The two motors are connected with the two first equal ratio bevel gears respectively, and the two first equal ratio bevel gears are connected to the second equal ratio bevel gear. The two motors are suitable for driving the second equal ratio bevel gear to rotate along a first axis or a second axis throughthe two first equal ratio bevel gears, so as to provide two rotational freedom degrees for each joint.

Description

technical field [0001] The invention relates to a mechanical arm, in particular to a humanoid mechanical arm with high flexibility. Background technique [0002] At present, the development of industrial robots has reached a mature stage, and there are already several classic styles of robots. In terms of service robots, due to the different development concepts and goals, there are quite a few different styles of service robots, each with its own advantages and disadvantages, and the tasks that can be completed are also different. Examples are as follows. [0003] The Human Support Robot (HSR) developed by TOYOTA aims to help people's daily life, integrate into the family and coexist with family members, improve the overall quality of life, and has a compact, lightweight body (Lightweight Body) ), Safe Interaction (Safe Interaction), and Simple Interface (Simple Interface) are its characteristics. The robot has a mechanical arm with a two-finger gripper, visual recognitio...

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Problems solved by technology

[0008] In addition, the International Patent No. WO2015131904A1 discloses a safety system for industrial robots. Sensors are respectively arranged at the motor and the output shaft of the robot, and the operating state of the robot is judged by comparing the returned values ​​of the sensors. When the system judges that it needs to stop the action based on the returned value, it needs to actively use the brake device to prevent the robot from continuing to move, so the action method is relatively complicated and cannot achieve the effect of automatic locking and stopping the action

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