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Multi-joint mechanical arm

A multi-joint robotic arm and robotic arm technology, applied in the field of robotic arms, can solve the problems of small number of joints, large volume, and only specific work, and achieve the effect of large flexibility, small size, and large degree of freedom

Inactive Publication Date: 2018-09-14
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In view of the above analysis, the present invention aims to provide a multi-joint manipulator to solve the problem that the existing manipulators are bulky, have a small number of joints, and can only perform specific tasks

Method used

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Embodiment Construction

[0030] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and together with the embodiments of the present invention are used to explain the principle of the present invention and are not intended to limit the scope of the present invention.

[0031] Although traditional industrial robotic arms, such as the robotic arms developed and produced by FANUC, KUKA, ABB, and Kawasaki, have played a huge role in promoting the intelligent development of today's factories, reducing labor costs and improving production efficiency, but The disadvantage of this type of traditional robotic arm is that it requires specific production or programming, and only specific working conditions, so that in some cases where it is necessary to enter a small space, these specific robotic arms are useless. For example, in the highly sophisticated and lightweigh...

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Abstract

The invention relates to a multi-joint mechanical arm and belongs to mechanical arms. The multi-joint mechanical arm is used for solving the problems that existing mechanical arms have large sizes, are provided with few joints, and can only carry out specific work. Any two adjacent joint units of the multi-joint mechanical arm are connected through a joint, and each joint is provided with a pulling wire for bending the multi-joint mechanical arm. The pulling wires penetrate into pulling wire tubes, and the pulling wire tubes penetrate into the multi-joint mechanical arm and are connected withan actuator. According to the multi-joint mechanical arm, the joints are driven to bend in the mode of combining the pulling wires and the wire tubes, so that accompanied rotation caused by the near-end joints to the far-end joints is avoided, and the control algorithm of the mechanical arm is simplified. The multiple joints small in axial size are used as arm bodies, the joints are sequentially connected through connecting pairs, and thus the whole multi-joint mechanical arm is small in size, large in degree of freedom, high in flexibility, and capable of stretching into the narrow and smallspace where a traditional mechanical arm cannot touch for working.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a multi-joint mechanical arm. Background technique [0002] In actual industrial engineering, there are many tasks to operate in narrow spaces. Especially in the field of aerospace manufacturing, the installation of various components is very compact, making it very difficult to perform various operations such as detection, assembly, welding, and maintenance inside the assembly. For example, the screws in the wing box of the aircraft loosen or fall off, causing potential safety hazards. In addition, there are also many problems involving small spaces in disaster relief and counter-terrorism. In short, whether in industry or life, military or civilian, a flexible robotic arm that can adapt to small and dangerous spaces is needed. [0003] Although traditional industrial manipulators carry a large load, they are large in size, have a small number of joints, and have low ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/10B25J17/00
CPCB25J9/06B25J9/104B25J17/00
Inventor 刘磊曹晟阁裴旭于靖军李小强王越唐一超罗世福汤子湘田春皓
Owner BEIHANG UNIV
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