Bionic rope-driven four-degree-of-freedom arm for man-machine cooperation

A technology of human-machine collaboration and degrees of freedom, applied in manipulators, claw arms, manufacturing tools, etc., can solve the problems of increasing joint volume, weight, small load self-weight, poor flexibility, etc., to improve safety, reduce mechanism damage, environmental protection The effect of adaptability

Active Publication Date: 2021-03-12
UNIV OF SCI & TECH OF CHINA
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

With the improvement of people's performance requirements for robots, robots are not limited to industrial production, and their applications in human-machine collaboration fields such as life services, medical assistance, and exoskeletons are also increasing day by day. Most traditional robots use rigid components with poor flexibility; The motor and reducer at the joint increase the volume and weight of the joint, resulting in bloated joints and relatively small load weight

Method used

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  • Bionic rope-driven four-degree-of-freedom arm for man-machine cooperation
  • Bionic rope-driven four-degree-of-freedom arm for man-machine cooperation
  • Bionic rope-driven four-degree-of-freedom arm for man-machine cooperation

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specific Embodiment approach

[0027] The preferred embodiment of the human-machine collaboration-oriented bionic rope-driven four-degree-of-freedom arm of the present invention is:

[0028] Including shoulder structure, elbow joint, wrist joint, rope drive device, decoupling layout between joints, joint stiffness amplification device, upper arm and lower arm;

[0029] The elbow joint is a tangential circular rolling structure, which is equivalent to a single-degree-of-freedom rotary joint, and the stiffness and torque amplification of the joint is realized through the pulley block;

[0030] The wrist joint is a three-degree-of-freedom joint, two of which are realized through a three-link parallel mechanism, and the third rotational degree of freedom is realized through a universal joint and a rotating shaft;

[0031] The driving motors of the above four degrees of freedom are all arranged at the shoulder structure, and the driving motors drive each joint through the transmission rope and the transmission p...

specific Embodiment

[0056] Such as Figure 1a , Figure 1b to Figure 10 As shown, the mechanical arm is composed of a shoulder structure 1 , an elbow joint 3 , a wrist joint 5 , an upper arm 2 and a lower arm 4 . The shoulder is equipped with driving motors for the elbow joint and wrist joint, a transmission screw group and a transmission rope guide pulley group; the elbow joint has one degree of freedom, and the pure rolling structure is used to realize the movement of the elbow joint, and the motor driving the elbow joint is arranged in the shoulder structure position, which can effectively reduce the moment of inertia of the arm; the wrist joint has three degrees of freedom, of which two degrees of freedom are tilted and flexed through a three-link parallel mechanism, and two sets of pulley blocks are used to achieve movement in these two directions. The third degree of freedom Rotational movement is realized by driving the shaft connected to the Hooke hinge through the rope wheel. The three m...

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Abstract

The invention discloses a bionic rope-driven four-degree-of-freedom arm for man-machine cooperation. The degree of freedom of an elbow joint is one, and the degree of freedom of a wrist joint is three. All joints are driven in a rope transmission mode, the elbow joint is achieved through a tangent circle rolling mechanism, meanwhile, a movable pulley transmission structure is designed to achieve joint rigidity and torque amplification, and three degrees of freedom of the wrist joint are achieved through cooperation of a three-connecting-rod parallel mechanism and an universal joint. All jointdriving motors are arranged at shoulder structures, so that the motion inertia of the arm is effectively reduced, and the rope length change between the joints is decoupled and is convenient to control. Compared with an existing motor-driven cooperative robot, the arm has the advantages of being high in movement flexibility, high in movement flexibility, small in movement inertia, large in load self-weight ratio and the like, and the safety coefficient and the working performance of the robot in the field of man-machine cooperation are effectively improved.

Description

technical field [0001] The invention relates to a robot mechanical arm, in particular to a four-degree-of-freedom arm driven by a bionic rope for human-machine cooperation. Background technique [0002] With the development of robot technology, robots are gradually showing their important role in human production and life. Robot technology has been widely used in the field of traditional industrial production. With the development of robot technology, human-machine collaborative robot is one of the important directions of robot development. [0003] In the field of collaborative robots, in order to improve the safety of robots, there are two main methods to prevent accidents caused by man-machine collisions. One is active safety technology, which uses tactile and visual sensors to monitor the collision between the robotic arm and the surrounding environment, or monitors the current change of the motor, and changes the driving motor of the robot through the feedback system t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02B25J18/00B25J5/00
CPCB25J17/0258B25J18/00B25J5/007
Inventor 尚伟伟庞顺翔张飞
Owner UNIV OF SCI & TECH OF CHINA
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