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A reversible impact-resistant mechanical arm and its driving method

A mechanical arm and impact-resistant technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effect of reducing injuries

Active Publication Date: 2022-03-01
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In particular, when robots work alongside humans, these inherent accident possibilities become a serious problem

Method used

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  • A reversible impact-resistant mechanical arm and its driving method
  • A reversible impact-resistant mechanical arm and its driving method
  • A reversible impact-resistant mechanical arm and its driving method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0027] The present invention will be further described below in conjunction with accompanying drawing.

[0028] Such as Figure 1-5 As shown, a reversible impact-resistant mechanical arm includes a humerus imitation module 1 , an ulna imitation module 2 , a radius imitation module 3 , an actuator mounting block 7 , a manipulator module 4 and a manipulator driving module 5 . The manipulator module 4 is installed on the actuator mounting block 7 and has a grabbing function; one end of the imitation ulna module 2 and the imitation radius module 3 are connected with the imitation humerus module 1, and the other ends are connected with the actuator mounting block 7, respectively. To drive the actuator mounting block 7 to swing and turn over.

[0029] The imitation humerus module 1 includes a humerus rod 1-1, a humerus joint ball 1-2, a radial ball joint seat 1-3 and a pivot pin 1-4; the humerus joint ball 1-2 is fixed on the humerus rod 1-1 The lower end; the humerus joint ball 1...

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Abstract

The invention discloses a reversible impact-resistant mechanical arm and a driving method thereof, which include a humerus imitation module, an ulna imitation module, a radius imitation module, an actuator mounting block and a mechanical arm drive module; the ulna imitation module and the radius imitation module One end is connected with the imitation humerus module, and the other end is connected with the actuator mounting block, respectively used to drive the actuator mounting block to swing and flip; the imitation humerus module includes a humerus rod; the imitation ulna module includes an ulna rod; the imitation radius module includes a radius rod; The different positions of the inner end of the ulnar rod and the radial rod and one end of the humeral rod form a spherical pair respectively; the outer end of the radial rod is hinged with the actuator mounting block; the outer end of the ulnar rod and the actuator mounting block form a spherical pair; The humerus module, ulna-like module, and radius-like module enable the reversible, impact-resistant robotic arm to achieve both flexion and extension, as well as internal and external rotation.

Description

technical field [0001] The invention belongs to the technical field of soft robots, and in particular relates to a reversible impact-resistant mechanical arm and a driving method thereof. Background technique [0002] In order to naturally cooperate with and assist people, humanoid robots are developed to be about the size of an average human being, which is expected to produce human-like movements. Robotic joints usually consist of revolute joints that provide simple rotational motion with 1 degree of freedom. Multiple revolving joints combine to achieve complex movements. To actuate the robotic manipulator, a rotary actuator such as an electric motor or a harmonic drive is directly connected to each rotary joint. Additionally, hydraulic cylinders can be connected to linkages to provide linear actuated motion like a muscle, or tendon-driven actuators can be used to mimic human tendon motion. However, all these joint actuation mechanisms arise from the articulation struct...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J15/00
CPCB25J15/0009B25J9/10B25J9/1075
Inventor 许明张帝
Owner HANGZHOU DIANZI UNIV
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