Robot multi-freedom joint

A degree of freedom and robot technology, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of multi-degree-of-freedom joint structure complex, bulky, etc., to achieve the effect of reducing volume and weight, simple joint structure, and precise positioning control

Inactive Publication Date: 2006-05-10
ZHEJIANG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0003] In order to overcome the disadvantages of complex multi-degree-of-freedom joints of robots in the prior art and relatively large volume, the present i

Method used

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Embodiment Construction

[0011] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0012] refer to figure 1 , a robot multi-degree-of-freedom joint, including a first ultrasonic motor 1 and a second ultrasonic motor 2, an outer semi-circular body 3, a circular body 4, an inner semi-circular body bracket 5 and a support rod 6. The inner semi-circular body support 5 is hinged on the inside of the circular body 4, one end of which is hinged with the circular body 4 through the first hinge shaft 9, and the other end is hinged with the circular body 4 through the output shaft of the first ultrasonic motor 1 , the first ultrasonic motor 1 is installed on the inside of the inner semi-circular body support 5, and the output shaft of the first ultrasonic motor 1 is fixedly connected with the annular body 4, so that the shaft will not rotate relative to each other in the connecting hole. Therefore, the rotation of the first ...

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Abstract

The invention relates to a robot multi-freedom degree joint. Wherein, the inner semi-annular bracket is hinged on the inner side of annular body; the outer semi-annular body is hinged on the outer side of annular body; two connection points between inner semi-annular bracket and annular body, an two connection points between outer semi-annular body and annular body are all on the diameter of annular body; the connecting line between two connection points of inner semi-annular bracket and annular body is vertical to the connecting line of another two connection points; the connection part of inner semi-annular bracket and annular body has the first ultrasonic motor which is mounted at the inner side of inner semi-annular bracket; the connection part of outer semi-annular bracket and annular body has the second ultrasonic motor which is mounted at the inner side of annular body; the output shaft of first ultrasonic motor is connection via key to the annular body while the output shaft of second ultrasonic motor is connection via key to the outer semi-annular body; and both the inner side of outer and inner semi-annular bodies have connection holes.

Description

(1) Technical field [0001] The invention relates to a robot joint, in particular to a robot multi-degree-of-freedom joint. (2) Background technology [0002] Multi-degree-of-freedom joints are mainly used as wrist joints or shoulder joints of robots, and have been the focus of research since the development of robot technology. However, the wrist joint has become a difficult research point due to its flexibility and multi-degree-of-freedom characteristics. At present, the multi-degree-of-freedom motion of most robots is composed of several single-degree-of-freedom joints. Most of the driving mechanisms use electromagnetic servo motors, which require mechanical deceleration mechanisms and braking mechanisms. Therefore, the structure is relatively complex and the volume is relatively large. . (3) Contents of the invention [0003] In order to overcome the disadvantages of complex multi-degree-of-freedom joints of robots in the prior art and relatively large volumes, the pr...

Claims

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Application Information

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IPC IPC(8): B25J17/00
Inventor 曹文明冯浩
Owner ZHEJIANG UNIV OF TECH
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