A five-degree-of-freedom time-sharing drive power-assisted manipulator with mechanical locking function

A time-sharing driving and mechanical locking technology, applied in manipulators, claw arms, manufacturing tools, etc., can solve the problem of less time-sharing driving of joint power sources, and achieve the effects of high-precision control, weight reduction, and burden reduction.

CN112405606BActive Publication Date: 2021-09-28ZHEJIANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-09-28

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Abstract

The invention discloses a five-degree-of-freedom time-sharing driving power-assisted mechanical arm with a mechanical locking function, which includes joints 1, 2, 3 and a central time-sharing drive mechanism. The central time-sharing drive mechanism includes a central time-sharing drive mechanism joint, The motor of the central time-sharing drive mechanism, the reducer of the central time-sharing drive mechanism, the central frame, the screw friction wheel and the mounting flange body of the time-sharing drive mechanism, the output end of the reducer of the central time-sharing drive mechanism is connected to the central time-sharing drive mechanism for deceleration The output shaft of the device, the output shaft of the central time-sharing drive mechanism reducer can drive the central frame or the screw friction wheel to rotate, and the rotation of the lead screw friction wheel drives the time-sharing drive mechanism to install the flange body to do linear motion. The invention reduces the self-weight of the mechanical arm under the same degree of freedom and static load stiffness, and reduces the burden on the human body when carrying the external limb cooperative mechanical arm.
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Description

technical field

[0001] The invention relates to the field of robot automation, and more specifically relates to a five-degree-of-freedom time-sharing driving power-assisted mechanical arm with a mechanical locking function. Background technique

[0002] The outer limb cooperative robot arm is a new type of robot arm different from the disabled prosthesis and exoskeleton robot. As the expansion and extension of human limited limbs, the external limb cooperative robotic arm can assist humans to complete tasks that are impossible to complete with only two arms. It has a wide range of applications in the aviation industry, military engineering, and emergency operations. In many typical scenarios that require the cooperation of multiple people, such as lifting and screwing bolts, high-altitude suspension operations, etc., the external limb collaborative robot arm can play an extremely important role. The verification machines for external limb collaborative robotic arms in vario...

Examples

Embodiment 1

[0039] Such as Figure 1-17 As shown, a five-degree-of-freedom time-sharing driving power-assisted mechanical arm with a mechanical locking function includes joint one 1, joint two 2, joint three 3 and a central time-sharing drive mechanism 4, and the joint one 1 includes a joint-servo motor 10. Joint-reducer 11 and joint-cross roller bearing 13, the output shaft of the joint-servo motor 10 is connected to the input end of the joint-reducer 11, and the output end of the joint-reducer 11 is connected to the joint-cross The inner ring of the roller bearing 13, the joint-reducer 11 is a harmonic reducer, and the output shaft of the joint-servo motor 10 is connected to the input end of the joint-reducer 11 through the joint-coupling 17 (that is, the joint An elliptical wheel of a reducer 11), the output end of the joint-reducer 11 is connected to the inner ring of the joint-crossed roller bearing 13 through the transmission flange 12. The output shaft of the joint-servo motor 10 ...