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Robotic arms with coaxially mounted helical spring means

一种机器人臂、弹簧装置的技术，应用在外科机器人、爪臂、机械手等方向，能够解决增加构造复杂度等问题，达到结构简单、快速和简单构造、降低成本的效果

Active Publication Date: 2009-03-25
OLIVER CRISPIN ROBOTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

While this setup is remarkably satisfactory, it also increases the complexity of constructing

Method used

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  • Robotic arms with coaxially mounted helical spring means
  • Robotic arms with coaxially mounted helical spring means
  • Robotic arms with coaxially mounted helical spring means

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0065] refer to figure 1 and 2, the arm as shown comprises three segments 10, each segment 10 comprising a plurality of link elements 11. Each segment 10 is connected to its adjacent segment by an articulating joint 12 . The distal end 13 of the arm carries a working head 14 comprising a tool 15 .

[0066] Each link 11 is capable of limited movement relative to its adjacent segments by means of articulating joints 21 (see Figure 2), and the segments 10 as a whole are controlled by control lines 22 and 23 which extend through the intermediate links 11 and is fixedly attached to the end element 25 of the segment 10. Each control wire extends to an actuating means generally indicated at 24 in Figure 2, which is controllable to provide a variable tension on each control wire. In normal operation, each control wire 22 and 23 is held under slight tension to apply a slight compressive force to the articulating link joint 21 . To move the segment, a suitable actuating device appli...

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PUM

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Abstract

A robotic arm comprising a plurality of segments (10) , each comprising articulated links (11) , and means (24) for causing each segment to bend so the arm can follow a serpentine path. A helical spring (37) is provided coaxially with the arm to urge the links to an initial datum position, and to distribute the bending over the links of each segment .

Description

technical field [0001] The present invention relates to robotic arms, and more particularly to robotic arms having one or more controllable segments comprising a plurality of links, each link being articulated relative to its adjacent links such that each segment able to bend. Background technique [0002] Such an arm is described and claimed in our co-pending application WO02 / 016995, the contents of which are incorporated herein by reference. The arm has a working head adapted to carry a tool or testing member for working or testing at a certain place, and an operating device for operational control of the working head. The arm is adapted to be able to reach the site in a "tip following" manner to place the working head in the required operating position. This is achieved using control means that control the position and / or attitude of each arm segment relative to a reference point, thereby enabling the arm to follow and adapt to a predetermined path. [0003] Robot arms...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/06
CPCA61B2019/2238B25J18/06B25J9/104B25J9/06A61B2034/306Y10T74/20323
Inventor R·O·白金汉A·C·格拉厄姆
Owner OLIVER CRISPIN ROBOTICS
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