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Joint of hyper-redundant robot

A robot joint and redundancy technology, applied in the field of robotics, can solve problems such as difficult control, difficult manufacturing, and complex structure, and achieve the effect of large driving torque, simple and compact structure, and smooth movement

Inactive Publication Date: 2010-02-03
SOUTHWEST JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of the existing super-redundant robot joints such as complex structure, difficult manufacture, and difficult control, the purpose of the present invention is to provide a space super-redundant robot joint, which has small axial distance, simple and compact structure, Good rigidity, large driving torque, stable motion, decoupling structure, simple control, good process performance, etc.

Method used

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  • Joint of hyper-redundant robot

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Embodiment Construction

[0013] The structure of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0014] combine figure 1 , figure 2 It can be seen that the joint bracket of the super-redundant robot has the following combination of gear transmission pairs: a cross-shaft gear 1 is mutually orthogonal to the axles 2 and 3, and then respectively communicates with the tongues 4 and 5 of the two joint brackets. coupling. The second pinion 6 and 7 are placed on two joint supports and meshed with two semicircular teeth of the cross shaft gear 1 . The two pinions are provided with drive motors 8 and 9. When the motor 8 drives the pinion 6 to rotate, and then drives the cross-shaft gear 1 and the bracket 10 to rotate, the joint produces side swing motion; when the motor 9 drives the pinion 7 to rotate, and then drives the cross-shaft gear 1 and the bracket 11 to rotate, the joint generates Pitching motion; when the two motors are driven simu...

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Abstract

The invention discloses a joint of a hyper-redundant robot. A gear transmission pair composite unit is arranged in a support in the following manner: wheel shafts 2 and 3 which are mutually orthogonalof a universal joint pin type gear 1 are coupled with tongue parts 4 and 5 of two joint supports; two pinions 6 and 7 are arranged on the two joint supports respectively and meshed with the universaljoint pin type gear 1; and driving motors 8 and 9 are arranged on the two pinions. By adopting the structure in the light of universal joint connection, the invention can lead the universal joint pintype gear into a universal joint in a transmission manner; and by substituting the conventional hinging transmission in the universal joints for the gear transmission and maintaining the flexibilityof space motion of the conventional universal joint at the same time, the invention has the advantages of small shaft distance, simple and compact structure, high rigidity, large driving moment, stable motion and the like.

Description

Technical field [0001] The utility model relates to the technical field of robots, in particular to a super-redundant robot joint. Background technique [0002] Hyper-Redundant Robots (Hyper-Redundant Robots) refer to robots with far more degrees of freedom than the minimum degrees of freedom required to complete tasks. They have good environmental adaptability and compatibility, fault tolerance and robustness. Complex environments such as military reconnaissance and disaster relief have bright application prospects. A super-redundant robot is generally composed of multiple identical joint modules in series. Therefore, the design of the joint module is closely related to the overall performance of the super-redundant robot. At present, most of the super-redundant robot joints have problems such as complex structure, difficult manufacture, and difficult control. Contents of the invention [0003] In order to overcome the shortcomings of the existing super-redundant robot ...

Claims

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Application Information

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IPC IPC(8): B25J17/00
Inventor 陈礼顺李立
Owner SOUTHWEST JIAOTONG UNIV
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