A seven-degree-of-freedom active and passive manipulator that can simultaneously lock multiple joints

Abstract

The invention discloses a seven-freedom-degree active and passive mechanical arm capable of achieving simultaneous locking of multiple joints. The seven-freedom-degree active and passive mechanical arm comprises a mechanical arm external connecting mechanism, a motor driving system, a cam mechanism and a steel ball transmission mechanism. The output shaft end of the motor driving system is connected with the cam mechanism. The mechanical arm external connecting mechanism comprises the near-end retainer cup built-in near-end ball joint, the middle rotating joint, the far-end retainer cup built-in far-end ball joint, a near-end connecting rod and a far-end connecting rod. Seven freedom degrees are provided by the three joints, and therefore, the mechanical arm can move flexibly; and the working space range is widened. The seven-freedom-degree active and passive mechanical arm is simple and compact in structure and high in rigidity and stability; by means of a passive type locating method, the locating speed is increased; and a motor drives to lock the joints, so that the joints are locked reliably, and manpower is liberated.

Description

technical field [0001] The invention relates to a mechanical arm, in particular to a seven-degree-of-freedom active and passive mechanical arm capable of simultaneously locking multiple joints. Background technique [0002] At present, there are mainly two kinds of mechanical arms that can realize simultaneous locking of each joint: [0003] The first type is a robotic arm similar to SCARA and PUMA robots. This type of robotic arm uses multiple joints, and the motor drives the joints to move. After reaching the position, the motor automatically locks the joints to achieve reliability, stability and high rigidity. This kind of mechanical arm is an active movement, the positioning speed will be slowed down by the motor-driven movement, the working space is not very large, and the multi-joint mechanical arm will make the structure complicated and not compact; [0004] The second is a passive mechanical arm that manually locks the joints. This mechanical arm has a simple and li...

AI Technical Summary

Problems solved by technology

[0003] The first type is a robotic arm similar to SCARA and PUMA robots. This type of robotic arm uses multiple joints, and the motor drives the joints to move. After reaching the position, the motor automatically locks the joints to achieve reliability, stability and high rigidity. This kind of mechanical arm is an active movement, the positioning speed will be slowed down by the motor-driven movement, the working space is not very large, and the multi-joint mechanical arm will make the structure complicated and not compact;

[0004] The second is a passive mechanical arm that manually locks the joints. This mechanical arm has a simple and lightweight structure and a large working space. This type of robotic arm may be more strenuous

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