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

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.

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...

AI Technical Summary

Problems solved by technology

At present, there are few researches on self-locking energy saving of external limb cooperation manipulators and time-sharing drive of joint power sources, and there is no prototype that can be used as a mature case in this regard.

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