Multi-degree-of-freedom driving arm and double-arm robot adopting arm

一种多自由度驱动手臂及采用该手臂的双臂机器人

Abstract

The invention discloses a multi-degree-of-freedom driving arm and a double-arm robot adopting the arm. The multi-degree-of-freedom driving arm comprises single-degree-of-freedom driving modules and a plurality of double-degree-of-freedom driving modules; the single-degree-of-freedom driving modules are connected with the double-degree-of-freedom driving modules located on the innermost sides; the double-degree-of-freedom driving modules each have two orthogonal rotational degrees of freedom; the first rotational degrees of freedom comprise first driving mechanisms used for driving the driving modules to rotate; the second rotational degrees of freedom comprise second driving mechanisms used for driving the driving modules to rotate; and the first driving mechanisms of the double-degree-of-freedom driving modules located on the outer sides are arranged on the adjacent second driving mechanisms of the double-degree-of-freedom driving modules located on the inner sides. The single arm of the robot has seven degrees of freedom, the flexible and changeable effects are achieved, and the robot is suitable for accomplishing all kinds of complicated tasks; cost is low, the structure is compact, and the energy density of the structure of the multi-degree-of-freedom driving arm is maximized in the unit volume; and the arm adopts a modular structure, good interchangeability can be guaranteed, and maintenance cost is saved.
本发明公开了一种多自由度驱动手臂及采用该手臂的双臂机器人,包括单自由度驱动模块以及若干个双自由度驱动模块,单自由度驱动模块与位于最内侧的双自由度驱动模块相接;双自由度驱动模块具有两个正交的旋转自由度,第一旋转自由度包括用于驱使该驱动模块旋转的第一驱动机构,第二旋转自由度包括用于驱使该驱动模块旋转的第二驱动机构;位于外侧的双自由度驱动模块的第一驱动机构设置在与其相邻并位于内侧的双自由度驱动模块的第二驱动机构上。本机器人单臂七自由度,灵活多变,适合完成各种复杂任务;其成本低,结构紧凑,自身结构在单位体积内的能量密度达到最大化;手臂采用模块化结构,可保证较好的互换性,节省检修成本。

Claims

Description

Topics

Download Full PDF Version (Non-Commercial Use)

Patent Citations (0)

    Publication numberPublication dateAssigneeTitle

NO-Patent Citations (0)

    Title

Cited By (0)

    Publication numberPublication dateAssigneeTitle