Title:
DOUBLE-JOINT MULTI-DEGREES-OF-FREEDOM MECHANICAL ARM AND DRIVING METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2023/232163
Kind Code:
A1
Abstract:
Disclosed in the present invention are a double-joint multiple-degrees-of-freedom mechanical arm and a driving method therefor. The mechanical arm comprises a base, a driving mechanism, an upper arm module and a forearm module. The driving mechanism comprises three bidirectional driving assemblies mounted on the base. The upper arm module comprises upper-arm push rods, an upper-arm central rod and an elbow-joint universal disk. The forearm module comprises universal joint couplings, a forearm central rod, forearm telescopic rods and a wrist-joint universal disk, wherein each forearm telescopic rod comprises a first link rod and a second link rod, which are in threaded connection. In the present invention, two-degrees-of-freedom rotation of the upper arm module and the forearm module, which are connected in series, can be independently achieved by utilizing the three bidirectional driving assemblies fixed on the base, thereby greatly improving the movement flexibility of an end effector in an operation space. Moreover, in the present invention, the three bidirectional driving assemblies are all located on the base, and therefore the weight of a moving portion of the mechanical arm is reduced, the joint space utilization rate of the mechanical arm is improved, and the wiring is simplified.
Inventors:
XU MING (CN)
LIU HUI (CN)
LIU HUI (CN)
Application Number:
PCT/CN2023/108783
Publication Date:
December 07, 2023
Filing Date:
July 24, 2023
Export Citation:
Assignee:
UNIV HANGZHOU DIANZI (CN)
International Classes:
B25J9/10
Foreign References:
| CN115741660A | 2023-03-07 | |||
| JP2020146810A | 2020-09-17 | |||
| CN108214474A | 2018-06-29 | |||
| CN108724163A | 2018-11-02 | |||
| CN112109112A | 2020-12-22 | |||
| CN112643651A | 2021-04-13 | |||
| CN212919457U | 2021-04-09 | |||
| JP2011121163A | 2011-06-23 |
Attorney, Agent or Firm:
HANGZHOU JUNDU PATENT FIRM LLP (CN)
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