Snakelike mechanical arm

A robotic arm, snake-shaped technology, applied in the directions of manipulators, claw arms, joints, etc., can solve the problems of the bearing capacity and flexibility of the snake-shaped arm, increase the weight of the main body of the snake-shaped arm, and the inflexibility of the flexible cable control, etc. Flexibility and obstacle avoidance, ensuring lightweight and improving flexibility

Inactive Publication Date: 2013-03-27
BEIJING AERONAUTICAL MFG TECH RES INST
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Problems solved by technology

After searching the literature of the prior art, it is found that some serpentine arms install the power supply and driver on the main body of the serpentine arm, which increases the weight of the main body of the serpentine arm and greatly limits the

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[0028] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments:

[0029] See attached Figure 1~7 As shown, this kind of snake-shaped mechanical arm includes a central pillar connected in series by four rods 1, and the bottom of the central pillar is connected to a supporting base, which is characterized by:

[0030] The top of the rod 1 is a convex surface 8 of the ball joint, and the bottom of the rod 1 is a concave surface 7 of the ball joint. A ball joint is formed between the two rods. In order to reduce the quality of the rod and facilitate the monitoring of the working state of the flexible cable, the rod 1 is hollow, and a through hole 22 for weight reduction is machined along the central axis of the rod 1. The convex surface 8 and the convex surface of the ball joint of the rod 1 Between the upper and lower bottom surfaces around the concave surface of the ball joint 7, 30 flex...

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Abstract

The invention discloses a snakelike mechanical arm, wherein a rigid rod is taken as a central strut, a flexible rope is adopted for driving, a power supply and a driver are arranged on a snakelike arm base, and the snakelike mechanical arm has the advantages of compact structure, strong flexibility and large rigidity. Different actuators or sensors are arranged on a tail end of the snakelike mechanical arm so as to complete different operation tasks, such as detection of non-structural narrow spaces of cabins, carriages and the like, as well as gluing, detection, chip removal, redundancy pickup and the like of inner cavities of airplanes.

Description

technical field [0001] The invention is a serpentine mechanical arm, which belongs to the technical field of product structure. Background technique [0002] At present, industrial robots with high precision and high repeatability have been widely used in the manufacturing fields of automobiles, electronics and home appliances. [0003] However, due to the limitation of high rigidity and large structural size, traditional industrial robots are difficult to be used in extremely dangerous and extreme environment operations, such as nuclear reactor inspection, pipeline cleaning and other fields. [0004] As a special robot, the serpentine arm has the advantages of large length-to-diameter ratio, many degrees of freedom, flexible movements, and strong environmental adaptability. It is easy to avoid obstacles and overcome singularities. Therefore, it can be used in various fields such as unstructured narrow closed space operations and highly flexible operations. The serpentine ...

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Application Information

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IPC IPC(8): B25J18/00B25J17/02
Inventor 杜兆才张书生刘斌甘露姚艳彬
Owner BEIJING AERONAUTICAL MFG TECH RES INST
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