Joint of multi-section folding type remote operation mechanical arm

Abstract

The invention discloses a joint of a multi-section folding type remote operation mechanical arm. The joint is characterized in that the centroid of a groove of a fixed pulley is flush with the centroid of a groove of a rim of a joint wheel, and the two centroids are both located in a plane which is tangent to a rim of a driving wheel and perpendicular to the axis of a joint shaft; an output shaft of a motor and the corresponding joint shaft form a quadrature shafting; the motor transmits driving force to the joint shaft through the driving wheel, the fixed pulley, a soft steel wire cable and the joint wheel to realize relative rotation between adjacent section arms; a stay wire of a stay wire sensor which is fixed into the section arms and close to the joint shaft is wound around the outer edge face of the joint shaft, and the extending-out end of the stay wire is fixed relative to the joint shaft. According to the joint, the longitudinal spaces of the section arms are fully utilized, so that the transverse size of the section arms is reduced, the structure is compact, and the rigidity of the mechanical arm is improved; the joint of the mechanical arm is simple and reliable in structure, convenient to detect and easy and convenient to operate because mounting, demounting, replacement and the like of the stay wire sensor can be completed without dismantling a joint module.

Description

technical field [0001] The invention belongs to the technical field of joints of mechanical arms, and in particular relates to a joint structure of a multi-section folding teleoperated mechanical arm. Background technique [0002] Multi-section teleoperated manipulators are often referred to as "snake manipulators", which are suitable for long-distance observation or manipulation of components in unstructured deep and narrow spaces. Existing manipulators are usually composed of multiple joints connected end to end through joints, and different actuator observation devices are installed on the end joints. As the motion support part of the end effector, the arm body of the teleoperated manipulator requires The characteristics of overall light weight, high joint stiffness, and easy detection and control of the joint position enable the end effector to reach the target position in multiple directions. [0003] Chinese patent application CN102990676A discloses a serpentine mecha...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a joint structure of a multi-section folding teleoperated manipulator to overcome the low joint stiffness of the existing manipulator, the installation and replacement of the joint position sensor is cumbersome, and the precision of the joint module is easily reduced due to reassembly. Problems, the joint structure is compact, the stiffness is high, the joint position detection is simple and reliable, and the joint position sensor can be easily installed or replaced without disassembling the joint module.

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