A manipulator and a method for realizing a snake-shaped robot arm system device
A technology of manipulators and manipulators, applied in the field of manipulators, can solve problems such as complex control and complex drive structure, and achieve the effect of increasing the scope of the working space
Active Publication Date: 2017-09-19
中山市博奥精密制造科技有限公司
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[0005] The first purpose of the present invention is to propose a structure of a manipulator, which is simple and easy to control, and can be practically used in industrial operations in view of the shortcomings of complex drive structure and complex control commonly found in existing manipulators
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[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0033] as attached figure 1Described a kind of manipulator comprises base 1, mechanical arm 2 and driving mechanism 3, and mechanical arm 2 is formed by at least two joint parts 4 connected in series, and each joint part 4 has a rotating shaft 41, and adjacent joint part 4 The rotation axes 41 of the joints are parallel or orthogonal (this embodiment only adopts the form that the rotation axes 41 of the adjacent joint parts 4 are orthogonal). The joint part 4 at the end of the first end 21 of the mechanical arm can be connected to the base 1 in such a way that its rotation axis 41 is the rotation center, and the other joint parts 4 can be connected to the adjacent joints with the rotation shaft 41 as the rotation center. The joint parts 4 are connected in rotation, and the last joint part 4 of the second end 22 of the mechanical arm ...
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The invention relates to a manipulator and a realization method of a snake-shaped machine arm system device. The manipulator comprises a base, a mechanical arm and a driving mechanism; the mechanical arm is formed by serially connecting at least two joint pieces; each joint piece is provided with a rotating shaft; the rotating shafts of the adjacent joint pieces are parallel or orthogonal; each joint piece is correspondingly provided with a stay rope; the stay ropes are driven by the driving mechanism to independently pull the corresponding joint pieces to enable the joint pieces to forwards and reversely rotate around the rotating shafts of the joint pieces; and the realization method of the snake-shaped machine arm system device uses the manipulator structure. The structure and the method have the following advantages that the swing of the joint pieces is controlled through the stay ropes by using the connection of the orthogonal or parallel joint pieces; the working space range is widened; and the structure is simple and easy to control.
Description
technical field [0001] The invention relates to a manipulator and a method for realizing a serpentine robot arm system device. Background technique [0002] Compared with early robots that only replaced a single type of work, or completed a single action in a specified environment, today's research on robots is more based on the combination of multiple tasks in a complex or even unknown environment. Under the general trend of working in this unstructured and unknown environment, traditional mobile robots that use wheeled or crawler-type mobile robots as their mobile methods have increasingly exposed disadvantages such as poor motion stability and inflexible motion in special environments. . This makes the research of robots that replace traditional mobile forms with new movement methods become a hot spot. [0003] Compared with traditional wheeled or walking robots, the snake-like robot arm can have multiple motion modes due to its inherent multi-joint and multi-redundant ...
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IPC IPC(8): B25J17/02B25J9/00B25J13/08
CPCB25J9/00B25J13/088B25J17/025
Inventor 龙晓斌冬雷焦大勇苏雪
Owner 中山市博奥精密制造科技有限公司