Compact multi-joint-section snake arm driving mechanism easy to expand

Abstract

A compact and easily expandable multi-joint segment snake arm drive mechanism. It includes an upper bearing fixing plate, a plurality of upper flange bearings, a plurality of guide pulleys, a plurality of reels, a plurality of lower flange bearings, a lower bearing fixing plate, a plurality of couplings, a motor fixing plate, a plurality of drive motors, Bottom plate and fixed plate; advantages of the present invention: compact structure, space-saving: the displacement control of the drive rope is realized by winding, which has the characteristics of small space occupation and easy expansion compared with linear motion; drive motor, coupling, The circular arrangement of the reels makes the driving structure compact and reduces the size of the mechanism. Easy to expand: The circular arrangement of motors reduces the size of the drive mechanism and increases its scalability, which is convenient for the increase in the number of joints and further research and application in the future.

Description

technical field [0001] The invention belongs to the technical field of mechanical design, in particular to a compact and easy-to-expand multi-joint segment snake arm drive mechanism. Background technique [0002] At present, traditional discrete robots use rigid joints and connecting rod structures to realize multi-degree-of-freedom movements in free space. Restricted environment adaptability is poor. Different from discrete robots, continuous robots are "spineless" flexible structures, which use a structure that can be flexibly changed in shape without any rigid joints and links. This new type of bionic robot has good bending performance and can change its shape supplely and flexibly, so it has the ability to change its shape according to the conditions of environmental obstacles, so it has a unique adaptation to the environment with limited working space ability, so its application prospect is very broad, it can be applied to aircraft fuel tank inspection, operation in m...

AI Technical Summary

Problems solved by technology

However, it has the following disadvantages: in order to control the bending and rotating movement of the snake arm body 16 with a single joint segment, at least three driving ropes 25 are required to cooperate with each other. In order to reduce the coupling between the driving ropes 25 and reduce the difficulty of control, each Each joint segment needs three drive motors to control, so the snake arm body 16 with multi-joint segments needs to use three times the drive motors of the number

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