Rope driving-based quickly-replaced linkage flexible charging robot

Abstract

The invention relates to the field of robots, and discloses a rope driving-based quickly-replaced linkage flexible charging robot. The rope driving-based quickly-replaced linkage flexible charging robot comprises linkage joint sections, driving ropes, a driving module and an end actuation device, wherein the linkage joint section comprises a plurality of sub joints connected in series with one another; the sub joints are connected in a rotatable manner; the multiple linkage joint sections are connected in series; every two linkage joint sections are connected in a rotatable manner; all the linkage joint sections are fixedly connected with the driving ropes; the driving ropes drive all the sub joints in the linkage joint sections to rotate in the same direction and same angles under the driving of the driving module; and the driving ropes and the driving module can be separated. Compared with the prior art, the rope driving-based quickly-replaced linkage flexible charging robot has the advantages that the use quantity of motors and the mass of a mechanical arm can be reduced, so that the response speed can be increased; by the adoption of a joint linkage scheme, the joints in the joint sections are connected together through a linkage mechanism to realize equal-curvature and isodirectional joint motion; and the mechanical arm is high in rigidity, high in load capacity and high in end precision.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to joint segments or joint groups forming a flexible arm. Background technique [0002] Different from the traditional joint series manipulator, the flexible manipulator has the advantages of high flexibility, strong obstacle avoidance ability, etc., and strong movement and operation ability in confined space or dangerous environment. It is used in aerospace manufacturing, large equipment inspection and maintenance, etc. field has important application value. [0003] In the prior art, each joint joint of the flexible robotic arm is independently driven, which can improve the redundancy of the entire arm, but correspondingly increases the number of drive motors, which will increase the difficulty of controlling the robotic arm and at the same time It also increases the weight and cost of the overall arm. [0004] In order to solve the problem of a large number of driving motors, th...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of a large number of drive motors, the existing solution is to add elastic elements such as springs between the joints, and use a segment of the arm as a control unit for control, or directly use flexible structures such as nickel-titanium alloys or elastic materials.

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