A flexible arm linkage joint segment

Abstract

The invention relates to the field of robots and discloses a flexible arm linkage joint section. The flexible arm linkage joint section comprises a short linkage rope, a long linkage rope, a first end joint, a first central joint, a second central joint, a third central joint and a fourth central joint, wherein the first end joint, the first central joint, the second central joint, the third central joint and the fourth central joint are serially connected with one other in turn, and meanwhile, a first end connector, a first central connector, a second central connector and a third central connector are successively arranged between the adjacent joints from the first end joint to the fourth central joint. Compared with the prior art, the flexible arm linkage joint section has the advantages that the use quantity of the motor and the weight of the mechanical arm can be reduced so as to increase the response speed; a linkage joint scheme is adopted for linking the joints in the joint section with each other through linkage mechanisms and realizing the joint movement along the constant direction at the constant curvature; the mechanical arm is high in rigidity, load capacity and tail 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...

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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. It is controlled as the arm base to realize arc-like deformation movement, but there is a deviation between the shape of the actual movement process of this kind of robot arm and the arc shape, the end precision is not high, and the load capacity is not strong, so it is difficult to meet people's needs.

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