Ultra-elastic alloy slice mechanical arm

Abstract

The invention provides an ultra-elastic alloy slice mechanical arm, comprising a small joint body, a big joint body, an ultra-elastic alloy slice, a front-end camera and a driving mechanism; the joint body and the driving mechanism are connected through a wire pulling machine. The mechanical arm replaces the bearing through the ultra-elastic alloy slice and connects to every joint, thus the weight is lightened, and the mechanical arm is free from mechanical gap, high in motion precision and simple in structure; joints are in orthogonal connection, several driven joint slices are arranged between adjacent active joints, thus the bending flexibility of the mechanical arm is increased; a wire pulling hole of a joint driving pulling wire is in a cross shape, thus the coupling property between the pulling wires in movement is effectively reduced, and the control accuracy is improved; the driving mechanism is driven by a lever, and the rotating shaft of every lever is in the form of shaft alignment; the lever s are rotated in a ladder form and evenly distributed, thereby reducing the number of the driving unit and shortening the volume of the driving mechanism; for applying a tower type driver structure, every center connector adopts a modular form, and the center connector can be laminated freely so as to increase and decrease the drive unit.

Description

technical field [0001] The invention relates to a superelastic alloy sheet mechanical arm and its structure, belonging to the technical field of robots. Background technique [0002] As a representative product in the field of automation, the robotic arm is more and more used in various working environments. Its appearance not only replaces manual labor and improves work efficiency, but also embodies unique features in high-risk and high-demand working environments. The advantages. Traditional industrial robotic arms are bulky, have limited degrees of freedom of rotation, and are not flexible enough to work in narrow spaces. Therefore, multi-degree-of-freedom snake-shaped robotic arms have emerged. Due to its snake-like structural characteristics, the snake-shaped robotic arm has a high degree of freedom and can easily pass through curved pipes and narrow spaces, which has aroused the interest of researchers. However, most of the current snake-like manipulators, especially...

AI Technical Summary

Problems solved by technology

However, most of the current snake-like manipulators, especially the snake-like manipulators in the form of wire drive, have problems such as complex structure, difficult control, heavy driving mechanism, and severe coupling of pull-wire motion, which also limits the further development of snake-like manipulators. Research and Popularization

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