Snakelike mechanical arm main body module with three degrees of freedom and snakelike mechanical arm

A robotic arm and degree-of-freedom technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of complex structure, heavy weight, lack of degrees of freedom, etc., and achieve the effect of improving flexibility

Active Publication Date: 2017-08-18
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to solve the problems of lack of freedom, complex structure and heavy weight of the main module of the existing

Method used

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  • Snakelike mechanical arm main body module with three degrees of freedom and snakelike mechanical arm
  • Snakelike mechanical arm main body module with three degrees of freedom and snakelike mechanical arm
  • Snakelike mechanical arm main body module with three degrees of freedom and snakelike mechanical arm

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Embodiment Construction

[0026] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0027] Please refer to figure 1 , The first embodiment of the present invention provides a main module of a snake-shaped robotic arm with three degrees of freedom, including: a module outer body 1 , a module inner body 2 , a spring 3 , a steel wire rope 4 and a universal joint yoke 5 .

[0028] see figure 2 , The module outer body 1 includes: a housing, a support plate 11 and a slide rail 12 . The casing is a cylindrical structure with openings at both ends, and the casing wall has a first through hole for the steel wire rope 4 to pass through in the axial direction; the support plate 11 and the slide rail 12 are arranged inside the casing, and three support plates are arranged in the axial direction. Plate 11, three s...

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Abstract

The invention provides a snakelike mechanical arm main body module with three degrees of freedom and a snakelike mechanical arm. The snakelike mechanical arm main body module is characterized in that a module inner body is nested in a module outer body; and the module inner body and the module outer body can relatively move in the axial direction, and telescopic transformation of axial degrees of freedom is achieved. One degree of freedom is added on the basis of an original main body module under the interaction of steel wire ropes and a spring under the condition that weight of the snakelike mechanical arm main body module is not obviously increased, and the main body module has three degrees of freedom; and conventional two degrees of freedom of the main body modules are changed into three degrees of freedom under the precondition that each main body module has three steel wire ropes, so that flexibility of joint movement is improved, and practical production requirements are met.

Description

technical field [0001] The invention relates to a mechanical structure collar, in particular to a main body module and a snake-like robot arm with three degrees of freedom. Background technique [0002] At present, robot technology has been widely used in industrial automation, but in many important industrial fields, such as shipbuilding, electrolytic metallurgy, nuclear power, petrochemical industry, etc., due to the complexity and narrowness of the working space, it is difficult or even impossible for existing robots Complete related assignments. In these cases, even if robot technology is adopted, workers are often required to perform a large amount of auxiliary work, which has the disadvantages of high risk factor, low efficiency, and heavy workload. [0003] Therefore, under the complex working background in the narrow space mentioned above, the snake-shaped manipulator robot came into being, designed with the biological snake as the prototype, with small cross-sectio...

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Application Information

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IPC IPC(8): B25J9/06B25J9/08
CPCB25J9/065B25J9/08
Inventor 李恩徐大伟梁自泽杨国栋谭民景奉水
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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