A linkage joint group and mechanical arm capable of continuous constant curvature bending

A technology of equal curvature and linkage components, applied in the field of robotics, can solve the problem of discontinuous bending of the end arm segment, achieve the effect of continuous bending and improve flexibility

Active Publication Date: 2019-12-31
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a linkage joint group that can realize continuous constant curvature bending, which is used to solve the problem of discontinuous bending of the arm segment at the end of the joint group in the prior art

Method used

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  • A linkage joint group and mechanical arm capable of continuous constant curvature bending
  • A linkage joint group and mechanical arm capable of continuous constant curvature bending
  • A linkage joint group and mechanical arm capable of continuous constant curvature bending

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Embodiment Construction

[0031] The idea, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0032] It should be noted that, unless otherwise specified, when a feature is called "fixed" or "connected" to another feature, it can be directly fixed and connected to another feature, or indirectly fixed and connected to another feature. on a feature. In addition, descriptions such as up, down, left, right, front, and back used in the present invention are only relative to the mutual positional relationship of the components of the present invention in the drawings.

[0033] Also, unless defined otherwise, all technical and scientific ter...

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Abstract

The invention relates to the field of robots and discloses a linkage joint unit capable of achieving continuous equal-curvature bending and a mechanical arm. The linkage joint unit comprises a first linkage assembly enabling the linkage joint unit to be in linkage in the yawing direction and a second linkage assembly enabling the linkage joint unit to be in linkage in the pitching direction; the first linkage assembly comprises two symmetrically-arranged first linkage ropes and further comprises a first guiding disc arranged at the head end of a first arm section in the yawing direction, firstlinkage discs arranged on first connecting pieces and third linkage discs arranged on third connecting pieces; the head ends of the first linkage ropes are fixedly connected with the first linkage discs and bypass the first linkage discs, the first guiding disc and the third linkage discs sequentially; and the tail ends of the first linkage ropes are fixedly connected with the third linkage discs, and the tail ends and the head ends of the first linkage ropes are located on the same sides of the central connecting lines of the first linkage discs and the third linkage discs correspondingly. Continuous bending of the whole joint unit is achieved, and promoting of the flexibility of the mechanical arm is facilitated.

Description

technical field [0001] The invention relates to the field of robots, in particular to a linkage joint group that can realize continuous constant curvature bending, and a flexible mechanical arm using the linkage joint set. Background technique [0002] At present, a large number of high-efficiency and high-precision industrial-grade robots have been widely used in the fields of electrical, chemical, and mechanical manufacturing industries. However, traditional industrial robots cannot adapt to extreme Narrow and extremely dangerous working environment, such as pipe cleaning, etc. [0003] Compared with traditional manipulators, due to their inherent super-redundancy characteristics, flexible manipulators can realize the bending, telescopic, and torsion of multiple continuous parts, and their movement and operation capabilities in confined spaces are much higher than traditional multi-joint joints. Rigid link robot. In order to make the bending accuracy of the flexible mani...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02B25J9/10B25J9/06
CPCB25J9/065B25J9/104B25J17/0283
Inventor 徐文福付亚南刘天亮梁斌
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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