Linkage joint group and mechanical arm

Abstract

The invention discloses a linkage joint group and a mechanical arm. The linkage joint group comprises a first arm section, a second arm section and a third arm section in sequential serial connection.From the first arm section to the third arm section, a first connecting element and a second connecting element are sequentially and rotationally connected between the adjacent arm sections; the linkage joint group also comprises two first short linkage ropes in symmetrical distribution in the pitching direction; the two ends of the first short linkage rope are respectively and fixed on the firstconnecting element and the second connecting element; the positions of the two first short linkage ropes between the first connecting element and the second connecting element are crossed. The linkage joint group also comprises two first long linkage ropes in symmetrical distribution in the yawing direction; the two ends of the first long linkage ropes are respectively fixed on the first arm section and the third arm section; the positions of the two first long linkage ropes in the first arm section position, the second arm section position and the position between the first connecting element and the second connecting element are crossed. The linkage joint group is favorable for shortening the length of the linkage rope; the precise control of the joint group is convenient.

Description

technical field [0001] The invention relates to the field of robots, in particular to a linkage joint set 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 manipulator more controllable, the existing flexible manipulat...

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, which is used to solve the problem that the number of arm segments required for the normal operation of the joint group in the prior art is large, and the linkage rope needs to span a long distance, which affects the The problem of precise control of joint groups

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