Power transmission mechanism of hyper-redundant S-shaped robot

Abstract

The invention discloses a power transmission mechanism of a hyper-redundant S-shaped robot. The power transmission mechanism of the hyper-redundant S-shaped robot comprises a motor installation base.A lead screw and a guide rod are installed on one side of the motor installation base and arranged in parallel, and a gap exists between the lead screw and the guide rod. One end of the lead screw isinstalled on the motor installation base through a bearing. A driving motor which is connected with the lead screw in a transmission mode through a coupling is further installed on the motor installation base. A nut base is arranged between the guide rod and the lead screw in a penetrating mode. A lead screw nut and a guide sliding block are arranged in the nut base, wherein the lead screw nut isconnected to the lead screw in a threaded mode, and the guide sliding block is arranged on the guide rod in a sliding penetration mode. A rope guide piece is connected to the nut base and used for being connected with a steel wire rope. According to the power transmission mechanism of the hyper-redundant S-shaped robot, the driving motor and the transmission mechanism are integrated to form a modular structure, installation and debugging of the whole modular structure are convenient, the driving motor and the transmission mechanism are installed to form a module, and then the module is installed in a frame of a driving device.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a power transmission mechanism of a super-redundancy snake-like robot. Background technique [0002] The research on super-redundant snake-like robots abroad is earlier, and there are more in-depth researches on the structural design and motion control of snake-like robots. [0003] British OC Robotics is currently the most in-depth research on super-redundant snake robots at home and abroad, and the engineering is relatively successful. It has developed a series of snake robots for security inspection, aviation manufacturing, nuclear facility inspection and other fields. Most of its snake-like robots are driven by rigid hinges and wire ropes, and the joint rotation angle is measured by the built-in fiber optic sensor FBG to achieve closed-loop control, so that the robot can achieve high motion accuracy. At present, the company's snake robot has broad application pro...

AI Technical Summary

Problems solved by technology

[0007] Defects and deficiencies in the power transmission mechanism of the existing super-redundant snake robot: the transmission mechanism often uses metal screw nuts and metal guide sliders to transmit power, and the existing deficiency is that lubricating oil needs to be installed later to ensure movement The transmission mechanism needs to be disassembled, which increases the difficulty of maintenance; due to the inherent shape restrictions of the metal nut and the metal slider, the power transmission mechanism can only be arranged in a single layer, and it is difficult to reduce the overall size; the drive motor and the transmission mechanism are not Integrated together, not conducive to modular disassembly and assembly

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