Threading cable centering device, S-shaped mechanical arm and application method of S-shaped mechanical arm

A technology for centering device and cable, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of high precision requirements for wire hole processing, shortened cable life cycle, cable wear, etc. The effect of reduced precision requirements, reduced drive force, easy removal and replacement

Active Publication Date: 2019-10-01
SHANGHAI JIAO TONG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in actual engineering, the disadvantages of this treatment mainly include: ①There is relatively large friction with the wall surface, and a larger driving force is required to stretch the cable; ②During the movement of the robot, the cable will be worn, making the cable The life cycle becomes shorter and needs to be replaced frequently; ③ During processing, the processing accuracy of the wire-passing hole is required to be high

Method used

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  • Threading cable centering device, S-shaped mechanical arm and application method of S-shaped mechanical arm
  • Threading cable centering device, S-shaped mechanical arm and application method of S-shaped mechanical arm
  • Threading cable centering device, S-shaped mechanical arm and application method of S-shaped mechanical arm

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Embodiment approach

[0064] The snake-arm robot is a super-redundant robotic arm driven by cables. The main structure includes linear guides, drive packages, bases, snake arms, cables, universal joints and end effectors. The base is fixed on the drive package, and all the driving of the snake arm robot is done by stretching the cables in the drive package, wherein each snake arm is driven by 3 cables evenly distributed at 120°.

[0065] The present invention provides a via hole cable centering device for a wire-driven robot (snake-shaped arm robot). figure 1 For some two segments 8 of the line-driven snake-arm robot, the effect diagram of the installation of the device, figure 2 It is a partial cross-sectional view of the structure of the device. The complete device includes a fixing structure 3 , an adjusting structure 4 , a ball 5 and an anti-loosening washer structure 6 . Also in figure 1 Among them, the cable 1 is the cable to be passed through the cable hole 21 , and the cable hole 21 is a...

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Abstract

The invention provides a threading cable centering device, an S-shaped mechanical arm and an application method of the S-shaped mechanical arm. The threading cable centering device comprises a fixingstructure, an adjusting structure and balls, wherein a second through hole and a penetrating hole are respectively formed in the fixing structure and the adjusting structure; the adjusting structure is axially adjustably arranged in the second through hole; a cable penetrates through the second through hole and the penetrating hole in the length extension direction; a first conical surface and a second conical surface are respectively arranged on the fixing structure and the adjusting structure; the first conical surface is opposite to the second conical surface; the balls make contact with the first conical surface and / or the second conical surface; the balls are in contact with the cable; and the plurality of balls are arranged along the circumferential direction of the cable. Accordingto the threading cable centering device, the S-shaped mechanical arm and the application method of the S-shaped mechanical arm, the requirement on the processing precision of a cable hole is reduced,and the cable can be coaxial with a small hole when passing through the small hole under the condition of large aperture to achieve cable centering.

Description

technical field [0001] The present invention relates to the field of a cable-driven mechanical arm and a snake-shaped arm robot; in particular, to a via-hole cable centering device, a snake-shaped mechanical arm and an application method thereof. Background technique [0002] The snake-arm robot is a slender, self-supporting, super-redundant robotic arm, driven by cables over a long distance, and has good obstacle avoidance and adaptability in the face of complex environments. The control of the snake-arm robot keeping still and the movement process is completed by the cable stretching. Therefore, the length variation error of the cable and the exact position of the entrance and exit through the small hole will directly affect the control accuracy and the position accuracy of the snake-arm robot. [0003] In the patents CN205219114U and CN208497037U on the structural design of the wire-driven serpentine manipulator, the cable centering process is not performed on the wire ho...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J19/00
CPCB25J9/065B25J19/00
Inventor 刘成良高翔陶建峰杨正庄欠伟彭世宝
Owner SHANGHAI JIAO TONG UNIV
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