Through-hole cable centering device, serpentine mechanical arm and application method thereof

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 invention relates to the field of cable-driven manipulators and serpentine-arm robots; in particular, it relates to a through-hole cable centering device, a serpentine manipulator and an application method thereof. Background technique [0002] The snake-arm robot is a slender, self-supporting super-redundant manipulator, driven by cables over a long distance, and has good obstacle avoidance and adaptability in complex environments. The snake-arm robot remains stationary and the control of the movement process is completed by cable stretching. Therefore, the length change error of the cable and the exact position of the entrance and exit passing through the small hole will directly affect the control accuracy and the position accuracy of the snake-arm robot. [0003] In patents such as CN205219114U and CN208497037U on the structural design of wire-driven serpentine manipulators, no cable centering process is performed on the wire holes, and errors ...

AI Technical Summary

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

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