Small flexible driving snakelike mechanical arm

A mechanical arm and flexible transmission technology, applied in the field of robotics, can solve the problems of rigid motion form, large structure size, and poor motion flexibility

Pending Publication Date: 2021-07-30
BEIJING UNIV OF CHEM TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problems of the existing serpentine manipulator with large structural size, poor movement flexibility, rigid movement form, and small working space

Method used

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  • Small flexible driving snakelike mechanical arm
  • Small flexible driving snakelike mechanical arm
  • Small flexible driving snakelike mechanical arm

Examples

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Embodiment

[0027] Example: A small flexible drive snake-like robotic arm, please refer to figure 1 , including the robot arm body 1 and the drive system 2 . Specifically, the driving system is distributed in the main body of the mechanical arm to drive the movement of the entire mechanical arm. The mechanical arm body 1 includes a rear arm body 3 each having a rotary joint and two yaw joints ( figure 2 ) and forearm body 4 ( image 3), both of which provide a large range of motion space for the manipulator as a whole. The rotary joints 31 and 41 in the rear arm body 3 and the forearm body 4 are directly driven by the drive source, which ensures that the mechanical arm has a certain load capacity, and the two sets of yaw joints are indirectly driven. The driving source 1 32 and the driving source 2 33 in the rear arm body 3 are placed at the rear end of the yaw joint 1 351 structure, the driving source 1 32 is connected to the gear transmission 361 through the support 341, and the dri...

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Abstract

The invention discloses a small flexible driving snakelike mechanical arm which is characterized in that the small flexible driving snakelike mechanical arm comprises a mechanical arm body with six joints and a driving system, wherein the mechanical arm body comprises a rear arm body and a front arm body, and the rear arm body and the front arm body are each provided with a rotating joint and two yawing joints; the rotating joint is located at the rear ends of the yawing joints; the driving system comprises a driving source, a flexible transmission mechanism and a supporting piece, the driving source is arranged at the rear end of the joint body structure, the two rotating joints are directly driven, the two sets of yawing joints are indirectly driven, the middle flexible transmission mechanism is arranged in the direction from the rear end to the tip end, the body is in the flexible running trend through the transmission mechanisms, and the radial size of the structure is reduced; the transmission mechanism in the rear arm comprises improved belt rope transmission and gear transmission, and the transmission mechanism in the front arm is additionally provided with a flexible hose. The invention discloses a closed-loop flexible driving snakelike mechanical arm which is small in size, simple in structure and flexible in movement.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a small flexible driving serpentine mechanical arm. Background technique [0002] Robot technology has long been widely used in many industrial automation production fields, but most of the traditional industrial robots are only suitable for structured environments, such as workbenches, obstacles, operating objects and other spatial positions and layouts are known, and given The scope of the working space is large, and in the face of unstructured, narrow, and complex working environments, it is difficult for this type of robot to complete the corresponding tasks or even no longer applicable. Integrating snake-like technology into electromechanical technology, the developed snake-shaped robotic arm not only solves many unstructured special environment operation requirements in aviation exploration, national defense, medical treatment, agriculture, and industry, but also improves th...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/10B25J17/00
CPCB25J9/065B25J9/104B25J9/102B25J17/00
Inventor 陈国华徐雪南张爱军
Owner BEIJING UNIV OF CHEM TECH
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