Continuum manipulator with variable diameter and length
A continuum, robotic arm technology, applied in the directions of manipulators, claw arms, manufacturing tools, etc., can solve the problem that the manipulator cannot realize the diameter change control and so on
Active Publication Date: 2021-12-28
SUN YAT SEN UNIV
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Problems solved by technology
[0004]
The purpose of the present invention is to provide a continuum manipulator with variable diameter and length, so as to solve the problem that the existing manipulator cannot control the diameter change
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[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.
[0022] The invention provides a continuum manipulator with variable diameter and length, the embodiment of which is as Figure 1 to Figure 3 As shown, it includes a transformation unit 10 and a drive box 20; a plurality of transformation units 10 are connected to each other in turn, and one of the transformation units 10 is connected to the drive box 20; the transformation unit 10 includes a support plate 11, a support block 12, a connecting rod 13 and a memory Alloy spring 14; two support discs 11 are relatively arranged; multiple support blocks 12 are arranged around the peripheral sides of the two support discs 11, and connecting rods 13 are rotatably connected between the multiple support blocks 12 and the two support discs 11; Between adjacent conversion units 10, memory ...
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The invention discloses a continuum manipulator with variable diameter and length. The continuum manipulator comprises a plurality of transformation units and a driving box, wherein the plurality of transformation units are sequentially connected with one another, one transformation unit is connected with the driving box, each transformation unit comprises support disks, support blocks, connecting rods and memory alloy springs, two support disks are oppositely arranged, a plurality of support blocks are arranged around the peripheral sides of the two support disks, and the connecting rods are rotationally connected between the plurality of support blocks and the two support disks; memory alloy springs are connected between the opposite support blocks between the adjacent transformation units; memory alloy springs are also connected between the driving box and the opposite support blocks; and the driving box is used for regulating and controlling the temperature of the memory alloy springs so as to change the telescopic state of the memory alloy springs, extension of the memory alloy springs is used for driving the plurality of support disks to be combined, contraction of the memory alloy springs is used for driving the plurality of support disks to be separated, therefore, the problem that an existing manipulator cannot achieve diameter change control is solved.
Description
technical field [0001] The invention relates to the technical field of continuous manipulators, in particular to a continuum manipulator with variable diameter and length. Background technique [0002] The existing technical solution proposes a telescopic manipulator. The manipulator includes a plurality of joint units articulated in sequence. Each joint is arranged in parallel by two sets of scissor bar mechanisms and connected by a support rod. The control system drives the manipulator to produce lateral movement. Bending or telescopic deformation, so that the manipulator reaches the desired position to complete the grasping. [0003] However, this kind of mechanical arm can only achieve telescopic control, and cannot achieve diameter change control. Therefore, when faced with application scenarios of different pipe diameters, this kind of mechanical arm cannot meet the changing needs of use. Therefore, there is an urgent need for a solution that can solve this problem. t...
Claims
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IPC IPC(8): B25J18/02B25J18/00
CPCB25J18/025B25J18/00
Inventor 孟得山马智浩
Owner SUN YAT SEN UNIV