Rope-driven snake-shaped robot with cone structure

Abstract

The invention provides a rope-driven snakelike robot with a cone structure. The rope-driven snakelike robot comprises a mechanical arm, a driving mechanism, a reversing disc, a base and a steel wire rope. The mechanical arm is divided into two sections, and each section is formed by connecting a driving section similar to an animal cone, a spacing section and a base section on a center rod in series. The driving mechanism is composed of a lead screw motor, a sliding rod, a sliding block, a guide wheel and a box body, one end of the steel wire rope is connected to the sliding block, the lead screw motor rotates to drive the sliding block to move along the sliding rod, winding and unwinding of the steel wire rope are achieved, and the other end of the steel wire rope is connected to the mechanical arm through the guide wheel and a reversing disc. The invention provides a set of perfect robot electromechanical design, the occupied size is small, meanwhile, the good loading capacity is achieved, the robot can be carried on different platforms, the mechanical arm adopts the flexible center rod and the cone structure joint, the degree of freedom is high, the posture adjustment can be flexibly achieved, the self structure is stable, and vibration can be well avoided. And the robot can shuttle in a complex environment to complete tasks such as detection and maintenance in a narrow space.

Description

technical field [0001] The invention relates to the field of special robots, in particular to a snake-shaped robot used for tasks such as detection and maintenance in narrow and complex spaces. technical background [0002] Overhaul and maintenance operations in some fields, such as regular overhaul of spacecraft engines, wings, fuel tanks and other structures, inspection of nuclear reactors, processing of special devices, pipeline cleaning and maintenance of electrical equipment, etc., due to the environmental conditions and operating environment. Therefore, the maintenance work is in a small space or dangerous environment, and there are problems of high risk factor and difficult operation. [0003] In order to successfully complete maintenance tasks in such environments, robots are used to replace manual work. Due to the limitation of its own structure, the traditional rigid link manipulator is difficult to enter into a small and closed environment and start operations. ...

AI Technical Summary

Problems solved by technology

The universal joint type robot is a segmented structure connected by universal joints. Its flexibility depends on the rotation angle of each universal joint unit and the number of universal joints. Generally, it has better flexibility, stiffness and belt speed. Load capacity, but is heavier and requires more drive ropes

The flexible central rod type robot is supported by the central rod, and the separating disc is installed on the rod for the driving rope to pull. Generally, the weight is lighter and the flexibility is higher, but the rigidity is insufficient, and it is easy to cause vibration, and the corresponding control will be more difficult.

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