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Snakelike mechanical arm

A robotic arm, snake-shaped technology, applied in the directions of manipulators, claw arms, joints, etc., can solve the problems of the bearing capacity and flexibility of the snake-shaped arm, increase the weight of the main body of the snake-shaped arm, and the inflexibility of the flexible cable control, etc. Flexibility and obstacle avoidance, ensuring lightweight and improving flexibility

Inactive Publication Date: 2013-03-27
BEIJING AERONAUTICAL MFG TECH RES INST
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Problems solved by technology

After searching the literature of the prior art, it is found that some serpentine arms install the power supply and driver on the main body of the serpentine arm, which increases the weight of the main body of the serpentine arm and greatly limits the carrying capacity and flexibility of the serpentine arm. ; Some serpentine arms have less degrees of freedom, and the system movement is not flexible; some serpentine arms do not use a guiding mechanism, and the flexible cable control is not flexible

Method used

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Embodiment Construction

[0028] The technical scheme of the present invention will be described in further detail below in conjunction with accompanying drawing and embodiment:

[0029] See attached Figure 1-7 As shown, this kind of snake-shaped mechanical arm includes a central pillar formed by connecting four rods 1 in series, and the bottom of the central pillar is connected to a supporting base, which is characterized in that:

[0030] The top of the rods 1 is a spherical joint convex surface 8, the bottom of the rods 1 is a spherical joint concave surface 7, and a ball joint is formed between two rods. In order to reduce the mass of the rod and facilitate the monitoring of the working state of the flexible cable, the rod 1 is hollow, and a through hole 22 for weight reduction is processed along the central axis of the rod 1. The convex surface 8 of the ball joint of the rod 1 and Between the upper and lower bottom surfaces around the concave surface 7 of the ball joint, 30 flexible cable throug...

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Abstract

The invention discloses a snakelike mechanical arm, wherein a rigid rod is taken as a central strut, a flexible rope is adopted for driving, a power supply and a driver are arranged on a snakelike arm base, and the snakelike mechanical arm has the advantages of compact structure, strong flexibility and large rigidity. Different actuators or sensors are arranged on a tail end of the snakelike mechanical arm so as to complete different operation tasks, such as detection of non-structural narrow spaces of cabins, carriages and the like, as well as gluing, detection, chip removal, redundancy pickup and the like of inner cavities of airplanes.

Description

technical field [0001] The invention is a serpentine mechanical arm, which belongs to the technical field of product structure. Background technique [0002] At present, industrial robots with high precision and high repeatability have been widely used in the manufacturing fields of automobiles, electronics and home appliances. [0003] However, due to the limitation of high rigidity and large structural size, traditional industrial robots are difficult to be used in extremely dangerous and extreme environment operations, such as nuclear reactor inspection, pipeline cleaning and other fields. [0004] As a special robot, the serpentine arm has the advantages of large length-to-diameter ratio, many degrees of freedom, flexible movements, and strong environmental adaptability. It is easy to avoid obstacles and overcome singularities. Therefore, it can be used in various fields such as unstructured narrow closed space operations and highly flexible operations. The serpentine ...

Claims

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Application Information

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IPC IPC(8): B25J18/00B25J17/02
Inventor 杜兆才张书生刘斌甘露姚艳彬
Owner BEIJING AERONAUTICAL MFG TECH RES INST
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