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A full-degree-of-freedom continuum manipulator

A technology of degrees of freedom and continuum, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor degrees of freedom and complex structure of manipulators with degrees of freedom, and achieve the effect of small outer diameter and good flexibility

Active Publication Date: 2022-03-04
HARBIN INST OF TECH AT WEIHAI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the technical problems of complex structure and poor degree of freedom of the existing degree of freedom manipulator, and provides a full degree of freedom continuum manipulator with simple structure and high degree of freedom

Method used

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  • A full-degree-of-freedom continuum manipulator
  • A full-degree-of-freedom continuum manipulator
  • A full-degree-of-freedom continuum manipulator

Examples

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Embodiment Construction

[0026] Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] Such as figure 1 with figure 2 As shown, the present invention includes a drive assembly, a gear assembly and a telescoping assembly, such as image 3 As shown, the driving assembly includes four driving motors 1, each driving motor 1 is fixed on the motor mounting base 6 by two fixing screws 5, the output ends of the four driving motors 1 are respectively connected to the worm shaft 2, and the worm shaft 2 is connected by a tight The set screw 7 is fixed on the output end of the drive motor 1, and the other ends of the four worm shafts 2 are respectively connected to the screw support 4 through the sliding bearing 3, the screw support 4 is set as an L-shaped support, and the screw support 4 The vertical arm 8 of the vertical arm 8 is connected with the motor mounting seat 6, and four sliding bearings 3 are arranged side by side on the...

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Abstract

The invention provides a full-degree-of-freedom continuum mechanical arm, which solves the technical problems of complex structure and poor degree of freedom of the existing degree-of-freedom mechanical arm. It includes a drive assembly, a gear assembly, and a telescopic assembly. The drive assembly includes four Motor, the output ends of the four driving motors are respectively connected to the worm shaft, and the other ends of the four worm shafts are respectively connected to the screw support through sliding bearings; the gear assembly includes gears that are respectively matched with the four worm shafts, and the driving motor drives the worm The shaft drives the gear to rotate, and the center of the gear is provided with a gear shaft, and the two ends of the gear shaft are respectively fixed on the motor mounting seat through ball bearings, and one end of the gear shaft passes through the motor mounting seat to install a winding roller, and the center of the winding roller is provided with a screw. The lead screw and the winding roller are spirally matched, the top of the lead screw is fixed on the support of the lead screw, and the winding roller moves linearly relative to the lead screw; the telescopic assembly includes a traction rope and an elastic skeleton, and the present invention can be widely used in the field of continuum robots .

Description

technical field [0001] The invention relates to the field of continuum robots, in particular to a full-degree-of-freedom continuum robot arm. Background technique [0002] The super-redundant degree of freedom manipulator is a robot system with many degrees of freedom, generally under-actuated infinite degrees of freedom, with good compliance and flexibility, and has very broad application prospects in industrial and medical endoscopy; traditional The ultra-redundant manipulator has low driving precision, cannot guarantee the tension of the drive line, cannot realize the full degree of freedom of bending and stretching of the body, has poor compliance, and is large in size. [0003] Chinese Patent Publication No. CN101653353A discloses a continuous body type semi-autonomous endoscopic robot, and Chinese Patent Publication No. CN103948435A discloses a single-hole laparoscopic minimally invasive surgical robot system, which is small in size and strong in flexibility, but they ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/12
Inventor 邢志广赵建文林俊王封旭
Owner HARBIN INST OF TECH AT WEIHAI
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