Flexible mechanical arm system for deep cavity operation and continuum robot

Abstract

The invention belongs to the technical field of specialized robots, and discloses a flexible mechanical arm system for deep cavity operation and a continuum robot. The flexible mechanical arm system comprise a functional end and a control end, wherein, the functional end comprises a flexible mechanical arm module, a camera shooting and lighting module, a top fixing module, a scaling module, a driving module, a transmission module and a sensor module; the control end comprises a flexible mechanical arm control module and a camera shooting illumination control module, and the flexible mechanical arm is moved to a designated pose; and the sensor control module is used for realizing position feedback of the driving device and acquisition feedback of pulling pressure of a flexible cable or a rod, and realizing acquisition of real-time force in a rope driving process and an initial pre-tightening function of a force sensor. The system is high in universality, high in modularization degree, safe and small in relative size; meanwhile, the friction between a steel-plastic hose and a scaling disc is reduced; and large sliding friction force generated by the sharp change of a wire in the steel-plastic hose along with the steel-plastic hose is reduced, and the continuum robot has enough torsional rigidity due to the fixing mode of interval discs.

Description

technical field [0001] The invention belongs to the technical field of special robots, and in particular relates to a flexible manipulator system and a continuum robot for deep cavity operations. Background technique [0002] At present, performing fine tasks in a narrow and congested environment has always been a bottleneck that traditional continuum robots are difficult to overcome. Hyper-redundant snake robots or infinitely redundant continuum robots offer possibilities for robots to perform tasks in confined spaces. Due to the high cost of inspection and maintenance of large equipment. Therefore, hyper-redundant robots have attracted the attention of many researchers in recent years. Earlier OC robots were mainly used for inspection and maintenance of nuclear reaction equipment, and the robot has 20 degrees of freedom. Both Shenyang Institute of Automation and Haian Jiaorui Robotics have developed super-redundant robots with 24 degrees of freedom and 25 degrees of fre...

AI Technical Summary

Problems solved by technology

Among them, the structural size of their mechanical bodies and control parts is relatively large. The most important reason is that due to the limitation of degrees of freedom and controllability, the length of the flexible arm of the ultra-redundant robot cannot meet the inspection and maintenance tasks of large equipment.

Taking the Haian Jiaorui robot as an example, the length of the executive body is only 1235mm, which cannot solve the overhaul and maintenance tasks of super-large equipment

[0003] Through the above analysis, the existing problems and defects of the existing technology are as follows: the existing ultra-redundant robot has a large structure size and relatively few degrees of freedom, and the friction force of the flexible cable or rod is relatively large during the movement process. The problem of disc torsion resistance is more complicated, and the mechanical part and the control part of the electric cabinet cannot be integrated into one design or the design together is quite large in size

[0004] The difficulty of solving the above problems and defects is: to ensure the installation of more drive units under the small structure size, to ensure the selection, layout and wiring of each module under the small structure size; the design layout is more difficult

Images