Large-load long-distance radiation-resistant high-precision snakelike arm

Abstract

The invention provides a large-load long-distance radiation-resistant high-precision snakelike arm which comprises a driving base body and a snakelike arm body. One end of the snakelike arm body is connected to the driving base body, and the snakelike arm body is formed by connecting parallel-connection parallel joints in series. Each parallel-connection parallel joint comprises a plurality of same movable connecting rod mechanisms which are connected in parallel. Each parallel-connection parallel joint further comprises platforms which are connected with the two ends of each of the multiple same movable connecting rod mechanisms connected in parallel. When the platform at one end of the two ends of each of the multiple same movable connecting rod mechanisms connected in parallel is fixed, the platform at the other end conducts spherical translational motion relative to the platform, and every two adjacent platforms are always kept parallel. Each movable connecting rod mechanism at least comprises a connecting rod. A plurality of driving units are installed in the driving base body, each driving unit is connected with the corresponding connecting rod in the parallel-connection parallel joints through a steel wire rope, each steel wire rope is connected with the corresponding connecting rod, and motors which are distributed in a centralized mode are used for driving the steel wire ropes to drive the parallel-connection parallel joints to achieve movement of the snake-shaped arm body.

Description

technical field [0001] The invention belongs to the technical field of serpentine mechanical arms, in particular to a high-precision serpentine arm with large load and long-distance radiation resistance. Background technique [0002] The snake-shaped arm is the snake-shaped robotic arm, which has the characteristics of high degree of freedom, flexible movement, and strong adaptability. Its application prospects are very broad for tasks such as detection and welding in the environment. In some specific scenarios, such as the nuclear radiation environment, higher requirements are put forward for the serpentine arm. Not only must it be able to realize the most basic motion functions, but it also requires a large load and a long distance. At the same time, it also requires the serpentine arm It has the characteristics of radiation resistance, otherwise it cannot adapt to extreme environments such as nuclear radiation. [0003] At present, many kinds of serpentine arms have bee...

AI Technical Summary

Problems solved by technology

For example, the snake-shaped robot joint invented by CN107175682B is driven by the built-in motor of the joint. Although the control accuracy is high, due to the limitation of space and motor performance, the number of joints cannot be too many, and the load capacity is small. It is easily damaged, and the robot is not resistant to radiation; the snake-shaped robot invented by CN112894782A uses a hydraulic cylinder to drive the joints and has a relatively large load, but its structure is complex and bulky, so it is not suitable for narrow space operations, and the sealing elements in the hydraulic cylinder It is easily damaged in a radiation environment, and the robot is not resistant to radiation; the snake-shaped mechanical arm invented by CN110861075A uses a cylinder to drive the joint, and its load is small. Because the movement of the cylinder is difficult to accurately control, the precision is not high, and the sealing element in the cylinder It is easy to be damaged in the radiation environment, and the robot is not resistant to radiation; the snake-shaped robot invented by CN111113390A puts the motors in the drive box, and uses the rope to drive the joints to realize the movement. The joints are purely mechanical structures, which can work normally in the radiation environment. The robot can withstand radiation, but the rope uses the joint link itself as a fixed channel. When the joint moves, it will affect all the ropes passing through this joint, resulting in coupling between the movements of each joint, complex motion control and large errors. The motion precision of the robot is low; the serpentine arm invented by CN107486849A, the arm body is formed by a plurality of connecting rods connected in series, and each two adjacent connecting rods are movably connected through a cross-axis joint, but four pull cables Jointly control the rotation of a cross-axis joint, instead of independently controlling each link between the joints, the flexible movement of the robot cannot be realized, and the range of motion is small. The same rope uses the joint link itself as a fixed channel to connect There is coupling between the movements of each joint, and the movement accuracy is low

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