The foldable and unfoldable continuum flight operation mechanical arm based on the paper folding principle comprises a paper folding main body mechanism, the paper folding main body mechanism comprises a plurality of paper folding modules connected in series, each paper folding module comprises a bottom plate and at least one foldable paper folding assembly, and the bottom plate is provided with a main wire passing hole and at least one set of through holes; the paper folding assembly is provided with a plurality of hinge parts, and the hinge parts are provided with hollow shafts. The thread rope driving mechanism comprises a driving module and a thread rope unit, the thread rope unit comprises a main thread rope and an auxiliary thread rope, the main thread rope penetrates through the main thread passing hole to be connected with the driving module, the auxiliary thread rope penetrates through the through hole to be fixedly connected with the main thread rope, and when the driving module winds or unwinds the main thread rope, the paper folding assembly is controlled to stretch out and draw back; the self-locking mechanism is arranged on the paper folding assembly; the self-locking mechanism comprises at least one self-locking module, the self-locking module comprises a two-way SMA rod connecting shaft body arranged in the hollow shaft, and the two-way SMA rod connecting shaft body is powered on/off, so that the paper folding assembly is locked or unlocked. Accurate angle control over all the paper folding modules and the whole mechanism is achieved.

    本发明涉及一种基于折纸原理的可折展连续体飞行操作机械臂,包括:折纸主体机构,包括多个串联连接的折纸模块,折纸模块包括底板和至少一个可折叠的折纸组件,底板开设主过线孔和至少一组通孔;折纸组件设置多个铰接部,且铰接部设置中空轴;线绳驱动机构,包括驱动模块和线绳单元,线绳单元包括主线绳和副线绳,主线绳穿过主过线孔和驱动模块连接,副线绳穿过通孔和主线绳固连,当驱动模块收卷或放卷主线绳,控制通过折纸组件伸缩;自锁机构,设置在折纸组件上;其包括至少一个自锁模块,自锁模块包括设在中空轴内的双程SMA杆连接轴主体,双程SMA杆连接轴主体通/断电,使折纸组件锁定或解锁。本发明实现对各折纸模块与整体机构的精准角度控制。


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    Titel :

    Foldable continuum flight operation mechanical arm based on paper folding principle and aircraft


    Weitere Titelangaben:

    基于折纸原理的可折展连续体飞行操作机械臂及飞行器


    Beteiligte:
    ZHANG TING (Autor:in) / ZHU GUANGPU (Autor:in)

    Erscheinungsdatum :

    2023-03-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT



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