CN107618025A - Disaster relief mechanical arm - Google Patents
Disaster relief mechanical arm Download PDFInfo
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- CN107618025A CN107618025A CN201710852531.7A CN201710852531A CN107618025A CN 107618025 A CN107618025 A CN 107618025A CN 201710852531 A CN201710852531 A CN 201710852531A CN 107618025 A CN107618025 A CN 107618025A
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- photo resistance
- mechanical arm
- linkage board
- shadow shield
- driver
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Abstract
The invention discloses a kind of disaster relief mechanical arm, including mechanical arm body, bearing and drive device；Mechanical arm body includes top plate and some pieces of linkage boards being sequentially arranged at from top to bottom below top plate, is realized and connected by joint between the linkage board and adjacent linkage board of top plate and the top；Joint includes section body and spheroid, the top for saving body are fixedly connected with top plate bottom or linkage board bottom, and the bottom for saving body is fixedly connected with spheroid, and the top of linkage board is provided with the fossa glenoid for being used for that socket joint arrangement to be cooperatively formed with spheroid；Drive device includes at least three pull ropes and the motor for pulling pull rope, the via for coordinating with pull rope is circumferentially uniformly provided with linkage board, one end of pull rope down sequentially passes through the via of each linkage board under and is fixedly connected with top plate bottom, the other end is connected with the output end of motor；Motor is fixed on bearing, support bar is fixed with bearing, they sup-port is in the bottom of the linkage board of bottom.
Description
Technical field
The present invention relates to a kind of relief device, more particularly to a kind of disaster relief mechanical arm.
Background technology
The skilful mechanical arm of oversoul (Hyper-DexterousManipulator, HDM) is a kind of complicated or non-structural
Can have surprising motion, operation and spirit as snake, trunk or octopus tentacle etc. in face of various unknown tasks in environment
The robot of skilful performance；Due to its skilful characteristic of intrinsic oversoul, the skilful mechanical arm of oversoul is in restricted clearance or small space in face of not
The motion and operational capacity for knowing task are far above traditional Joint Manipulator, in the fields such as spatial manipulation, industry and medical treatment
All there is important application value and potential value, embody the progress direction of robot technology.Traditional normal table of disaster relief mechanical arm
Now to extend a certain joint or a certain joint of rotation, rescue detector is pressed close in broken stone or stone gap, the knot
The mechanical arm of structure has certain rigidity, but is short of flexibility, and mechanical arm can not expand the detection range of rescue detector indirectly,
The accuracy of the disaster relief can not be lifted, especially under the conditions of earthquake or landslide etc..
The content of the invention
In view of this, it is an object of the invention to provide a kind of disaster relief mechanical arm, by the way of Coupled Rigid-flexible, it is kept
It is flexible that it is improved while rigidity so that mechanical arm can complete certain flexure operation, and then expand the detection of disaster relief equipment
Scope.
The disaster relief mechanical arm of the present invention, including mechanical arm body, bearing and drive device；
The mechanical arm body includes top plate and some pieces of linkage boards being sequentially arranged at from top to bottom below top plate, the top
Realized and connected by joint between the linkage board and adjacent linkage board of plate and the top；The joint includes section body and spheroid,
The top of the section body is fixedly connected with top plate bottom or linkage board bottom, and the bottom of the section body is fixedly connected with spheroid,
The top of the linkage board is provided with the fossa glenoid for being used for that socket joint arrangement to be cooperatively formed with spheroid；
The drive device includes at least three pull ropes and the motor for pulling pull rope, on the linkage board
The via for coordinating with pull rope is circumferentially uniformly provided with, one end of the pull rope down sequentially passes through each linkage board under
Via and be fixedly connected with top plate bottom, the other end is connected with the output end of motor；
The motor is fixed on bearing, support bar is fixed with the bearing, the they sup-port is in most lower
The bottom of the linkage board of side.
Further, the mechanical arm also includes control system, and the control system includes processor, used on each linkage board
In the angular transducer of the articulation angle on the corresponding linkage board of real-time detection, the signal output part of the angular transducer with
The signal input part of processor is connected, and the signal input part of the motor is connected with the signal output part of processor, described
Processor is connected by communicator with host computer.
Further, the fossa glenoid by linkage board upper table downwards concave shape into and the longitudinal section of the fossa glenoid is in excellent
Arc with encase more than half include spheroid maximum gauge surface.
Further, pad is provided between the spheroid and fossa glenoid, the surface between the spheroid and fossa glenoid also applies
It is covered with lubricant.
Further, it is additionally provided between the linkage board and adjacent linkage board of the top plate and the top and is made of elastomeric material
Side cover, the joint is located to be closed in the articular cavity formed by side cover.
Further, the pull rope is steel wire rope.
Further, the quantity of the pull rope is four.
Further, the mechanical arm also includes being used for the device of solar generating to the power supply of each consuming parts, the solar energy
TRT includes battery, battery tray and the pillar located at battery tray, is provided with the battery tray and is connected to pillar and is used for
The driver I that driving pillar rotates from axle；Driver II is provided with the pillar, the one end of the pillar away from driver I leads to
Cross rotating shaft and be relatively connected to a framework, the drive end of the driver II be connected to framework and can driver framework rotated along rotating shaft, it is described
Solar panel and the sun position tracker for detecting solar azimuth are installed on framework；It is additionally provided with the battery tray
Controller, the controller electrically connect with battery, sun position tracker, driver I and driver II respectively, the control
Device sends control signal according to the detection data of sun position tracker to driver I and driver II.
Further, the sun position tracker includes substrate and the detection components located at upper surface of base plate, the substrate
Framework is located in a co-planar fashion with solar panel；
The detection components include support bar, the first shadow shield, the second shadow shield, the 3rd shadow shield, the first photo resistance
Group, the second photo resistance group and the 3rd photo resistance group；First shadow shield, the second shadow shield and the 3rd shadow shield are circle
Harden structure simultaneously be arranged in parallel and size is gradually reduced successively from lower to upper along support bar；
The first photo resistance group includes multiple being located at immediately below the first shadow shield and being fixedly installed on upper surface of base plate
The first photo resistance, multiple first photo resistance be uniformly distributed circumferentially and be used for detect the first shadow shield by vertical light
Shadow border during line direct projection；
The second photo resistance group includes multiple being located at immediately below the second shadow shield and being fixedly installed on the first shadow shield
Second photo resistance of upper surface, multiple second photo resistance be uniformly distributed circumferentially and be used for detect the second shadow shield by
Shadow border during vertical light direct projection；
The 3rd photo resistance group includes multiple being located at immediately below the 3rd shadow shield and being fixedly installed on the second shadow shield
3rd photo resistance of upper surface, multiple 3rd photo resistance be uniformly distributed circumferentially and be used for detect the 3rd shadow shield by
Shadow border during vertical light direct projection；
The controller electrically connects and according to this with the first photo resistance, the second photo resistance and the 3rd photo resistance respectively
The detection data of a little photo resistance and send control signal to driver I and driver II.
Further, between first photo resistance and the second photo resistance and second photo resistance and the 3rd photosensitive
Setting is distributed between resistance in a manner of radial misalignments.
Beneficial effects of the present invention：
The disaster relief mechanical arm of the present invention, with reference to the characteristics of human spine buffering is shaken, postural stability is high, by mechanical arm sheet
Body is designed to the structure of imitative human spine, and mechanical arm body is made up of rigid element and compliant member, with top plate, linkage board and pass
The vertebra of bionical human spine is saved, there is certain rigidity, with the muscle of the bionical human spine of pull rope, there is necessarily soft
Property, during driving by the stretching of pull rope and articulation, top plate and linkage board move；Therefore, mechanical arm body
The mode of Coupled Rigid-flexible is employed, keeps improving its flexibility while its rigidity so that mechanical arm can complete certain bending
Action, and then expand the detection range of disaster relief equipment.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is enlarged drawing at A in Fig. 1；
Fig. 3 is the structural representation of the linkage board of the present invention；
Fig. 4 is the theory diagram of the control system of the present invention；
Fig. 5 is the structural representation of the device of solar generating of the present invention；
Fig. 6 is the structural representation of the sun position tracker of the present invention.
Embodiment
As shown in Figures 1 to 6：The disaster relief mechanical arm of the present embodiment, including mechanical arm body, bearing 3 and drive device；Institute
Stating mechanical arm body includes top plate 101 and some pieces of linkage boards 102 for being sequentially arranged at the lower section of top plate 101 from top to bottom, the top
Realized and connected by joint between plate 101 and the linkage board of the top 102 and adjacent linkage board 102；The joint includes section
Body 103 and spheroid 104, the top of the section body 103 are fixedly connected with the bottom of top plate 101 or the bottom of linkage board 102, the section
The bottom of body 103 is fixedly connected with spheroid 104, and the top of the linkage board 102, which is provided with, to be used to cooperatively form ball-and-socket with spheroid 104
The fossa glenoid 1021 of articulation structure；It can be in up big and down small coniform to save body 103, can pass through welding manner and corresponding plate and ball
Body 104 is connected；The quantity of top plate 101 is one piece, and disaster relief equipment is fixed on top plate 101 during use, such as can be set on top plate 101
Put ring flange；The quantity of linkage board 102 is at least two pieces (the present embodiment sets four pieces), and the quantity of linkage board 102 is more, machinery
The movement of arm body is more flexible, but controls difficulty also to improve therewith, and the linkage board 102 of bottom is fixed on bearing 3 during use；Top
The structure of plate 101 is roughly the same with linkage board 102, such as can be discoideus；The drive device includes at least three tractions
Rope 201 and for pulling the motor 202 of pull rope 201, be circumferentially uniformly provided with the linkage board 102 for and traction
The via 102a that rope 201 coordinates, one end of the pull rope down sequentially passed through under the via 102a of each linkage board 102 and with
The bottom of top plate 101 is fixedly connected, the other end is connected with the output end of motor 202；With reference to the concussion of human spine buffering, posture
The characteristics of stability is high, mechanical arm body is designed to the structure of imitative human spine, mechanical arm body is by rigid element and flexibility
Part forms, and with top plate 101, the vertebra of the bionical human spine of linkage board 102 and joint, has certain rigidity, uses pull rope
The muscle of 201 bionical human spines, has certain flexibility, during driving by the stretching of pull rope 201 and articulation,
Top plate 101 and linkage board 102 move；Pull rope 201 is preferably steel wire rope；Motor 202 can be existing servo electricity
Machine, can be set cheese on its output shaft, and steel wire rope is around being located on cheese, therefore the rotation of output shaft can drive steel wire rope to be drawn
Stretch motion；The quantity of steel wire rope can as needed depending on, preferably four, four mistakes are now respectively provided with each linkage board 102
Hole 102a, adjacent vias 102a's is separated by 90 ° on same linkage board 102；The motor 202 is fixed on bearing 3, described
Support bar 301 is fixed with bearing 3, the support bar 301 is supported in the bottom of the linkage board 102 of bottom；Bearing 3 during use
It is securable on a mobility-aid apparatus.
In the present embodiment, the mechanical arm also includes control system, and the control system includes processor 401, located at each
The angular transducer 402 for the articulation angle being used on dynamic plate 102 on the corresponding linkage board 102 of real-time detection, the angle pass
The signal output part of sensor 402 is connected with the signal input part of processor 401, the signal input part of the motor 202 with
The signal output part of processor 401 is connected, and the processor 401 is connected by communicator 403 with host computer 404；Processor 401
Can be existing PLC, and PLC is handled data using PID arithmetic mode, it is simple in construction, stability is good, reliable operation,
It is easy to adjust；Host computer 404 can be PC, have human-computer interaction interface, easy to operation；Angular transducer 402 detects joint and turned
Dynamic angle, is easy to that the case of bending of mechanical arm body is monitored and controlled；Communicator 403 is preferably wireless communicator 403
Structure, it can be realized and connected by wireless network, be easy to be laid out；Instruction is sent to processor 401 by host computer 404, so as to control
The driving condition of each motor 202 is made, the different drawing states of each pull rope 201 realize the differently curved of mechanical arm body
Form.
In the present embodiment, the fossa glenoid 1021 by the upper table of linkage board 102 downwards concave shape into, be easy to be manufactured,
And formation fossa glenoid 1021 has higher structural strength；And the longitudinal section of the fossa glenoid 1021 in major arc shape to encase half
The surface of maximum gauge including spheroid 104 above so that spheroid 104 is stayed in fossa glenoid 1021 by card, effectively prevents spheroid
104 depart from when by strong load, ensure the stability of mechanical arm body motion.
In the present embodiment, pad 105 is provided between the spheroid 104 and fossa glenoid 1021, in the spheroid 104 and joint
Surface between nest 1021 is also coated with lubricant；Pad 105 can be formed from a resin；105 and lubricant are padded using these,
Spheroid 104 can be made swimmingly to be rotated relative to fossa glenoid 1021, improve the flexibility of mechanical arm body motion.
In the present embodiment, it is additionally provided with and adopts between the top plate 101 and the linkage board 102 and adjacent linkage board 102 of the top
Side cover 5 made of elastomeric material, the joint is located to be closed in the articular cavity formed by side cover 5；Elastomeric material for example can be
Silica gel, and the longitudinal section of side cover 5 is in wavy so that side cover 5 can flexibly follow the action in joint without hindering articulation；
Side cover 5 can be fixed by bonding way；Side cover 5 forms the articular cavity of an opposing seal, pass with lower plate disposed thereon
Section is located in articular cavity, prevents joint from being polluted by introduced contaminants, extends joint service life.
The mechanical arm also includes being used for the device of solar generating 6 to the power supply of each consuming parts, the solar power generation dress
Putting 6 includes battery 6a, battery tray 601 and the pillar 602 located at battery tray, is provided with the battery tray 601 and is connected to pillar
602 and for driving the driver I 603 that pillar 602 rotates from axle；Driver II 604, the branch are provided with the pillar 602
The one end of post 602 away from driver I 603 is relatively connected to a framework 606 by rotating shaft 605, and the drive end of the driver II 604 connects
Be connected to framework 606 and can driver framework 606 rotated along rotating shaft 605, be provided with the framework 606 solar panel 607 and
Sun position tracker；Be additionally provided with controller 608 in the battery tray 601, the controller 608 respectively with battery 6a5, drive
Dynamic device I 603 and driver II 604 electrically connect；Driver I 603 can be electric rotating machine, for driving pillar 602 to rotate；Driver
II 604 can be push-rod electric machine, be rotated for driver framework 606；The drive end of driver II 604 is connected to the lower end of framework 606,
The center back of framework 606 is provided with the connector for being used for being connected with rotating shaft 605；Controller 608 can be single-chip microcomputer and set existing
Control program, such as STM32F102CB or STM3FF205VF etc., will not be repeated here；Battery 6a is removably located at
Battery tray, and battery 6a electrically connects with solar panel 607；Device of solar generating 6 can be fixed in plant equipment, or
Battery 6a5 is set to Demountable by person, now battery 6a5 and device of solar generating 6 independently of plant equipment outside
Put, device of solar generating 6 persistently charges on daytime to each battery 6a5；First push rod 41 and the second push rod 42 are also
It can be electrically connected with the power supply in plant equipment or city, to ensure enough supplies of electric power；When solar panel 607 and the sun
During light contacts, the photovoltaic element on solar panel 607 can convert light energy into electric energy, and then by electrical power storage in electric power storage
In the 6a5 of pond；When position of sun changes, signal is reached controller 608 by sun position tracker, and controller 608 is then to driving
Device I 603 and driver II 604 send enabling signal, and the cooperation of driver I 603, driver II 604 make it that framework 606 is entered
Row rotation so that the phototropic face of solar panel 607 can be vertical with sunray, so as to effectively improve the profit of solar energy
With rate and conversion ratio, to keep its stronger generating capacity.
In the present embodiment, the sun position tracker includes substrate 611 and the detection group located at the upper surface of substrate 611
Part, the substrate 611 are located at framework 606 in a co-planar fashion with solar panel 607；Framework 606 can be metal frame structure,
The board slot II with the board slot I of the form-fit of solar panel 607 and with the form-fit of substrate 611 can be set thereon, be easy to fill
Match somebody with somebody；It is coplanar to refer to that substrate 611 is generally aligned in the same plane with solar panel 607, substrate 611 and the sun when framework 606 rotates
Can the rotation identical angle of cell panel 607；The detection components include support bar 612, the first shadow shield 613, the second shadow shield
614th, the 3rd shadow shield 615, the first photo resistance group, the second photo resistance group and the 3rd photo resistance group；First shading
Plate 613, the second shadow shield 614 and the 3rd shadow shield 615 are Circular plate structure and set along support bar 612 is parallel successively from lower to upper
Put and size is gradually reduced；Support bar 612 sequentially pass through the first shadow shield 613, the second shadow shield 614 center and penetrate the 3rd
The center of shadow shield 615；The specific size of first shadow shield 613, the second shadow shield 614 and the 3rd shadow shield 615 can be according to reality
Depending on border needs；It is identical that if the first photo resistance group, the second photo resistance group and the 3rd photo resistance group include stem structure respectively
Photo resistance, photo resistance is a kind of existing light luminance sensor, very sensitive to light.
The first photo resistance group includes multiple being located at immediately below the first shadow shield 613 and being fixedly installed on substrate 611
First photo resistance 616 of upper surface, multiple first photo resistance 616 are uniformly distributed circumferentially and hidden for detecting first
Tabula rasa 613 is by shadow border during vertical light direct projection；First photo resistance group may include 4~8 the first photo resistance 616；
Multiple first photo resistance 616 are uniformly distributed on the circumference centered on by support bar 612 with the tie point of substrate 611；First light
The sound end of quick resistance 616 should be located at the underface at the edge of the first shadow shield 613, when the first shadow shield 613 is by vertical light
The shadow of similar shape is produced during direct projection on substrate 611, the first photo resistance 616 is located at shadow edge, due to being hindered by shadow
Gear, all first photo resistance 616 show high-impedance state during no light, now show substrate 611, solar panel
607 be to be in direct sunlight position, and the position is without adjustment；And when position of sun changes, the first shadow shield 613 is inclined
Skew ray irradiates, shadow deflection caused by the first shadow shield 613, and some first photo resistance 616 will be therefore and by light
Irradiation, first photo resistance 616 show low resistive state during illumination, now show substrate 611, solar panel
607 be that the position needs to adjust, can adjusted according to the relativeness of each first photo resistance 616 in sun oblique fire position
It is whole, untill high-impedance state is replied in all first photo resistance 616.
The second photo resistance group includes multiple being located at immediately below the second shadow shield 614 and being fixedly installed on the first shading
Second photo resistance 617 of the upper surface of plate 613, multiple second photo resistance 617 are uniformly distributed circumferentially and for detecting
Second shadow shield 614 is by shadow border during vertical light direct projection；Second photo resistance group may include 4~8 the second photosensitive electricity
Resistance 617；Multiple second photo resistance 617 are uniform on the circumference centered on the tie point of 612 and first shadow shield of support bar 613
Distribution；The sound end of second photo resistance 617 should be located at the underface at the edge of the second shadow shield 614, when the second shadow shield 614 by
To the shadow for producing similar shape during vertical light direct projection on the first shadow shield 613, the second photo resistance 617 is located at shadow side
Edge, due to being stopped by shadow, all second photo resistance 617 show high-impedance state during no light, now show substrate
611st, solar panel 607 is to be in direct sunlight position, and the position is without adjustment；And when position of sun changes, the
Two shadow shields 614 are irradiated by oblique light ray, shadow deflection caused by the second shadow shield 614, and some second photo resistance 617 will
Therefore it can be irradiated by light, second photo resistance 617 shows low resistive state during illumination, now shows substrate
611st, solar panel 607 is that the position needs to adjust in sun oblique fire position；In theory the first photo resistance group with
The result of detection of second photo resistance group is consistent, but when the first photo resistance group occurs detecting wrong, second is photosensitive
Resistance group can serve as correcting (controller 608 just sends control signal when only having two groups of situations consistent), fixed so as to improve
Position precision.
The 3rd photo resistance group includes multiple being located at immediately below the 3rd shadow shield 615 and being fixedly installed on the second shading
3rd photo resistance 618 of the upper surface of plate 614, multiple 3rd photo resistance 618 are uniformly distributed circumferentially and for detecting
3rd shadow shield 615 is by shadow border during vertical light direct projection；3rd photo resistance group may include 4~8 the 3rd photosensitive electricity
Resistance 618；Multiple 3rd photo resistance 618 are uniform on the circumference centered on the tie point of 612 and second shadow shield of support bar 614
Distribution；The sound end of 3rd photo resistance 618 should be located at the underface at the edge of the 3rd shadow shield 615, when the 3rd shadow shield 615 by
To the shadow for producing similar shape during vertical light direct projection on the second shadow shield 614, the 3rd photo resistance 618 is located at shadow side
Edge, due to being stopped by shadow, all 3rd photo resistance 618 show high-impedance state during no light, now show substrate
611st, solar panel 607 is to be in direct sunlight position, and the position is without adjustment；And when position of sun changes, the
Three shadow shields 615 are irradiated by oblique light ray, shadow deflection caused by the 3rd shadow shield 615, and some the 3rd photo resistance 618 will
Therefore it can be irradiated by light, the 3rd photo resistance 618 shows low resistive state during illumination, now shows substrate
611st, solar panel 607 is that the position needs to adjust in sun oblique fire position, in theory the first photo resistance group,
The result of detection of second photo resistance group and the 3rd photo resistance group is consistent, but when a certain photo resistance group detects
During mistake, other photo resistance groups, which can serve as correcting, (only has three groups of situations or controller 608 during consistent two groups of situations
Just send control signal), so as to greatly improve positioning precision.
The controller 608 is electric with the first photo resistance 616, the second photo resistance 617 and the 3rd photo resistance 618 respectively
Connect and send control signal to driver I 603 and driver II 604 according to the detection data of these photo resistance；Use
When whole device can be positioned under sunlight, when solar panel 607 and during sun exposure, on solar panel 607
Photovoltaic element can convert light energy into electric energy, and then by electrical power storage in battery 6a；When position of sun changes, the sun is fixed
Signal is reached controller 608 by position tracker, and controller 608 then sends enabling signal to driver I 603 and driver II 604,
The cooperation of driver I 603, driver II 604 causes framework 606 to be able to be rotated so that solar panel 607 is located all the time
In the position of direct sunlight, to keep its stronger generating capacity, capacity usage ratio is improved；In addition, sun position tracker leads to
Cross shadow caused by shining upon associated shade plate and act on related photo resistance and realize and position of sun is positioned, and then with
Substrate 611 adjusts the rotational angle of solar panel 607 for reference, ensures that generating efficiency is higher；And utilize shading hardened
Close photo resistance and realize sun position, ensure that TRT possesses high accuracy and can reduce the such environmental effects moment tracking sun
Position, interference of the environmental factor to signal can be weakened, reduce induced signal error.
In the present embodiment, between the photo resistance 617 of the first photo resistance 616 and second and second photo resistance
617 and the 3rd are distributed setting between photo resistance 618 in a manner of radial misalignments；Radial misalignments refer to each photo resistance and its
Projection of the line of circle center on substrate 611 is misaligned；The structure causes photo resistance can be from multiple directions to sunshine
Detected, be advantageous to improve accuracy of detection；Preferably, first photo resistance 616, the second photo resistance 617, the 3rd light
The quantity of quick resistance 618 is 4, between the photo resistance 617 of the first photo resistance 616 and second and described second photosensitive
Between the photo resistance 618 of resistance 617 and the 3rd setting is distributed in a manner of along the circumferential direction 30 ° misplace.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (10)
- A kind of 1. disaster relief mechanical arm, it is characterised in that：Including mechanical arm body, bearing and drive device；The mechanical arm body includes top plate and some pieces of linkage boards being sequentially arranged at from top to bottom below top plate, the top plate with Realized and connected by joint between the linkage board of the top and adjacent linkage board；The joint includes section body and spheroid, described The top of section body is fixedly connected with top plate bottom or linkage board bottom, and the bottom of the section body is fixedly connected with spheroid, described The top of linkage board is provided with the fossa glenoid for being used for that socket joint arrangement to be cooperatively formed with spheroid；The drive device includes at least three pull ropes and the motor for pulling pull rope, along week on the linkage board To the via being uniformly provided with for coordinating with pull rope, one end of the pull rope down sequentially passes through the mistake of each linkage board under Kong Bingyu top plates bottom is fixedly connected, the other end is connected with the output end of motor；The motor is fixed on bearing, support bar is fixed with the bearing, the they sup-port is in bottom The bottom of linkage board.
- 2. disaster relief mechanical arm according to claim 1, it is characterised in that：The mechanical arm also includes control system, the control System processed includes processor, the angle for the articulation angle being used on each linkage board on the corresponding linkage board of real-time detection passes Sensor, the signal output part of the angular transducer are connected with the signal input part of processor, and the signal of the motor is defeated Enter end with the signal output part of processor to be connected, the processor is connected by communicator with host computer.
- 3. disaster relief mechanical arm according to claim 2, it is characterised in that：The fossa glenoid is recessed downwards by linkage board upper table Fall into formed, and the longitudinal section of the fossa glenoid in major arc shape with encase more than half include spheroid maximum gauge surface.
- 4. disaster relief mechanical arm according to claim 3, it is characterised in that：Pad is provided between the spheroid and fossa glenoid, Surface between the spheroid and fossa glenoid is also coated with lubricant.
- 5. disaster relief mechanical arm according to claim 4, it is characterised in that：The linkage board of the top plate and the top and adjacent It is additionally provided between linkage board using side cover made of elastomeric material, the joint is located to be closed in the articular cavity formed by side cover.
- 6. disaster relief mechanical arm according to claim 4, it is characterised in that：The pull rope is steel wire rope.
- 7. the disaster relief mechanical arm according to any one of claim 1 to 6, it is characterised in that：The quantity of the pull rope is four Root.
- 8. the disaster relief mechanical arm according to any one of claim 2 to 6, it is characterised in that：The mechanical arm also includes being used to give The device of solar generating of each consuming parts power supply, the device of solar generating include battery, battery tray and located at batteries The pillar of seat, it is provided with the battery tray and is connected to pillar and the driver I for driving pillar to be rotated from axle；In the pillar Provided with driver II, the one end of the pillar away from driver I is relatively connected to a framework, the driving of the driver II by rotating shaft End be connected to framework and can driver framework rotated along rotating shaft, solar panel is installed and for detecting the sun on the framework The sun position tracker in orientation；Be additionally provided with controller in the battery tray, the controller respectively with battery, sun position Tracker, driver I and driver II electrically connect, and the controller is according to the detection data of sun position tracker and to driving Device I and driver II send control signal.
- 9. disaster relief mechanical arm according to claim 8, it is characterised in that：The sun position tracker includes substrate and set In the detection components of upper surface of base plate, the substrate is located at framework in a co-planar fashion with solar panel；The detection components include support bar, the first shadow shield, the second shadow shield, the 3rd shadow shield, the first photo resistance group, the Two photo resistance groups and the 3rd photo resistance group；First shadow shield, the second shadow shield and the 3rd shadow shield are plectane knot Structure simultaneously be arranged in parallel and size is gradually reduced successively from lower to upper along support bar；The first photo resistance group include it is multiple be located at immediately below the first shadow shield and be fixedly installed on upper surface of base plate the One photo resistance, multiple first photo resistance be uniformly distributed circumferentially and be used for detect the first shadow shield it is straight by vertical light Shadow border when penetrating；The second photo resistance group includes multiple being located at immediately below the second shadow shield and being fixedly installed on the first shadow shield upper table Second photo resistance in face, multiple second photo resistance are uniformly distributed circumferentially and are used to detect the second shadow shield by vertical Shadow border during light direct projection；The 3rd photo resistance group includes multiple being located at immediately below the 3rd shadow shield and being fixedly installed on the second shadow shield upper table 3rd photo resistance in face, multiple 3rd photo resistance are uniformly distributed circumferentially and are used to detect the 3rd shadow shield by vertical Shadow border during light direct projection；The controller electrically connects and according to these light with the first photo resistance, the second photo resistance and the 3rd photo resistance respectively The detection data of quick resistance and send control signal to driver I and driver II.
- 10. disaster relief mechanical arm according to claim 9, it is characterised in that：First photo resistance and the second photosensitive electricity Setting is distributed in a manner of radial misalignments between resistance and between second photo resistance and the 3rd photo resistance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710852531.7A CN107618025A (en) | 2017-09-20 | 2017-09-20 | Disaster relief mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710852531.7A CN107618025A (en) | 2017-09-20 | 2017-09-20 | Disaster relief mechanical arm |
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| CN107618025A true CN107618025A (en) | 2018-01-23 |
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| CN201710852531.7A Pending CN107618025A (en) | 2017-09-20 | 2017-09-20 | Disaster relief mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108453722A (en) * | 2018-03-29 | 2018-08-28 | 清华大学深圳研究生院 | A kind of flexible mechanical arm based on elastic tube |
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| CN113479273A (en) * | 2021-08-09 | 2021-10-08 | 北京理工大学 | Modular composite robot |
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| CN110509308A (en) * | 2019-08-28 | 2019-11-29 | 燕山大学 | A kind of bio-robot bulb joint of rigid flexible system |
| CN113479273A (en) * | 2021-08-09 | 2021-10-08 | 北京理工大学 | Modular composite robot |
| CN114505883A (en) * | 2022-03-23 | 2022-05-17 | 北京信息科技大学 | Guyed robot-oriented liquid metal auxiliary universal joint and design method |
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