CN108393924A - A kind of retractable curved Grazing condition machinery arm configuration of line driving - Google Patents
A kind of retractable curved Grazing condition machinery arm configuration of line driving Download PDFInfo
- Publication number
- CN108393924A CN108393924A CN201810137984.6A CN201810137984A CN108393924A CN 108393924 A CN108393924 A CN 108393924A CN 201810137984 A CN201810137984 A CN 201810137984A CN 108393924 A CN108393924 A CN 108393924A
- Authority
- CN
- China
- Prior art keywords
- nodal plate
- grazing condition
- spring
- cotton rope
- mechanical arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000009304 pastoral farming Methods 0.000 title claims abstract description 31
- 229920000742 Cotton Polymers 0.000 claims abstract description 32
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000003068 static effect Effects 0.000 abstract description 2
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
Abstract
The present invention discloses a kind of retractable curved Grazing condition machinery arm configuration of line driving, the structure controls posture by spring cotton rope, utilize itself telescopic nature of spring, the elongation of spring is controlled with the mode of coiling, cotton rope is pierced by from the aperture at nodal plate edge, each group of cotton rope controls a nodal plate respectively, and this structure makes flexible arm more stablize；Under original state, underdriven stepper motor is in static, Grazing condition machinery arm lengths longest；When needing the end of Grazing condition mechanical arm to reach specified point or Grazing condition mechanical arm need to be compressed, three stepper motors movements drive bobbin winoler rotation, cotton rope is set to move downward, the nodal plate spacing of Grazing condition mechanical arm becomes smaller, spring-compressed so that overall structure is compressed.Operating space can reach broader region, and save drive part occupied space.The structural stability is reliable, perfect in shape and function, and terminal position can reach any position in external envelope face.
Description
Technical field
The present invention relates to the lines of control terminal position and whole posture to drive Grazing condition machinery arm configuration, especially a kind of small
The Grazing condition machinery arm configuration of volume.
Background technology
Traditional rigid machine mechanical arm has the features such as precision is high, and bearing capacity is big, but its overall volume is big, and weight is big, no
Convenient for working in complicated working environment.Grazing condition mechanical arm has the features such as controllable terminal position, retainer body posture,
Improve the flexibility of work.To make the control section volume smaller of flexible arm, working range is more extensive, and the present invention uses bullet
Spring separates spring as flexible arm body, nodal plate, while every section of nodal plate upper fixed line rope controls the elongation of spring, improves
Integrally-built stability simultaneously makes distance of the Grazing condition mechanical arm after contraction and diastole between nodal plate be consistent.
Invention content
The present invention is to propose that a kind of line drives retractable curved Grazing condition machinery arm configuration according to technical problems to be solved,
To increase the flexibility of Grazing condition mechanical arm, its operating space is enable to reach broader region, and saves drive part and account for
Use space.The structural stability is reliable, perfect in shape and function, and terminal position can reach any position in external envelope face.
To achieve the above object, major mechanical difficult point solution is as follows：General Grazing condition mechanical arm uses metal material
Material or elastic material are as driving, although provide rigidity occupies excessive space since it is not collapsible, the present invention adopts
It has used spring supernumerary segment piece as driving main body, the elongation of flexible arm is controlled by contractile cotton rope, ensured flexible arm stability
Space is greatly saved simultaneously.
The specific technical solution of the present invention：The retractable curved Grazing condition machinery arm configuration of a kind of line driving, by spring, base
Seat, nodal plate roll band, cotton rope, bobbin winoler composition.
The band that the lower end of upper layer spring and the upper end of lower layer's spring are passed through by one from nodal plate circular hole ties up fixation；It is most lower
End spring is fixed on by band on pedestal；Cotton rope is pierced by by three apertures uniformly distributed on each nodal plate, and one group is four cotton ropes
The edge of four nodal plates is tied up to respectively and three apertures all uniformly distributed from pedestal are pierced by, and is bolted on bobbin winoler
On, remaining two groups are equally installed.Bobbin winoler is connected by shaft coupling with stepper motor.
Description of the drawings
Fig. 1 is overall structure figure of the present invention；
Fig. 2 is telescopic process schematic diagram of the present invention；
In figure：1, stepper motor, 2, bobbin winoler, 3, cotton rope, 4, pedestal, 5, spring, 6, nodal plate, 7, roll band.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings：
As shown in Figure 1, a kind of variable length is bent Grazing condition machinery arm configuration, including stepper motor 1, bobbin winoler 2, cotton rope 3,
Pedestal 4, spring 5, nodal plate 6 and band 7.
About 5 each spring sequentially passes through nodal plate 6 and band 7 connects；The centre of nodal plate 6 is circular hole, and the edge of nodal plate 6 is equal
Cloth is there are three aperture, and band 7 passes through the circular hole on nodal plate 6 and carries out tying up fixation, and 7 groups of spring 5, nodal plate 6 and band are helped soft
Property mechanical arm；Grazing condition mechanical arm the lowermost spring 5 is fixed on by band 7 on pedestal 4；Three groups of cotton ropes 3, which pass through, to be each passed through
Three apertures at 6 edge of nodal plate, every group of cotton rope 3 share four cotton ropes 3 and sequentially pass through each nodal plate 6 on Grazing condition mechanical arm
Upper uniformly distributed aperture；First cotton rope 3 ties up on the nodal plate 6 of top；Article 2 cotton rope 3 ties up on second nodal plate 6；Article 3 line
Rope 3 ties up on third nodal plate 6；Article 4 cotton rope 3 ties up on the 4th nodal plate 6；The end of every cotton rope 3 passes through bolt respectively
It is fixed on bobbin winoler 2.Bobbin winoler 2 is connected by shaft coupling and stepper motor 1.Bobbin winoler 2 and stepper motor 1 are installed in base
On seat 4.
The quantity of cotton rope 3 depends on the quantity of spring 5.
Using itself telescopic nature of spring, the elongation of spring is controlled with the mode of coiling, this structure can save
Space allows flexible arm to be used in wider place.Cotton rope is pierced by from the aperture at nodal plate edge, and each group of cotton rope is controlled respectively
A nodal plate is made, this structure makes flexible arm more stablize.Under original state, underdriven stepper motor is in static, entirely
Flexible mechanical arm lengths longest.When needing, the end of Grazing condition mechanical arm reaches specified point or Grazing condition mechanical arm need to be to be compressed
When, three stepper motor movements drive bobbin winoler 2 to rotate, cotton rope 3 are made to move downward, and 6 spacing of nodal plate of Grazing condition mechanical arm becomes
Small, spring 5 compresses so that overall structure is compressed.
Claims (3)
1. a kind of variable length is bent Grazing condition machinery arm configuration, it is characterised in that：Including stepper motor (1), bobbin winoler (2), line
Rope (3), pedestal (4), spring (5), nodal plate (6) and band (7)；
Each spring (5) sequentially passes through nodal plate (6) and band (7) connection up and down；The centre of nodal plate (6) is circular hole, nodal plate (6)
Edge is uniformly distributed there are three aperture, and band (7) passes through the circular hole on nodal plate (6) and carrying out to tie up fixation, spring (5), nodal plate (6) and
Band (7) forms Grazing condition mechanical arm；Grazing condition mechanical arm the lowermost spring (5) is fixed on by band (7) on pedestal (4)；
Three groups of cotton ropes (3) pass through three apertures for being each passed through nodal plate (6) edge, and every group of cotton rope (3) shares four cotton ropes (3) and sequentially
Uniformly distributed aperture on each nodal plate (6) on Grazing condition mechanical arm；First cotton rope (3) ties up on top nodal plate (6)；The
Two-lines rope (3) ties up on second nodal plate (6)；Article 3 cotton rope (3) ties up on third nodal plate (6)；Article 4 cotton rope (3)
It ties up on the 4th nodal plate (6)；The end of every cotton rope (3) is bolted on respectively on bobbin winoler (2)；Bobbin winoler (2)
It is connected by shaft coupling and stepper motor (1)；Bobbin winoler (2) and stepper motor (1) are installed on pedestal (4).
2. a kind of variable length according to claim 1 is bent Grazing condition machinery arm configuration, it is characterised in that：Utilize spring
Itself telescopic nature controls the elongation of spring with the mode of coiling, and cotton rope is pierced by from the aperture at nodal plate edge, each group of cotton rope
A nodal plate is controlled respectively, and this structure makes flexible arm more stablize；Under original state, underdriven stepper motor is in quiet
Only, Grazing condition machinery arm lengths longest；Reach specified point or Grazing condition mechanical arm needs when needing the end of Grazing condition mechanical arm
When being compressed, three stepper motor movements drive bobbin winoler (2) to rotate, cotton rope (3) are made to move downward, Grazing condition mechanical arm
Nodal plate (6) spacing becomes smaller, spring (5) compression so that overall structure is compressed.
3. a kind of variable length according to claim 1 is bent Grazing condition machinery arm configuration, it is characterised in that：Cotton rope (3)
Quantity depends on the quantity of spring (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810137984.6A CN108393924B (en) | 2018-02-10 | 2018-02-10 | Line-driven telescopic bending full-flexible mechanical arm structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810137984.6A CN108393924B (en) | 2018-02-10 | 2018-02-10 | Line-driven telescopic bending full-flexible mechanical arm structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108393924A true CN108393924A (en) | 2018-08-14 |
| CN108393924B CN108393924B (en) | 2020-04-17 |
Family
ID=63095998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810137984.6A Expired - Fee Related CN108393924B (en) | 2018-02-10 | 2018-02-10 | Line-driven telescopic bending full-flexible mechanical arm structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108393924B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109108953A (en) * | 2018-09-20 | 2019-01-01 | 上海大学 | Unmanned refuel of one kind uses mechanical arm system |
| CN109397331A (en) * | 2018-12-10 | 2019-03-01 | 浙江清华柔性电子技术研究院 | Telescopic mechanism, mechanical arm and robot system |
| CN111516003A (en) * | 2020-04-27 | 2020-08-11 | 北京工业大学 | Flexible mechanical arm with hollow channel |
| CN112692822A (en) * | 2021-01-05 | 2021-04-23 | 威海星空软体机器人科技有限公司 | Wire-driven soft mechanical arm capable of realizing winding motion |
| CN112847309A (en) * | 2021-01-06 | 2021-05-28 | 北方工业大学 | Reconfigurable active flexible soft mechanical arm |
| CN112873194A (en) * | 2021-01-19 | 2021-06-01 | 上海工程技术大学 | Line-driven continuous flexible mechanical arm and flexible robot comprising same |
| CN113580124A (en) * | 2021-08-17 | 2021-11-02 | 江西理工大学 | Telescopic quick-reaction mechanical arm and control method thereof |
| CN113954057A (en) * | 2021-10-28 | 2022-01-21 | 杭州电子科技大学 | Tendon-driven flexible mechanical arm capable of growing and changing rigidity and flexibility and driving method thereof |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102658554A (en) * | 2012-04-27 | 2012-09-12 | 北京工业大学 | Full flexible controlled mechanical arm |
| CN103895012A (en) * | 2014-04-25 | 2014-07-02 | 清华大学 | Trunk-simulating mechanical arm unit device |
| CN203863676U (en) * | 2014-03-20 | 2014-10-08 | 西北工业大学 | Four-freedom-degree flexible mechanical arm device driven by servo motor |
| CN205363953U (en) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
| CN105729498A (en) * | 2016-04-27 | 2016-07-06 | 上海交通大学 | Modularized cord-driven continuum mechanical arm |
| CN106002988A (en) * | 2016-06-15 | 2016-10-12 | 北京工业大学 | Variable-length bendable fully-flexible mechanical arm structure |
| CN106493723A (en) * | 2016-12-08 | 2017-03-15 | 燕山大学 | Based on the air articulated type flexible mechanical arm that rope drives |
| CN106514703A (en) * | 2016-12-08 | 2017-03-22 | 燕山大学 | Spoke type flexible mechanical arm based on rope driving |
| CN106625631A (en) * | 2017-02-28 | 2017-05-10 | 哈尔滨工业大学深圳研究生院 | Successive type flexible arm joint group and combined type flexible arm joint group |
| CN107433620A (en) * | 2017-09-09 | 2017-12-05 | 北京工业大学 | A kind of thimble tube Grazing condition mechanical arm of Layered driver |
| CN107598910A (en) * | 2017-10-17 | 2018-01-19 | 燕山大学 | The driving Rescaling continuity humanoid robot of tendon |
-
2018
- 2018-02-10 CN CN201810137984.6A patent/CN108393924B/en not_active Expired - Fee Related
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102658554A (en) * | 2012-04-27 | 2012-09-12 | 北京工业大学 | Full flexible controlled mechanical arm |
| CN203863676U (en) * | 2014-03-20 | 2014-10-08 | 西北工业大学 | Four-freedom-degree flexible mechanical arm device driven by servo motor |
| CN103895012A (en) * | 2014-04-25 | 2014-07-02 | 清华大学 | Trunk-simulating mechanical arm unit device |
| CN205363953U (en) * | 2016-03-08 | 2016-07-06 | 山东科技大学 | Flexible mechanical arm of pneumatic rope accuse load type |
| CN105729498A (en) * | 2016-04-27 | 2016-07-06 | 上海交通大学 | Modularized cord-driven continuum mechanical arm |
| CN106002988A (en) * | 2016-06-15 | 2016-10-12 | 北京工业大学 | Variable-length bendable fully-flexible mechanical arm structure |
| CN106493723A (en) * | 2016-12-08 | 2017-03-15 | 燕山大学 | Based on the air articulated type flexible mechanical arm that rope drives |
| CN106514703A (en) * | 2016-12-08 | 2017-03-22 | 燕山大学 | Spoke type flexible mechanical arm based on rope driving |
| CN106625631A (en) * | 2017-02-28 | 2017-05-10 | 哈尔滨工业大学深圳研究生院 | Successive type flexible arm joint group and combined type flexible arm joint group |
| CN107433620A (en) * | 2017-09-09 | 2017-12-05 | 北京工业大学 | A kind of thimble tube Grazing condition mechanical arm of Layered driver |
| CN107598910A (en) * | 2017-10-17 | 2018-01-19 | 燕山大学 | The driving Rescaling continuity humanoid robot of tendon |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109108953A (en) * | 2018-09-20 | 2019-01-01 | 上海大学 | Unmanned refuel of one kind uses mechanical arm system |
| CN109397331A (en) * | 2018-12-10 | 2019-03-01 | 浙江清华柔性电子技术研究院 | Telescopic mechanism, mechanical arm and robot system |
| CN109397331B (en) * | 2018-12-10 | 2024-04-16 | 浙江清华柔性电子技术研究院 | Telescopic mechanism, mechanical arm and robot system |
| CN111516003A (en) * | 2020-04-27 | 2020-08-11 | 北京工业大学 | Flexible mechanical arm with hollow channel |
| CN112692822A (en) * | 2021-01-05 | 2021-04-23 | 威海星空软体机器人科技有限公司 | Wire-driven soft mechanical arm capable of realizing winding motion |
| CN112692822B (en) * | 2021-01-05 | 2022-08-02 | 威海星空软体机器人科技有限公司 | Wire-driven soft mechanical arm capable of realizing winding motion |
| CN112847309A (en) * | 2021-01-06 | 2021-05-28 | 北方工业大学 | Reconfigurable active flexible soft mechanical arm |
| CN112873194A (en) * | 2021-01-19 | 2021-06-01 | 上海工程技术大学 | Line-driven continuous flexible mechanical arm and flexible robot comprising same |
| CN113580124A (en) * | 2021-08-17 | 2021-11-02 | 江西理工大学 | Telescopic quick-reaction mechanical arm and control method thereof |
| CN113954057A (en) * | 2021-10-28 | 2022-01-21 | 杭州电子科技大学 | Tendon-driven flexible mechanical arm capable of growing and changing rigidity and flexibility and driving method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108393924B (en) | 2020-04-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108393924A (en) | A kind of retractable curved Grazing condition machinery arm configuration of line driving | |
| CN106002988A (en) | Variable-length bendable fully-flexible mechanical arm structure | |
| US20220030985A1 (en) | Soft actuator and method of making the same | |
| CN110561393A (en) | Foldable upper limb assistance exoskeleton device | |
| CN208692685U (en) | The hardness regulating mechanism of mattress | |
| CN207527241U (en) | A kind of pivoted arm structure | |
| CN110255237A (en) | A kind of weaving winding wheel integrated bracket | |
| CN208614819U (en) | A kind of boosting manipulator | |
| CN208994622U (en) | A kind of the rotation discharge mechanism and automatic charging machine of automatic charging machine | |
| CN208812098U (en) | A kind of electronic slide unit of mechanical arm carrying out curved surface multi-angle rotation | |
| CN202981141U (en) | Viscoelastic body cushion | |
| CN207864428U (en) | A kind of ball sliding rail and its lifting support | |
| CN206216682U (en) | Robot fixation base structure | |
| CN207535107U (en) | A kind of saw blade cutting machine with automatic material receiving function | |
| CN206720427U (en) | A kind of woven cloth nip rolls group | |
| CN209065042U (en) | It is a kind of for drawing the robot arm of glass blocks | |
| CN103876519A (en) | Viscoelastic body cushion and making method thereof | |
| CN204589603U (en) | A kind of universal dyeing machine is drawn a design the fixture of cup | |
| CN207606882U (en) | A kind of clamping device of mechanical arm | |
| CN107676414A (en) | A kind of antioverloading constant force spring hanging frame | |
| CN209121589U (en) | The seat lifting structure of viewing equipment | |
| CN207448779U (en) | A kind of agitator for cement mortar with damping pallet | |
| CN208694970U (en) | A kind of bicyclic tower synthesized based on ammonia oxidation to 6-chlorophenyl nitrile | |
| CN207451302U (en) | Axis vehicle on a kind of glass fabric hydraulic pressure | |
| CN213168744U (en) | Bag taking mechanism of automatic bagging machine for cement packaging |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200417 |