CN110270988A - A kind of reciprocating bidirectional driving apparatus of double memory spring tractions - Google Patents
A kind of reciprocating bidirectional driving apparatus of double memory spring tractions Download PDFInfo
- Publication number
- CN110270988A CN110270988A CN201910643423.8A CN201910643423A CN110270988A CN 110270988 A CN110270988 A CN 110270988A CN 201910643423 A CN201910643423 A CN 201910643423A CN 110270988 A CN110270988 A CN 110270988A
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- China
- Prior art keywords
- spring
- pedestal
- driving apparatus
- tractions
- bidirectional driving
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to driving equipment technical fields, and disclose a kind of reciprocating bidirectional driving apparatus of double memory spring tractions, including pedestal, memory alloy spring, fixed pulley and output mechanism, the pedestal is spill, the left side wall of the pedestal offers the threading hole that quantity is two, the memory alloy spring is located at the inside of pedestal, the memory alloy spring includes the first spring and second spring, the same side of first spring and second spring is fixedly connected with the inner sidewall of pedestal, the fixed pulley is mounted on the base, and the fixed pulley is between the first spring and second spring.The reciprocating bidirectional driving apparatus of double memory spring tractions, keep the movement of finger or wrist more smooth natural, and as a source of power using memory alloy spring, instead of motor or this weight of cylinder, volume, power consumption and the biggish equipment of electricity consumption, using effect is more preferable, and volume is smaller, quality is lighter and power consumption is lower.
Description
Technical field
The present invention relates to driving equipment technical field, specially a kind of reciprocating bi-directional drive dress of double memory spring tractions
It sets.
Background technique
Intelligent robot has panoramic internal information sensor and external information sensor, such as vision, the sense of hearing, touching
Feel and smell etc., in addition to receptor, there are also effectors for it, and as the means for acting on ambient enviroment, here it is muscles, or
Claim motor synchronizing motor, they move up hand, foot, nose or feeler etc..
Existing intelligent robot needs reciprocating in the finger of driving robot or wrist etc. currently on the market
Some joints when, mostly or perhaps cylinder etc. reaches control robot finger or hand as power source by motor
The purpose that wrist shrinks or stretches, it appears it is more stiff, and due to the weight of motor or cylinder, volume, calorific value or function
Some reasons such as big are consumed, the overall weight, volume and electricity consumption of robot is increased, reduces the service life of robot,
The separate run times of robot are caused to shorten, and the excessive use of volume is very inconvenient, many place robots can not reach,
Shape, which looks at, also has larger difference with true man, influences beauty, so propose a kind of reciprocating two-way drive of double memory spring tractions
Dynamic device solves the problems, such as above-mentioned propose.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of reciprocating bi-directional drive dresses of double memory spring tractions
It sets, has that using effect is more preferable, volume is smaller, quality is lighter and the more low advantage of power consumption, solve existing intelligent robot
When perhaps wrist etc. needs some joints of reciprocating to the finger for driving robot mostly or by motor or gas
Cylinder etc. is used as power source, it appears and it is more stiff, and since the weight of motor or cylinder, volume, calorific value or power consumption are big etc.
The problem of some reasons increase the overall weight, volume and electricity consumption of robot, reduce the service life of robot.
(2) technical solution
To realize that above-mentioned using effect is more preferable, volume is smaller, quality is lighter and the lower purpose of power consumption, the present invention provide such as
Lower technical solution: a kind of reciprocating bidirectional driving apparatus of double memory springs tractions, including pedestal, memory alloy spring, fixed cunning
Wheel and output mechanism, the pedestal are spill, and the left side wall of the pedestal offers the threading hole that quantity is two, the memory
Alloy spring is located at the inside of pedestal, and the memory alloy spring includes the first spring and second spring, first spring and
The same side of second spring is fixedly connected with the inner sidewall of pedestal, and the fixed pulley is mounted on the base, and the fixed pulley
Between the first spring and second spring, the fixed pulley is located at the side of memory alloy spring, and the output mechanism includes
Upper output rope, lower output rope and adjusting rope, the upper output rope are fixedly connected with the first spring far from one end of pedestal inner sidewall,
The lower output rope is fixedly connected with second spring far from one end of pedestal inner sidewall, the upper output rope and lower output rope difference
The outside of pedestal is extended to across two threading holes.
Preferably, the threading hole is circle, and slide plate is fixedly installed on the side wall of the threading hole, and slide plate is stainless
Steel disc reduces resistance.
Preferably, first spring is parallel with second spring, and first spring and second spring are vacantly in pedestal
Inside it is parallel with pedestal.
Preferably, the lateral wall of the fixed pulley offers winding slot, the winding slot and the first spring and second spring
Axle center be generally aligned in the same plane.
Preferably, the distance between first spring and second spring are greater than the diameter of fixed pulley.
It preferably, further include fixed screw, the quantity of the fixed screw is two, and the fixed screw is through pedestal
Right side wall, the maximum gauge of the fixed screw are adapted with the inner sidewall diameter of memory alloy spring, first spring and
Second spring bypasses two fixed screws respectively and is fixedly connected with the inner sidewall of pedestal, and the fixed screw is by memorial alloy
Spring is pressed on the inner sidewall of pedestal.
It preferably, further include electrode slice, the fixed screw is conductive material, and the fixed screw is located at chassis outer side
One end and memory alloy spring are fixedly installed with electrode slice far from one end of pedestal inner sidewall.
Preferably, the memory alloy spring is Nitinol.
Preferably, the output mechanism is insulating materials.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of reciprocating bidirectional driving apparatus of double memory spring tractions, tools
It is standby following the utility model has the advantages that
The reciprocating bidirectional driving apparatus of double memory spring tractions, it is reciprocating two-way by drawing double memory springs
Driving device be mounted on the arm of robot perhaps make in wrist output restrict and lower output rope respectively with finger or wrist
Front and rear sides connection, the characteristic for making full use of memory alloy spring heating to shrink, by first by the left and right sides of the first spring
It is connected with the positive and negative anodes of power supply, so that the memory alloy spring is passed through electric current, using the resistance of the first spring itself institute band, make first
The temperature of spring increases, and shortens the length of the first spring, output rope and adjusts rope in pulling, make output rope pulling finger or
Person's wrist flex adjusts rope by fixed pulley and pulls second spring elongation, and the part for making lower output rope be located at chassis outer side lengthens,
Similarly when needing to be reset, the first spring need to only be powered off to adapt to the movement that finger is exported upwards when restricting that lateral bend, make the
Two springs are powered heating, can by finger, perhaps wrist is withdrawn into original position and makes the movement of finger or wrist by lower output rope
It is more smooth naturally, and as a source of power using memory alloy spring, instead of motor or this weight of cylinder, volume,
Power consumption and the biggish equipment of electricity consumption, using effect is more preferable, and volume is smaller, quality is lighter and power consumption is lower.
Detailed description of the invention
Fig. 1 is a kind of reciprocating bidirectional driving apparatus structural schematic diagram of double memory spring tractions proposed by the present invention；
Fig. 2 is a kind of reciprocating bidirectional driving apparatus structure fixed pulley side view of double memory spring tractions proposed by the present invention
Figure；
Fig. 3 is a kind of reciprocating bidirectional driving apparatus structural visual figure of double memory spring tractions proposed by the present invention.
In figure: 1 pedestal, 2 memory alloy springs, 201 first springs, 202 second springs, 3 fixed pulleys, 4 output mechanisms,
Output rope, 402 lower output ropes, 403 adjust rope, 5 fixed screws, 6 electrode slices on 401.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, a kind of reciprocating bidirectional driving apparatus of double memory spring tractions, including pedestal 1, memorial alloy bullet
Spring 2, fixed pulley 3 and output mechanism 4；
Pedestal 1 is spill, and the left side wall of pedestal 1 offers the threading hole that quantity is two, and the finger of robot can pacify
Between two threading holes of left side wall of pedestal 1；
Preferably, threading hole is circle, and slide plate is fixedly installed on the side wall of threading hole, and slide plate is stainless steel substrates, is subtracted
Slight drag；
Memory alloy spring 2 is located at the inside of pedestal 1, and memory alloy spring 2 includes the first spring 201 and second spring
202, the same side of the first spring 201 and second spring 202 is fixedly connected with the inner sidewall of pedestal 1；
Preferably, the first spring 201 is parallel with second spring 202, and the first spring 201 and second spring 202 vacantly exist
The inside of pedestal 1 is parallel with pedestal 1, makes memory alloy spring 2 when being powered contraction, will not increase because of rubbing with pedestal 1
It is more preferable to shrink elongation effect for resistance；
Referring to Fig. 2, fixed pulley 3 is mounted on pedestal 1, and fixed pulley 3 is located at the first spring 201 and second spring 202
Between, fixed pulley 3 is located at the side of memory alloy spring 2；
Preferably, the lateral wall of fixed pulley 3 offers winding slot, winding slot and the first spring 201 and second spring 202
Axle center is generally aligned in the same plane, and it is more stable when around fixed pulley 3 to make adjusting rope 403, and not readily disengage from fixed pulley 3；
More preferred, the distance between the first spring 201 and second spring 202 are greater than the diameter of fixed pulley 3, in convenience
Rope 401 and lower output rope 402 are exported from the two sides of fixed pulley 3 parallel across without contacting with fixed pulley 3, resistance is smaller；
Output mechanism 4 includes upper output rope 401, lower output rope 402 and adjusts rope 403, upper output rope 401 and the first spring
201 one end far from 1 inner sidewall of pedestal are fixedly connected, it is lower output rope 402 with second spring 202 far from 1 inner sidewall of pedestal one
End is fixedly connected, and upper output rope 401 and lower output rope 402 are each passed through the outside that two threading holes extend to pedestal 1；
Output mechanism 4 is insulating materials, prevents the electric current when being powered of memory alloy spring 2 from conducting by output mechanism 4
To with robot, dangerous and unnecessary loss is caused；
Referring to Fig. 3, it is preferred, it further include fixed screw 5, the quantity of fixed screw 5 is two, and fixed screw 5 runs through
The maximum gauge of the right side wall of pedestal 1, fixed screw 5 is adapted with the inner sidewall diameter of memory alloy spring 2, the first spring
201 and second spring 202 be fixedly connected with the inner sidewall of pedestal 1 around two fixed screws 5 respectively, fixed screw 5 will memory
Alloy spring 2 is pressed on the inner sidewall of pedestal 1, and fixed effect is more preferable；
More preferred, it further include electrode slice 6, fixed screw 5 is conductive material, and fixed screw 5 is located at 1 outside of pedestal
One end and memory alloy spring 2 are fixedly installed with electrode slice 6 far from one end of 1 inner sidewall of pedestal, make when connecting to power supply,
It only needs to connect to power supply electrode slice 6, it is more convenient；
Memory alloy spring 2 is Nitinol, and the first spring 201 is consistent with the specification of second spring 202, shrinks elongation
When it is more balanced, convenient for control, Nitinol is a kind of marmem, and marmem is to become the plasticity of itself
Shape is automatically restored to the special alloy of original-shape under a certain specific temperature, has good plasticity, expansion and contraction is 20%
More than, fatigue life reaches 7 powers of 1*10, and corrosion resistance is better than medical stainless steel best at present, and damping characteristic is than common
Spring it is 10 times high；
When in use, by the reciprocating bidirectional driving apparatus for drawing double memory springs be mounted on robot arm or
In person's wrist, it connect output rope 401 and lower output rope 402 with the front and rear sides of finger or wrist respectively, the abundant benefit
The characteristic shunk with the heating of memory alloy spring 2, by first connecing the positive and negative anodes of the left and right sides of the first spring 201 and power supply
It is logical, so that the memory alloy spring 2 is passed through electric current, using the resistance of the first spring 201 itself institute's band, makes the temperature of the first spring 201
Degree increases, and shortens the length of the first spring 201, and rope 401 is exported in pulling and adjusts rope 403, makes to export 401 pulling hands of rope
Finger or wrist flex adjust rope 403 by fixed pulley 3 and pull the elongation of second spring 202, and lower output rope 402 is made to be located at pedestal 1
The part in outside lengthens, and export movement when restricting 401 that lateral bend upwards to adapt to finger, similarly, when needing to be reset, only need by
The power-off of first spring 201 makes second spring 202 be powered and heats up, and can be withdrawn into finger or wrist by lower output rope 402
It is in situ.
In conclusion the reciprocating bidirectional driving apparatus of double memory spring tractions, makes the movement of finger or wrist more
Add it is smooth naturally, and as a source of power using memory alloy spring, instead of motor or this weight of cylinder, volume, function
Consumption and the biggish equipment of electricity consumption, using effect is more preferable, and volume is smaller, quality is lighter and power consumption is lower.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of reciprocating bidirectional driving apparatus of double memory spring tractions, it is characterised in that: including pedestal (1), memorial alloy
Spring (2), fixed pulley (3) and output mechanism (4)；
The pedestal (1) is spill, and the left side wall of the pedestal (1) offers the threading hole that quantity is two；
The memory alloy spring (2) is located at the inside of pedestal (1), and the memory alloy spring (2) includes the first spring (201)
With second spring (202), the same side of first spring (201) and second spring (202) is solid with the inner sidewall of pedestal (1)
Fixed connection；
The fixed pulley (3) is mounted on pedestal (1), and the fixed pulley (3) is located at the first spring (201) and second spring
(202) between, the fixed pulley (3) is located at the side of memory alloy spring (2)；
The output mechanism (4) includes upper output rope (401), lower output rope (402) and adjusts rope (403), the upper output rope
(401) it is fixedly connected with the first spring (201) far from one end of pedestal (1) inner sidewall, the lower output rope (402) and the second bullet
Spring (202) is fixedly connected far from one end of pedestal (1) inner sidewall, and the upper output rope (401) and lower output rope (402) are worn respectively
Cross the outside that two threading holes extend to pedestal (1).
2. a kind of reciprocating bidirectional driving apparatus of double memory spring tractions according to claim 1, it is characterised in that: institute
Threading hole is stated as circle, and is fixedly installed with slide plate on the side wall of the threading hole, slide plate is stainless steel substrates, reduces resistance.
3. a kind of reciprocating bidirectional driving apparatus of double memory spring tractions according to claim 1, it is characterised in that: institute
It is parallel with second spring (202) to state the first spring (201), first spring (201) and second spring (202) are vacantly the bottom of at
The inside of seat (1) is parallel with pedestal (1).
4. a kind of reciprocating bidirectional driving apparatus of double memory spring tractions according to claim 1, it is characterised in that: institute
The lateral wall for stating fixed pulley (3) offers winding slot, the axis of the winding slot and the first spring (201) and second spring (202)
The heart is generally aligned in the same plane.
5. a kind of reciprocating bidirectional driving apparatus of double memory spring tractions according to claim 4, it is characterised in that: institute
State the diameter that the distance between the first spring (201) and second spring (202) are greater than fixed pulley (3).
6. a kind of reciprocating bidirectional driving apparatus of double memory spring tractions according to claim 1, it is characterised in that: also
Including fixed screw (5), the quantity of the fixed screw (5) is two, and the fixed screw (5) runs through the right side of pedestal (1)
The maximum gauge of wall, the fixed screw (5) is adapted with the inner sidewall diameter of memory alloy spring (2), first spring
(201) it is fixedly connected respectively around two fixed screws (5) with the inner sidewall of pedestal (1) with second spring (202), it is described
Memory alloy spring (2) is pressed on the inner sidewall of pedestal (1) by fixed screw (5).
7. a kind of reciprocating bidirectional driving apparatus of double memory spring tractions according to claim 6, it is characterised in that: also
Including electrode slice (6), the fixed screw (5) is conductive material, and the fixed screw (5) is located at one end on the outside of pedestal (1)
Electrode slice (6) are fixedly installed with far from one end of pedestal (1) inner sidewall with memory alloy spring (2).
8. a kind of reciprocating bidirectional driving apparatus of double memory spring tractions according to claim 1, it is characterised in that: institute
Stating memory alloy spring (2) is Nitinol.
9. a kind of reciprocating bidirectional driving apparatus of double memory spring tractions according to claim 1, it is characterised in that: institute
Stating output mechanism (4) is insulating materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910643423.8A CN110270988A (en) | 2019-07-17 | 2019-07-17 | A kind of reciprocating bidirectional driving apparatus of double memory spring tractions |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910643423.8A CN110270988A (en) | 2019-07-17 | 2019-07-17 | A kind of reciprocating bidirectional driving apparatus of double memory spring tractions |
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| CN110270988A true CN110270988A (en) | 2019-09-24 |
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| CN201910643423.8A Pending CN110270988A (en) | 2019-07-17 | 2019-07-17 | A kind of reciprocating bidirectional driving apparatus of double memory spring tractions |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112123627A (en) * | 2020-09-15 | 2020-12-25 | 湖州泰益智能科技有限公司 | Energy-saving rubber granule drying device |
| CN112856497A (en) * | 2021-01-19 | 2021-05-28 | 郑斌源 | Induction cooker with anti-pan-slip function |
| CN113930923A (en) * | 2021-11-09 | 2022-01-14 | 杨干英 | Processing technology of synthetic fiber textile raw material |
| CN114533497A (en) * | 2022-04-27 | 2022-05-27 | 中国科学技术大学 | Flexible rehabilitation glove and using method and life assisting method thereof |
-
2019
- 2019-07-17 CN CN201910643423.8A patent/CN110270988A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112123627A (en) * | 2020-09-15 | 2020-12-25 | 湖州泰益智能科技有限公司 | Energy-saving rubber granule drying device |
| CN112856497A (en) * | 2021-01-19 | 2021-05-28 | 郑斌源 | Induction cooker with anti-pan-slip function |
| CN112856497B (en) * | 2021-01-19 | 2023-08-11 | 中山市越好电器有限公司 | Electromagnetic oven with anti-pot sliding function |
| CN113930923A (en) * | 2021-11-09 | 2022-01-14 | 杨干英 | Processing technology of synthetic fiber textile raw material |
| CN113930923B (en) * | 2021-11-09 | 2023-12-15 | 江苏百依高新材料有限公司 | Synthetic fiber textile raw material processing technology |
| CN114533497A (en) * | 2022-04-27 | 2022-05-27 | 中国科学技术大学 | Flexible rehabilitation glove and using method and life assisting method thereof |
| CN114533497B (en) * | 2022-04-27 | 2024-03-01 | 中国科学技术大学 | Flexible rehabilitation glove and use method and life assisting method thereof |
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Application publication date: 20190924 |