CN111037546A - Rope-driven scissor telescopic arm - Google Patents
Rope-driven scissor telescopic arm Download PDFInfo
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- CN111037546A CN111037546A CN201911390242.5A CN201911390242A CN111037546A CN 111037546 A CN111037546 A CN 111037546A CN 201911390242 A CN201911390242 A CN 201911390242A CN 111037546 A CN111037546 A CN 111037546A
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- rope
- scissor
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
The invention relates to a mechanical arm, in particular to a rope-driven scissor telescopic arm. The rope winding device comprises a base, a rope winding module, a shearing fork driving module, a driving rope and a plurality of multi-stage unit joints, wherein the lower ends of the multi-stage unit joints are hinged with the base; the rope winding module is arranged on the base, one end of the driving rope is connected with the rope winding module, and the other end of the driving rope is sequentially connected with each group of scissor driving modules and used for driving the multiple groups of scissor driving modules to be coupled and linked to realize bending of the multi-stage unit joint. The invention controls the movement of the arm through the rope, keeps the movement and simultaneously has certain flexibility, thereby meeting the use requirement of the flexible arm. The return process is driven by the energy stored by the spring, so that the driving number is reduced.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a rope-driven scissor telescopic arm.
Technical Field
With the development of robotics, there is an increasing demand for special robots that can perform tasks in complex environments. The development of the flexible arm is paid great attention, the flexible robot has more types of configurations, the more types of the configurations are rope-driven arms and pneumatic arms, but the rope-driven arms have the problem of excessive driving sources, and the pneumatic arms have the problem of heavy preparation equipment, so that the use of the pneumatic arms is limited.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a rope-driven scissor telescopic boom to solve the problems of excessive driving sources and heavy manufacturing equipment of the existing rope-driven boom and pneumatic boom.
In order to achieve the purpose, the invention adopts the following technical scheme:
a rope-driven scissor telescopic arm comprises a base, a rope winding module, scissor driving modules, driving ropes and multi-stage unit joints, wherein the lower ends of the multi-stage unit joints are hinged with the base, the scissor driving modules are in multiple groups and are respectively arranged at the connecting positions between the multi-stage unit joints and the base and between two adjacent unit joints in the multi-stage unit joints, and the multiple groups of scissor driving modules are sequentially hinged; the rope winding module is arranged on the base, one end of the driving rope is connected with the rope winding module, and the other end of the driving rope is sequentially connected with the shearing fork driving modules, and is used for driving the shearing fork driving modules to be coupled and linked, so that the bending of the multi-stage unit joint is realized.
The scissor driving module comprises a moving scissor, a left shaft sleeve, a spring, a right shaft sleeve, a scissor hinge base and a moving shaft, wherein the moving shaft is arranged at the bottom of each unit joint in the multistage unit joints, the scissor hinge base is arranged in the middle of the moving shaft, the left shaft sleeve and the right shaft sleeve are slidably sleeved on the moving shaft and are respectively positioned at two sides of the scissor hinge base, and the springs are arranged between the left shaft sleeve and the right shaft sleeve and between the scissor hinge base and the scissor hinge base; the lower end of the moving scissor is hinged with the base or the scissor hinging seat at the upper stage, and the upper end of the moving scissor is hinged with the left side shaft sleeve and the right side shaft sleeve.
The motion scissor comprises a left scissor rod and a right scissor rod, the lower end of the left scissor rod is hinged to the lower end of the right scissor rod, the upper end of the left scissor rod is hinged to the left shaft sleeve, and the upper end of the right scissor rod is hinged to the right shaft sleeve.
Be equipped with three through wires hole on the articulated seat of scissors fork, the driving rope passes through in proper order behind first through wires hole, left side axle sleeve, second through wires hole, right side axle sleeve and the third through wires hole with next-level scissors fork drive module connects, the driving rope can drive the left side axle sleeve with the right side axle sleeve is close to each other, thereby compresses the spring.
Each level of unit joint in the multi-level unit joint comprises a telescopic cylinder, a connecting rod frame and a bottom connecting rod frame, wherein one end of the connecting rod frame is hinged with the lower end of the bottom connecting rod frame, and the other end of the connecting rod frame is connected with the moving shaft; the telescopic cylinder is hinged to the connecting rod frame, and the output end of the telescopic cylinder is hinged to the bottom end connecting rod frame.
The base is provided with a scissor fixing seat which is used for being hinged with the scissor driving module.
The rope winding module comprises a driving motor and a rope winding wheel, the rope winding wheel is rotatably arranged on the base, the driving motor is arranged on the base, and the output end of the driving motor is connected with the rope winding wheel and used for driving the rope winding wheel to rotate.
The invention has the advantages and beneficial effects that: the invention adopts single motor drive, greatly reduces the number of drive sources and enlarges the service environment of the arm. The transmission is designed based on the scissor principle, the movement of the transmission is controlled by a rope, the movement is kept, and meanwhile, the transmission has certain flexibility and meets the use requirement of a flexible arm. The return process is driven by the energy stored by the spring, so that the driving number is reduced.
The driving mode of the invention is rope driving, the opening and closing of each unit scissor is controlled by the rope driving so as to realize the relative movement of the joint, a spring energy storage element is arranged between the scissor forks, and the aim of passive opening is achieved by releasing the stored potential energy.
Drawings
FIG. 1 is a schematic structural view of a rope-driven scissor telescopic boom of the present invention;
FIG. 2 is a schematic view of the connection between the first unit joint and the base according to the present invention;
FIG. 3 is a schematic structural view of the rope-driven scissor telescopic arm in a bent state;
fig. 4 is a schematic structural view of a unit joint according to the present invention.
In the figure: 1 is the scissors fixing base, 2 is the base, 201 is the motion scissors, 202 is the left side axle sleeve, 203 is the spring, 204 is the telescoping cylinder, 205 is the right side axle sleeve, 206 is the connecting rod frame, 207 is the articulated seat of scissors, 208 is the bottom connecting rod frame, 209 is the motion axle, 3 is driving motor, 4 is first unit joint, 5 is the second unit joint, 6 is the driving rope, 7 is the rope winding wheel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the rope-driven scissor telescopic boom provided by the invention comprises a base 2, a rope winding module, a scissor driving module, a driving rope 6 and a plurality of stages of unit joints, wherein the lower ends of the plurality of stages of unit joints are hinged to the base 2, the scissor driving modules are provided with a plurality of groups and respectively arranged at the connecting positions between the plurality of stages of unit joints and the base 2 and between two adjacent unit joints in the plurality of stages of unit joints, and the plurality of groups of scissor driving modules are sequentially hinged; the wiring module is arranged on the base 2, one end of the driving rope 6 is connected with the wiring module, and the other end of the driving rope is sequentially connected with each group of scissors driving modules and used for driving the multiple groups of scissors driving modules to be coupled and linked, so that the bending of the multi-stage unit joint is realized.
Further, a scissor fixing seat 1 used for being hinged with the scissor driving module is arranged on the base 2.
The rope winding module comprises a driving motor 3 and a rope winding wheel 7, the rope winding wheel 7 is rotatably arranged on the base 2, the driving motor 3 is arranged on the base 2, and the output end of the driving motor is connected with the rope winding wheel 7 and used for driving the rope winding wheel 7 to rotate.
A corresponding speed reduction or transmission device can be added between the driving motor 3 and the rope winding wheel 7 according to the requirement. Specifically, driving motor 3 works, drives rope winding wheel 7 rotatory, and rope winding wheel 7 links firmly with drive rope 6 for drive rope 6 twines on rope winding wheel 7, and then the motion of pulling whole mechanism. The mechanical arm is composed of a plurality of unit joints, the structural shape of each unit joint is the same and is added according to the requirement, and the unit joints are uniformly driven by a driving rope 6.
As shown in fig. 2, the scissors driving module includes a moving scissors 201, a left shaft sleeve 202, a spring 203, a right shaft sleeve 205, a scissors hinge seat 207 and a moving shaft 209, wherein the moving shaft 209 is disposed at the bottom of each unit joint in the multi-stage unit joint, the scissors hinge seat 207 is disposed at the middle position of the moving shaft 209, the left shaft sleeve 202 and the right shaft sleeve 205 are slidably sleeved on the moving shaft 209 and are respectively disposed at two sides of the scissors hinge seat 207, and the spring 203 is disposed between the left shaft sleeve 202 and the scissors hinge seat 207 and between the right shaft sleeve 205 and the scissors hinge seat 207; the lower end of the moving scissors 201 is hinged with the base 2 or the scissors hinge base 207 of the previous stage, and the upper end is hinged with the left shaft sleeve 202 and the right shaft sleeve 205.
The motion scissors 201 is used for connecting a motion shaft 209 between two unit joints, the motion scissors 201 comprises a left scissors rod and a right scissors rod, the lower end of the left scissors rod is hinged with the lower end of the right scissors rod, the upper end of the left scissors rod is hinged with a left shaft sleeve 202, the upper end of the right scissors rod is hinged with a right shaft sleeve 205, namely the left scissors rod and the right scissors rod are arranged in a V shape, and the relative motion of the two unit joints is realized by controlling the size of an opening. The movement of the bushing on the movement axis 209 controls the amount of opening angle of the moving scissors 201.
As shown in fig. 3, the driving rope 6 passes through the scissors hinge 207 and is wound in a shape of "8", two ends of the "8" are sleeved on rope winding rings on the left and right side shaft sleeves 202 and 205, and the other end of the main driving rope penetrates out of the scissors hinge 207 and is connected with the next unit to provide power for the movement of the joint of the next unit. The method specifically comprises the following steps: three threading holes are formed in the scissors hinging seat 207, the driving rope 6 sequentially passes through the first threading hole, the left side shaft sleeve 202, the second threading hole, the right side shaft sleeve 205 and the third threading hole and then is connected with the scissors driving module of the next level, and the driving rope 6 can drive the left side shaft sleeve 202 and the right side shaft sleeve 205 to be close to each other, so that the spring 203 is compressed. The number of the unit joints can be added according to the requirement, but the connection mode of each section is kept unchanged, and the length of the driving rope 6 is adjusted according to the number of the units, but the requirement of integral tension is met.
As shown in fig. 4, each stage of the multi-stage unit joint comprises a telescopic cylinder 24, a connecting rod frame 206 and a bottom end connecting rod frame 208, wherein one end of the connecting rod frame 206 is hinged with the lower end of the bottom end connecting rod frame 208, and the other end is connected with a moving shaft 209; the telescoping cylinder 24 is hinged to the linkage 206 and the output end is hinged to the bottom linkage 208.
When the scissors move, the telescopic cylinder 24 is not moved, and the connecting rod frame 206 and the bottom connecting rod frame 208 are locked, so that the connecting rod frame 206 and the bottom connecting rod frame 208 are relatively fixed into a whole. When the holding arm is made, the telescopic cylinder 24 can have a degree of freedom of self-adaptive deformation; when the working arm is bent, the air cylinder is removed or is changed into high-damping equipment, so that the rigidity of the working arm is increased, and the deformation capacity of the working arm is reduced. When there is a load or contact force at the bottom, the relative angle of the rod holder 206 and the bottom rod holder 208 can be changed by deformation of the telescopic ram 24 due to the articulation of the two.
The working principle of the invention is as follows:
specifically, the lower end of the first unit joint 4 is fixed on the base 2 in a hinged manner and can rotate around the base 2, one end of the moving scissors 201 is hinged with the scissors fixing seat 1, the other end of the moving scissors is respectively connected with the left and right side shaft sleeves 202 and 205 positioned on the first unit joint 4, and the left and right side shaft sleeves 202 and 205 are nested on the moving shaft 209 and can relatively move on the moving shaft 209. The connecting rod frame 206 and the bottom connecting rod frame 208 are hinged together, the telescopic cylinder 204 is connected in the middle, and the relative angle between the connecting rod frame 206 and the bottom connecting rod frame 208 can be adjusted through the telescopic of the telescopic cylinder 204, so that the whole structure of the first unit joint has the self-adaptive deformation capability in the holding process. The left and right side shaft sleeves 202 and 205 are respectively arranged at two sides of the scissors hinge 207, the middle is connected with a spring 203, and the spring 203 is in a compression trend in a working state. The drive rope 6 is passed through the scissors hinge 207 and fitted over the left and right side bushings 202, 205 respectively, and then extended from the other end to connect to the next unit. When in work, the driving rope 6 is tensioned, so that the length of the driving rope 6 passing through two sides of the scissor hinge joint 207 is reduced, the left and right shaft sleeves 202 and 205 are pulled to move towards the middle, the moving scissor 201 is driven to move, and the spring 203 contracts. One end of the moving scissors 201 is relatively fixed, the other end of the moving scissors moves to change the inclination of the moving scissors, the relative distance is increased, the distance between the moving shafts 209 between the two units is further changed, the second unit joint 5 rotates clockwise around the joint of the first unit joint 4, the relative rotation of the two unit joints is realized, and the unit joints move together to further realize the bending holding of the arm.
The recovery process comprises the following steps: the driving rope 6 is loosened, the left and right shaft sleeves 202 and 205 move towards two sides under the action of pressure stored in the spring 206, the relative distance is increased, the moving scissor 201 tends to be opened, the relative length is reduced, the second unit joint 5 rotates anticlockwise around the first unit joint 4, and the mechanical arm loosens objects and exits from a holding state.
In the embodiment of the invention, except for the base 2, one end of a moving scissor 201 of a K-th unit joint is connected with a scissor hinge joint positioned on a K-unit joint moving shaft 209, and the other end of the moving scissor is respectively connected with a left shaft sleeve and a right shaft sleeve positioned on a K +1 unit joint moving shaft 209, so that the relative distance between the two unit moving shafts is changed through the opening degree of the scissor, and further, the relative rotation of the two unit joints is realized. When holding an object, the driving motor 3 works to drive the whole arm to move. When the mechanism is opened, the driving motor 3 rotates reversely, and under the action of the spring, the whole mechanism loosens the held object to finish the action. The invention has simple structure, simple driving mode and flexible movement.
The unit joint structure of the invention can have self-adaptive deformation capability; the whole body adopts rope-driven coupling linkage, so that each section of unit joint can reach different deformation amounts according to the shape of an actual holding object, and the whole body has certain flexibility; meanwhile, the driving is more efficient due to the addition of the spring element, so that the whole mechanism has certain flexible deformation capacity.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (7)
1. The rope-driven scissor telescopic arm is characterized by comprising a base (2), a rope winding module, scissor driving modules, driving ropes (6) and multi-stage unit joints, wherein the lower ends of the multi-stage unit joints are hinged to the base (2), the scissor driving modules are in multiple groups and are respectively arranged at the connecting positions between the multi-stage unit joints and the base (2) and between two adjacent unit joints in the multi-stage unit joints, and the multiple groups of scissor driving modules are sequentially hinged; the rope winding module is arranged on the base (2), one end of the driving rope (6) is connected with the rope winding module, and the other end of the driving rope is sequentially connected with the shearing fork driving modules and used for driving the shearing fork driving modules to be coupled and linked, so that the bending of the multi-stage unit joint is realized.
2. The rope-driven scissors telescopic arm of claim 1, wherein the scissors driving module comprises a moving scissors (201), a left shaft sleeve (202), a spring (203), a right shaft sleeve (205), a scissors hinged seat (207) and a moving shaft (209), wherein the moving shaft (209) is arranged at the bottom of each unit joint in the multi-stage unit joint, the middle position of the moving shaft (209) is provided with the scissors hinged seat (207), the left shaft sleeve (202) and the right shaft sleeve (205) are slidably sleeved on the moving shaft (209) and are respectively arranged at two sides of the scissors hinged seat (207), and the spring (203) is arranged between the left shaft sleeve (202) and the right shaft sleeve (205) and the scissors hinged seat (207); the lower end of the moving scissor (201) is hinged with the base (2) or a scissor hinged seat (207) at the upper stage, and the upper end is hinged with the left shaft sleeve (202) and the right shaft sleeve (205).
3. The rope-driven scissor telescopic arm according to claim 2, wherein the moving scissor (201) comprises a left scissor lever and a right scissor lever, wherein a lower end of the left scissor lever is hinged to a lower end of the right scissor lever, an upper end of the left scissor lever is hinged to the left shaft sleeve (202), and an upper end of the right scissor lever is hinged to the right shaft sleeve (205).
4. The rope-driven scissor telescopic arm according to claim 2, wherein three threading holes are formed in the scissor hinged seat (207), the driving rope (6) sequentially passes through a first threading hole, a left shaft sleeve (202), a second threading hole, a right shaft sleeve (205) and a third threading hole and then is connected with the next scissor driving module, and the driving rope (6) can drive the left shaft sleeve (202) and the right shaft sleeve (205) to be close to each other, so that the spring (203) is compressed.
5. The rope-driven scissors telescopic arm according to claim 2, wherein each level of the multi-level unit joint comprises a telescopic cylinder (24), a connecting rod frame (206) and a bottom end connecting rod frame (208), wherein one end of the connecting rod frame (206) is hinged with the lower end of the bottom end connecting rod frame (208), and the other end is connected with the moving shaft (209); the telescopic cylinder (24) is hinged on the connecting rod frame (206), and the output end is hinged with the bottom end connecting rod frame (208).
6. The rope-driven scissor telescopic boom according to claim 1, wherein the base (2) is provided with a scissor holder (1) for articulation with the scissor drive module.
7. A rope-driven scissors arm according to claim 1, wherein the rope winding module comprises a driving motor (3) and a rope winding wheel (7), the rope winding wheel (7) is rotatably disposed on the base (2), the driving motor (3) is disposed on the base (2), and the output end of the driving motor is connected with the rope winding wheel (7) for driving the rope winding wheel (7) to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911390242.5A CN111037546B (en) | 2019-12-30 | 2019-12-30 | Rope-driven scissor telescopic arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911390242.5A CN111037546B (en) | 2019-12-30 | 2019-12-30 | Rope-driven scissor telescopic arm |
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| Publication Number | Publication Date |
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| CN111037546A true CN111037546A (en) | 2020-04-21 |
| CN111037546B CN111037546B (en) | 2022-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911390242.5A Active CN111037546B (en) | 2019-12-30 | 2019-12-30 | Rope-driven scissor telescopic arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112212162A (en) * | 2020-10-27 | 2021-01-12 | 上海霆亘电脑有限公司 | LED display screen auxiliary installation device |
| CN113386119A (en) * | 2021-06-30 | 2021-09-14 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm joint capable of realizing stretching and deflection |
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| JPS6048292A (en) * | 1983-08-29 | 1985-03-15 | 株式会社東芝 | Arm type mechanism |
| CN201360693Y (en) * | 2009-03-09 | 2009-12-16 | 倪既民 | Scissor-type guy driving stepless lifting table |
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| CN106914888A (en) * | 2015-12-24 | 2017-07-04 | 中国科学院沈阳自动化研究所 | A kind of imitative trunk robot based on new underactuatuated drive |
| CN108237524A (en) * | 2016-12-26 | 2018-07-03 | 中国科学院沈阳自动化研究所 | A kind of line drives continuous humanoid robot |
| CN109531561A (en) * | 2018-12-19 | 2019-03-29 | 汕头大学 | A kind of super redundant robot under Coupled Rigid-flexible rope, bar, spring immixture |
| CN109877809A (en) * | 2019-04-10 | 2019-06-14 | 中国科学院沈阳自动化研究所 | A kind of bidirectional self-adaptive telescopic mechanical arm |
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2019
- 2019-12-30 CN CN201911390242.5A patent/CN111037546B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6048292A (en) * | 1983-08-29 | 1985-03-15 | 株式会社東芝 | Arm type mechanism |
| CN201360693Y (en) * | 2009-03-09 | 2009-12-16 | 倪既民 | Scissor-type guy driving stepless lifting table |
| CN102139844A (en) * | 2010-11-29 | 2011-08-03 | 倪既民 | Traction-driven midpoint combined type combination scissor fork stretching and lifting mechanism |
| CN106914888A (en) * | 2015-12-24 | 2017-07-04 | 中国科学院沈阳自动化研究所 | A kind of imitative trunk robot based on new underactuatuated drive |
| CN108237524A (en) * | 2016-12-26 | 2018-07-03 | 中国科学院沈阳自动化研究所 | A kind of line drives continuous humanoid robot |
| CN109531561A (en) * | 2018-12-19 | 2019-03-29 | 汕头大学 | A kind of super redundant robot under Coupled Rigid-flexible rope, bar, spring immixture |
| CN109877809A (en) * | 2019-04-10 | 2019-06-14 | 中国科学院沈阳自动化研究所 | A kind of bidirectional self-adaptive telescopic mechanical arm |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112212162A (en) * | 2020-10-27 | 2021-01-12 | 上海霆亘电脑有限公司 | LED display screen auxiliary installation device |
| CN113386119A (en) * | 2021-06-30 | 2021-09-14 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm joint capable of realizing stretching and deflection |
| CN113386119B (en) * | 2021-06-30 | 2022-05-27 | 哈尔滨工业大学（深圳） | Rope-driven flexible mechanical arm joint capable of realizing stretching and deflection |
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| CN111037546B (en) | 2022-12-09 |
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