CN113183134B - Two-translation-degree-of-freedom parallel telescopic mechanical arm of W-shaped tape spring - Google Patents
Two-translation-degree-of-freedom parallel telescopic mechanical arm of W-shaped tape spring Download PDFInfo
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- CN113183134B CN113183134B CN202110505455.9A CN202110505455A CN113183134B CN 113183134 B CN113183134 B CN 113183134B CN 202110505455 A CN202110505455 A CN 202110505455A CN 113183134 B CN113183134 B CN 113183134B
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- tape
- spring
- mechanical arm
- tape spring
- shaped tape
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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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 discloses a W-shaped tape spring two-translation-degree-of-freedom parallel telescopic mechanical arm, which relates to the technical field of telescopic flexible mechanical arms and comprises a bearing frame, a bottom working platform and a W-shaped tape driving unit; the bearing frame is arranged at the top of the W-shaped tape drive unit, and the bottom working platform is arranged at the bottom of the W-shaped tape drive unit. The W-shaped tape motion unit is linked with the bottom driving motor unit, so that the mechanical arm has two degrees of freedom, the working range of the mechanical arm in the whole plane is ensured, the flexibility of the movement of the mechanical arm is improved, and the whole structure is simple and the weight is light. The flexible tape spring with the automatic contraction characteristic is used as the link arm, the requirement for the rigidity of the mechanical arm is met, and the flexible tape spring is convenient to carry and carry. By adopting the mode that the three connecting frames are matched with the single working platform, the size of the range of the working plane can be set randomly by controlling the distance between the three connecting frames and the length of the tape spring, so that the working flexibility and the diversity of the carried equipment are greatly improved.
Description
Technical Field
The invention relates to the technical field of telescopic flexible mechanical arms, in particular to a W-shaped flexible tape spring two-translation-degree-of-freedom parallel telescopic mechanical arm.
Background
Due to the work requirements of workshop working environment or daily life, some equipment needs to be assembled with a mechanical arm to complete operation, for example, an unmanned aerial vehicle needs to be carried with the mechanical arm to complete grabbing of a target object, and a logistics goods picking system needs to be carried with the mechanical arm to complete picking of goods. The mechanical arm has the characteristics of certain rigidity, simple structure, convenience in carrying, strong adaptability, wide extension range and the like. At present, most of telescopic mechanical arms adopt traditional rigid structures, and although the telescopic mechanical arms have the characteristics of high precision, large bearing capacity and the like, the telescopic mechanical arms are complex in structure, troublesome to operate and large in size and weight. Due to the limited load capacity of unmanned aerial vehicles and the low load requirements of pick-up systems, a new type of lightweight telescopic robotic arm is needed.
The technical scheme that can satisfy this kind of actual demand at present is the flexible arm that maneuverability is not strong mostly, mainly has following not enough:
(1) the mechanical arm function cannot be realized by taking flexibility and flexibility into consideration, the two-degree-of-freedom mechanical arm driven by the single motor is generally simple in structure but can only move according to a specific line, the stability is poor, and the whole working space range is small; the multi-degree-of-freedom mechanical arm device is too complex in structure and heavy in weight, and is not suitable for carrying operation of unmanned aerial vehicles and the like;
(2) the telescopic arm is made of a material with high flexibility, so that the stability is poor, a target object is easy to fall off due to shaking, the rigidity is insufficient, and the telescopic arm is easy to deform;
(3) for a mechanical arm similar to a tape spring, the extension of the spring is controlled by a single motor, the structure of the flexible arm is stable, but the operation space of the mechanism can only stretch out and draw back on a vertical plane, and the left plane and the right plane cannot move.
Disclosure of Invention
In order to solve the technical problems, the invention provides a W-shaped tape spring two-translational-degree-of-freedom parallel telescopic mechanical arm, which aims to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a W-shaped tape spring two-translation-degree-of-freedom parallel telescopic mechanical arm, which comprises a bearing frame, a bottom working platform and a W-shaped tape driving unit, wherein the bearing frame is provided with a bearing hole; the bearing frame is arranged at the top of the W-shaped tape drive unit, and the bottom working platform is arranged at the bottom of the W-shaped tape drive unit.
Optionally, the W-shaped tape drive unit includes an upper drive mechanism, two lower drive mechanisms, and two tape springs, the upper drive mechanism is disposed in the middle of the bottom of the bearing frame, the lower drive mechanisms are disposed on two sides of the top of the bottom working platform, one end of each tape spring is connected to one side of the bottom of the bearing frame, the middle of each tape spring is in transmission connection with one of the lower drive mechanisms, and the other end of each tape spring is in transmission connection with the upper drive mechanism.
Optionally, a second connecting frame is arranged in the middle of the bottom of the bearing frame, and two sides of the bottom of the bearing frame are respectively provided with a first connecting frame; one ends of the two tape springs are respectively connected with the bottoms of the first connecting frames on the corresponding sides; the upper driving mechanism is arranged on the second connecting frame.
Optionally, one end of the tape spring is rotatably connected to the bottom of the first connecting frame.
Optionally, a hub half shaft is arranged at the bottom of the first connecting frame, the hub half shaft is of a semi-cylindrical structure, and the hub half shaft is rotatably arranged at the bottom of the first connecting frame; one end of the tape spring is connected with the hub half shaft.
Optionally, the upper driving mechanism comprises an upper motor, a differential and two winding rollers; and a power output shaft of the upper motor is in transmission connection with a power input end of the differential mechanism, two power output ends of the differential mechanism are in transmission connection with one winding roller respectively, and one end of the tape spring is connected with one winding roller respectively.
Optionally, the lower driving mechanism includes a lower motor, a driving wheel and a driven wheel; the power output shaft of the lower motor is in transmission connection with the driving wheel, the middle of the tape spring is arranged between the driving wheel and the driven wheel, and the tape spring is clamped by the driving wheel and the driven wheel.
Optionally, a mechanical gripper is arranged below the bottom working platform and comprises two clamping jaws, and the two clamping jaws are controlled to open and close through a motor.
Compared with the prior art, the invention has the following technical effects:
1. according to the two-translation-degree-of-freedom parallel telescopic mechanical arm of the W-shaped tape spring, the parallel mechanical arm has two degrees of freedom in work through the linkage effect of the W-shaped tape movement unit and the bottom driving motor unit, the working range of the mechanical arm in the whole plane is guaranteed, the flexibility of the mechanical arm movement is improved, and the parallel telescopic mechanical arm is simple in integral structure and light in weight. In addition, the arrangement of the bottom platform dual-drive motor effectively ensures that the working platform can move stably and quickly.
2. According to the W-shaped tape spring two-translation-degree-of-freedom parallel telescopic mechanical arm, the flexible tape spring with the automatic contraction characteristic is used as the link arm, the rigidity requirement of the mechanical arm is met, the flexible scalability of the mechanical arm enables the mechanical arm to be extremely large in expansion ratio, and after the mechanical arm is completely contracted, the occupied volume is extremely small, and the carrying and carrying operation are convenient.
3. According to the W-shaped tape spring parallel telescopic mechanical arm with two translational degrees of freedom, the three connecting frames are matched with the single working platform, the size of the working plane range can be set at will by controlling the distance between the three connecting frames and the length of the tape spring, and the working flexibility and the diversity of carried equipment are greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic perspective view of a W-shaped tape spring with two translational degrees of freedom and a parallel telescopic arm of the present invention;
FIG. 2 is a schematic view of the upper drive mechanism of the parallel telescopic arm with two translational degrees of freedom of the W-tape spring of the present invention;
FIG. 3 is a schematic view of the lower drive mechanism of the parallel telescopic arm with two translational degrees of freedom of the W-tape spring of the present invention;
FIG. 4 is a schematic view of the W-tape drive unit in the parallel telescopic arm with two translational degrees of freedom of the W-tape spring of the present invention;
FIG. 5 is a schematic diagram of the differential mechanism in the upper drive mechanism of the parallel telescopic arm with two translational degrees of freedom of the W-shaped tape spring of the present invention.
Description of reference numerals: 1. a bearing frame; 2. a first connecting frame; 3. a second link frame; 5. an upper drive mechanism; 6. a hub half shaft; 7. a bottom work platform; 8. a tape spring; 9. a lower drive mechanism; 10. grabbing by a manipulator; 11. a vertical plate; 12. a wind-up roll; 13. an upper motor; 14. a first coupling; 15. a differential mechanism; 16. a U-shaped frame; 17. a driven wheel; 18. a driving wheel; 19. a second coupling; 20. an L-shaped bent plate; 21. a lower motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1 to 5, the present embodiment provides a two-translational degree of freedom parallel telescopic mechanical arm for a W-shaped tape spring, which includes a bearing frame 1, a bottom working platform 7 and a W-shaped tape driving unit; the bearing frame 1 is arranged at the top of the W-shaped tape drive unit, and the bottom working platform 7 is arranged at the bottom of the W-shaped tape drive unit.
In this embodiment, the bearing frame 1 is a rectangular frame structure, and the bearing frame 1 is used for connecting with a carried device.
The W-shaped tape drive unit comprises an upper drive mechanism 5, two lower drive mechanisms 9 and two tape springs 8, the upper drive mechanism 5 is arranged in the middle of the bottom of the bearing frame 1, the lower drive mechanisms 9 are respectively arranged on two sides of the top of the bottom working platform 7, one end of each tape spring 8 is connected with one side of the bottom of the bearing frame 1, the middle of each tape spring 8 is in transmission connection with one lower drive mechanism 9, and the other end of each tape spring 8 is in transmission connection with the upper drive mechanism 5.
A second connecting frame 3 is arranged in the middle of the bottom of the bearing frame 1, and two sides of the bottom of the bearing frame 1 are respectively provided with a first connecting frame 2; one ends of the two tape springs 8 are respectively connected with the bottom of the first connecting frame 2 on the corresponding side; the upper driving mechanism 5 is provided on the second link 3.
A hub half shaft 6 is arranged at the bottom of the first connecting frame 2, the hub half shaft 6 is of a semi-cylindrical structure, and the hub half shaft 6 is rotatably arranged at the bottom of the first connecting frame 2; one end of the tape spring 8 is connected with the hub half shaft 6 through a bolt.
The first connecting frame 2 comprises two vertical plates, the two vertical plates are respectively located at two ends of the bearing frame 1, the tops of the vertical plates are connected with the bottom of the bearing frame 1, a rotating shaft is arranged between the bottoms of the vertical plates, and the wheel hub half shaft 6 is arranged on the rotating shaft.
The second connecting frame 3 comprises two vertical plates which are respectively arranged at two ends of the bearing frame 1, the tops of the vertical plates are connected with the bottom of the bearing frame 1, and an upper driving mechanism 5 is arranged between the bottoms of the two vertical plates
The upper driving mechanism 5 comprises an upper motor 13, a differential 15 and two winding rollers 12; the power output shaft of the upper motor 13 is in transmission connection with the power input end of the differential mechanism 15 through a first coupling 14, two power output ends of the differential mechanism 15 are in transmission connection with one winding roller 12 respectively, and one end of the tape spring 8 is connected with one winding roller 12 respectively.
Two power output ends of the differential mechanism 15 are respectively and rotatably connected with the bottoms of the two vertical plates of the second connecting frame 3.
The lower driving mechanism 9 comprises a lower motor 21, a driving wheel 17 and a driven wheel 17; the power output shaft of the lower motor 21 is in transmission connection with the driving wheel 17 through a second coupling 19, the second coupling 19 is fixed on an L-shaped bent plate 20 through bolts, and the L-shaped bent plate 20 is connected with the U-shaped frame 16; the middle of the tape spring 8 is disposed between the driving wheel 17 and the driven wheel 17, and the tape spring 8 is clamped by the driving wheel 17 and the driven wheel 17. The driven wheel 17 is positioned right below the driving wheel 17, and when the driving wheel 17 rotates, the driving wheel 17 and the driven wheel 17 synchronously rotate by the friction force between the driving wheel 17 and the tape spring 8 and the friction force between the driven wheel 17 and the tape spring 8, and the tape spring 8 moves relative to the driving wheel 17 and the driven wheel 17.
The bottom working platform 7 below is provided with the mechanical hand 10, the mechanical hand 10 includes two jack catchs, two jack catchs open and shut through motor control.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. A W-shaped tape spring parallel telescopic mechanical arm with two translational degrees of freedom is characterized by comprising a bearing frame, a bottom working platform and a W-shaped tape driving unit; the bearing frame is arranged at the top of the W-shaped tape drive unit, and the bottom working platform is arranged at the bottom of the W-shaped tape drive unit;
the W-shaped tape drive unit comprises an upper drive mechanism, two lower drive mechanisms and two tape springs, the upper drive mechanism is arranged in the middle of the bottom of the bearing frame, the lower drive mechanisms are respectively arranged on two sides of the top of the bottom working platform, one end of each tape spring is connected with one side of the bottom of the bearing frame, the middle of each tape spring is in transmission connection with one lower drive mechanism, and the other end of each tape spring is in transmission connection with the upper drive mechanism;
the upper driving mechanism comprises an upper motor, a differential and two winding rollers; and a power output shaft of the upper motor is in transmission connection with a power input end of the differential mechanism, two power output ends of the differential mechanism are in transmission connection with one winding roller respectively, and one end of the tape spring is connected with one winding roller respectively.
2. A W-type tape measure spring with two translational degrees of freedom and a parallel telescopic mechanical arm as claimed in claim 1, wherein a second connecting frame is arranged in the middle of the bottom of the bearing frame, and two first connecting frames are respectively arranged on two sides of the bottom of the bearing frame; one ends of the two tape springs are respectively connected with the bottoms of the first connecting frames on the corresponding sides; the upper driving mechanism is arranged on the second connecting frame.
3. A W-shaped tape spring two translational degrees of freedom parallel telescopic boom as claimed in claim 2, wherein one end of said tape spring is rotatably connected to the bottom of said first link.
4. A W-shaped tape measure spring two-translational-degree-of-freedom parallel telescopic mechanical arm as claimed in claim 2 or 3, wherein a hub half shaft is arranged at the bottom of the first connecting frame, the hub half shaft is of a semi-cylindrical structure, and the hub half shaft is rotatably arranged at the bottom of the first connecting frame; one end of the tape spring is connected with the hub half shaft.
5. A W-tape measure spring two translational degrees of freedom parallel telescopic boom as claimed in claim 1, wherein said lower drive mechanism comprises a lower motor, a drive wheel and a driven wheel; the power output shaft of the lower motor is in transmission connection with the driving wheel, the middle of the tape spring is arranged between the driving wheel and the driven wheel, and the tape spring is clamped by the driving wheel and the driven wheel.
6. A W-shaped tape spring two-translational-degree-of-freedom parallel telescopic mechanical arm as claimed in claim 1, wherein a mechanical gripper is arranged below the bottom working platform, and the mechanical gripper comprises two jaws which are controlled to open and close through a motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110505455.9A CN113183134B (en) | 2021-05-10 | 2021-05-10 | Two-translation-degree-of-freedom parallel telescopic mechanical arm of W-shaped tape spring |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110505455.9A CN113183134B (en) | 2021-05-10 | 2021-05-10 | Two-translation-degree-of-freedom parallel telescopic mechanical arm of W-shaped tape spring |
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| CN113183134A CN113183134A (en) | 2021-07-30 |
| CN113183134B true CN113183134B (en) | 2022-07-26 |
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| CN115383724B (en) * | 2022-08-25 | 2024-06-14 | 上海大学 | Double-V dislocation type flexible mechanical arm with two translational degrees of freedom and parallel connection of tape springs |
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| DE102016102894A1 (en) * | 2016-02-18 | 2017-08-24 | Fiedler Maschinenbau Und Technikvertrieb Gmbh | Front implement carrier with an extendable boom for attachments and method of controlling a front implement carrier |
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| CN101105419A (en) * | 2007-08-23 | 2008-01-16 | 上海交通大学 | Dynamic balance instrumentation system and method based on all-flexible vibration system |
| CN101664924B (en) * | 2009-08-05 | 2011-02-02 | 河北工业大学 | Two-degree freedom rope traction and parallel-connection mechanism |
| DE102011101206A1 (en) * | 2011-05-11 | 2012-11-15 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Drive system for driving e.g. delta robot in food industry, has Bowden cables arranged between driving apparatus and joint, where force is exerted on joint through cables for movement of joint with degree of freedom of driving apparatus |
| FR2977649B1 (en) * | 2011-07-08 | 2013-08-02 | Thales Sa | LINEAR ACTUATOR |
| US10941843B2 (en) * | 2018-01-22 | 2021-03-09 | International Institute Of Information Technology, Hyderabad | Telescopic differential screw mechanism based 3-DOF-parallel manipulator platform to achieve omnidirectional bending |
| US20200298425A1 (en) * | 2019-02-25 | 2020-09-24 | The Chinese University Of Hong Kong | Morphable inertial appemdage, systems and associated methods |
| CN110480614B (en) * | 2019-08-27 | 2020-12-11 | 上海大学 | Two-degree-of-freedom parallel telescopic mechanical arm based on tape spring |
| CN110815178B (en) * | 2019-10-29 | 2022-04-26 | 汕头大学 | Rope-driven robot |
| CN111823269A (en) * | 2020-06-23 | 2020-10-27 | 北京航空航天大学 | Measuring tape zipper type telescopic mechanical arm and design method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016102894A1 (en) * | 2016-02-18 | 2017-08-24 | Fiedler Maschinenbau Und Technikvertrieb Gmbh | Front implement carrier with an extendable boom for attachments and method of controlling a front implement carrier |
Non-Patent Citations (1)
| Title |
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| 空间铰链用卷尺弹簧弯曲过程的有限元分析;魏玉卿，尚仰宏;《电子机械工程》;20110228;第29-32页 * |
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