CN113580124B - Telescopic mechanical arm capable of quickly reacting and control method thereof - Google Patents
Telescopic mechanical arm capable of quickly reacting and control method thereof Download PDFInfo
- Publication number
- CN113580124B CN113580124B CN202110944295.8A CN202110944295A CN113580124B CN 113580124 B CN113580124 B CN 113580124B CN 202110944295 A CN202110944295 A CN 202110944295A CN 113580124 B CN113580124 B CN 113580124B
- Authority
- CN
- China
- Prior art keywords
- fixed
- stretching
- plate
- fixing plate
- cable
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000004044 response Effects 0.000 claims abstract description 19
- 238000007906 compression Methods 0.000 claims description 39
- 230000006835 compression Effects 0.000 claims description 38
- 238000005452 bending Methods 0.000 claims description 12
- 238000003825 pressing Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000005316 response function Methods 0.000 description 1
Images
Classifications
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a telescopic quick-response mechanical arm and a control method thereof, and particularly provides a telescopic quick-response mechanical arm which is simple and flexible in structure, strong in stability and high in working efficiency, wherein the device comprises a driving part, a stretching cable and a control part; the driving part comprises a plurality of sections of elastic sections which are sequentially connected end to end; one end of the multi-section elastic section is a free end, and the other end of the multi-section elastic section is a fixed end; the number of the stretching cables is at least 3, the stretching cables uniformly encircle the axes of the elastic sections and are arranged in parallel with the axes; one end of the tensile cable is fixed with the free end, sequentially passes through the multi-section elastic sections towards the fixed end and penetrates out of the fixed end; the control part is fixed at the fixed end; the locking and releasing of the tensile cable can be realized; the invention also discloses a corresponding control method, relates to the technical fields of machinery, robot motion, military detection and the like, and particularly relates to a telescopic quick-response mechanical arm and a control method thereof.
Description
Technical Field
The invention relates to the technical fields of machinery, robot motion, military exploration and the like, in particular to a telescopic mechanical arm with quick response and a control method thereof.
Background
With the rapid development of industries such as express delivery and the like, mechanical arm concepts for packaging and classifying commodities are continuously designed and widely applied to various working occasions; the traditional mechanical arm in the current market is high in price, so that the universality is poor, and the investment cost is high; the time consumption of the programming and computer simulation process is long, and the grabbing of the mechanical arm has a limited application environment; the multi-shaft mechanical arm is easy to realize numerical control, but has a small action range and poor effect of completing large-scale production and transportation; in addition, the control precision and the response speed of the traditional mechanical arm cannot achieve the expected effect, so that the production efficiency is reduced, the high-speed and high-efficiency production requirement cannot be met, and the shape of the mechanical arm occupies a larger working space due to the structure of the mechanical arm, so that the advantages of grabbing and sorting cannot be exerted when the mechanical arm works in a narrow space.
Therefore, how to provide a telescopic mechanical arm with a simple and flexible structure, strong stability and high working efficiency, which is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a retractable and fast-reacting mechanical arm and a control method thereof, and aims to solve the above technical problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a retractable fast-reacting robotic arm comprising: a drive section, a tension cable, and a control section;
the driving part comprises a plurality of sections of elastic sections which are connected end to end in sequence; one end of the multi-section elastic section is a free end, and the other end of the multi-section elastic section is a fixed end;
the number of the stretching cables is at least 3, the stretching cables uniformly encircle the axes of the elastic sections and are arranged in parallel with the axes; one end of the stretching cable is fixed with the free end, sequentially penetrates through the elastic sections towards the fixed end and penetrates out of the fixed end;
the control part is fixed at the fixed end; and the locking and releasing of the tensile cable can be realized.
Through the technical scheme, the telescopic mechanical arm capable of quickly reacting comprises a driving part, a stretching cable and a control part; the control part is used for driving the stretching cable to lock and release the stretching cable, so that the control of different motion forms of the device is realized.
Preferably, in the above retractable mechanical arm with rapid reaction, the elastic segment comprises an upper fixing plate, a lower fixing plate and a tower-shaped spring; the upper fixing plate is circular, and a first circular bulge is arranged on the plate surface; the lower fixing plate and the upper fixing plate are the same in shape, a second circular bulge is arranged on the plate surface, and the diameter of the second circular bulge is smaller than that of the first circular bulge; and the two ends of the tower-shaped spring are clamped between the first circular bulge and the second circular bulge. Simple structure is nimble, easily compression, and the texture is light and handy, has enough big power of launching, and promotes the stability and the harmony of whole device.
Preferably, in the telescopic mechanical arm with rapid reaction, the edge positions of the upper fixing plate and the lower fixing plate are both provided with first through holes; the stretching cable penetrates through the first through hole, one end of the stretching cable is fixedly connected with the free end, and the other end of the stretching cable penetrates out of the control portion. The structure is simple and stable.
Preferably, in the above retractable quick-response robotic arm, in two adjacent said resilient segments: the lower fixing plate of one elastic section is attached and fixed to the plate surface of the upper fixing plate of the other elastic section. The structure is simple and stable.
Preferably, in the above retractable quick-response robot arm, the control part includes a parallel frame, a compression spring controller, a compression spring, and a fastening plate;
the parallel frame comprises two circular plates which are arranged in parallel, and one circular plate is fixedly attached to the surface of the upper fixing plate of the elastic section; a plurality of fastening plates are uniformly fixed on the edge of the circular plate;
the compression spring controller comprises a cylinder, a motor, a rotating disc and a rope; the cylinder is hollow and cylindrical, two ends of the cylinder are respectively fixed between the two circular plates, and the side wall of the cylinder is provided with a plurality of circular holes; the motor is arranged in the cylinder and fixedly connected to the middle of the circular plate, and the rotating disc is arranged above the motor and fixedly connected with the end of a motor shaft of the motor;
the number of the compression springs is multiple; a plurality of said compression springs disposed radially outside said cylinder; one end of the compression spring is fixed with the outer side of the cylinder, the other end of the compression spring points to the fastening plate, and a pressing plate is fixed at the end head of the compression spring;
the number of the ropes is multiple; a plurality of ropes are fixed on the edge of the rotary disc at equal intervals, the ropes penetrate through the round holes, and the ends of the ropes are fixed with the pressing plate; the pressing plate is used for being matched with the fastening plate to clamp the extension cable under the elastic action of the compression spring. The structure is simple and stable, the emergency braking at any time can be realized, and the quick response function can be realized.
Preferably, in the telescopic mechanical arm for rapid reaction, the circular plate is provided with a second through hole corresponding to the upper fixing plate. The structure is simple and stable.
Preferably, in the telescopic quick-response mechanical arm, the number of the compression springs is 3. The structure is simple.
Preferably, in the telescopic quick-reaction mechanical arm, the number of the tensile cables is 3. The structure is simple.
Preferably, in the above telescopic mechanical arm with rapid reaction, the number of the first through holes formed in the upper fixing plate and the lower fixing plate is 3. The structure is simple.
The invention also provides a control method of the telescopic quick-response mechanical arm, which controls the control part to drive the stretching cable and lock and release the stretching cable so as to realize the control of different motion forms of the device, and the control method comprises the following steps:
expansion control: the control part is controlled to release the plurality of stretched cables and stretch the plurality of stretched cables at the same time, and after the plurality of sections of elastic sections stretch towards the same direction and reach a target position, the control part is controlled to lock the plurality of stretched cables to realize stretching control;
bending control: pulling any one stretching cable, controlling the control part to lock a plurality of stretching cables after the elastic sections bend towards the pulling direction of the pulled stretching cable and reach the target position, and realizing bending control;
rotation control: and pulling a plurality of the stretching cables in sequence along the circumferential direction, controlling the control part to lock a plurality of the stretching cables after the bending angles and directions of the elastic sections are changed in sequence and reach the target position, and realizing rotation control.
Through the technical scheme, the control method has the main idea that the control part is controlled to drive the stretching cable, and the stretching cable is locked and released, so that the control on different movement modes of the device is realized.
The driving force for driving the tensile cable can be driven by the rotation of a motor or the extension and contraction of a hydraulic rod, and can also be other driving devices with power output.
Compared with the prior art, the invention discloses a telescopic mechanical arm with rapid reaction and a control method thereof, and the telescopic mechanical arm with rapid reaction has the following beneficial effects:
1. the telescopic type telescopic device is simple in structure, convenient and fast to operate, capable of flexibly stretching and retracting, capable of achieving multi-directional movement, and capable of improving working efficiency to meet working requirements.
2. The invention has the advantages of easy compression, light texture, enough ejection force, higher pressure bearing capacity and increased stability and coordination of the whole device.
3. The invention can realize emergency braking at any time and has the performance of quick response.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a retractable fast-reaction robotic arm according to the present invention;
FIG. 2 is a schematic diagram of a flexible segment of a retractable fast-response robotic arm according to the present invention;
FIG. 3 is a schematic structural view of a tower spring of a telescopic fast-response mechanical arm provided by the present invention;
FIG. 4 is a front view of the retractable fast response robotic arm control provided by the present invention;
FIG. 5 is a top view of the retractable fast response robotic arm control provided in accordance with the present invention;
FIG. 6 is a schematic view of a retractable quick-response robotic arm according to the present invention in a retracted state;
FIG. 7 is a schematic diagram of the extension state of the retractable quick-response robotic arm provided in the present invention;
fig. 8 is a schematic structural diagram of a bending state of a retractable quick-response mechanical arm provided by the invention.
Wherein:
1-a driving part;
11-an elastic segment; 111-upper fixing plate; 1111-a first circular protrusion; 1112-a second circular protrusion; 1113-first via; 112-lower fixing plate; 113-tower springs;
2-stretching the cable;
3-a control section;
31-a parallel frame; 311-circular plate; 3111-a second via; 32-compression spring controller; 321-a cylinder; 3211-round hole; 322-a motor; 323-rotating disk; 324-a motor shaft; 325-wire; 33-a compression spring; 34-a fastening plate; 35-pressing plate.
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to the accompanying drawings 1 to 5, the embodiment of the invention discloses a telescopic mechanical arm with rapid reaction, which comprises: a drive part 1, a tension cable 2 and a control part 3;
the driving part 1 comprises a plurality of sections of elastic sections 11 which are connected end to end in sequence; one end of the multi-section elastic section 11 is a free end, and the other end is a fixed end;
the number of the stretching cables 2 is at least 3, and the stretching cables uniformly encircle the axes of the elastic sections 11 and are arranged in parallel with the axes; one end of the tensile cable 2 is fixed with the free end, sequentially passes through the multi-section elastic sections 11 towards the fixed end and penetrates out of the fixed end;
the control part 3 is fixed at the fixed end; and locking and releasing of the tensile cable 2 can be achieved.
In order to further optimize the above technical solution, the elastic section 11 includes an upper fixing plate 111, a lower fixing plate 112 and a tower spring 113; the upper fixing plate 111 is circular, and a first circular protrusion 1111 is formed on the plate surface; the lower fixing plate 112 and the upper fixing plate 111 have the same shape, and the plate surface has a second circular protrusion 1112, and the diameter of the second circular protrusion 1112 is smaller than that of the first circular protrusion 1111; the two ends of the tower spring 113 are clamped between the first circular protrusion 1111 and the second circular protrusion 1112.
In order to further optimize the above technical solution, the edge positions of the upper fixing plate 111 and the lower fixing plate 112 are both provided with a first through hole 1113; tensile cable 2 passes first through-hole 1113, and one end and free end fixed connection, and the other end is worn out to control portion 3.
In order to further optimize the above solution, in two adjacent elastic segments 11: the lower fixing plate 112 of one elastic segment 11 is attached and fixed to the plate surface of the upper fixing plate 111 of the other elastic segment 11.
In order to further optimize the above technical solution, the control part 3 comprises a parallel frame 31, a compression spring controller 32, a compression spring 33 and a fastening plate 34;
the parallel frame 31 comprises two circular plates 311 arranged in parallel, and one circular plate 311 is fixedly attached to the plate surface of the upper fixing plate 111 of the elastic section 11; a plurality of fastening plates 34 are uniformly fixed at the edge of the circular plate 311;
the compression spring controller 32 includes a cylinder 321, a motor 322, a rotating disk 323, and a wire rope 325; the cylinder 321 is a hollow cylinder, two ends of the cylinder are respectively fixed between the two circular plates 311, and the side wall of the cylinder is provided with a plurality of circular holes 3211; the motor 322 is arranged inside the cylinder 321 and fixedly connected to the middle of the circular plate 311, and the rotating disc 323 is arranged above the motor 322 and fixedly connected to the end of a motor shaft 324 of the motor 322;
the number of the compression springs 33 is plural; a plurality of compression springs 33 are arranged radially outside the cylinder 321; one end of the compression spring 33 is fixed with the outer side of the cylinder 321, the other end of the compression spring points to the fastening plate 34, and the end head of the compression spring is fixed with the pressing plate 35;
the number of the cords 325 is plural; a plurality of wires 325 are fixed on the edge of the rotating disc 323 at equal intervals, the wires 325 pass through the round hole 3211, and the ends of the wires are fixed with the pressing plate 35; the pressing plate 35 is used to clamp the tension cable 2 in cooperation with the fastening plate 34 under the elastic action of the compression spring 33.
In order to further optimize the above technical solution, the circular plate 311 is provided with a second through hole 3111 corresponding to the upper fixing plate 111.
In order to further optimize the above solution, the number of compression springs 33 is 3.
In order to further optimize the above solution, the number of tensile cables 2 is 3.
In order to further optimize the above technical solution, the number of the first through holes 1111 formed on the upper fixing plate 111 and the lower fixing plate 112 is 3.
Referring to fig. 6 to 8, a control method using the apparatus includes:
expansion control: the control part 3 releases the plurality of stretched cables 2 and stretches the plurality of stretched cables 2 at the same time, and after the plurality of sections of elastic sections 11 stretch in the same direction and reach the target position, the control part 3 locks the plurality of stretched cables 2 to realize stretching control;
bending control: after any one stretched cable 2 is pulled, the multi-section elastic section 11 bends towards the pulling direction of the pulled stretched cable 2 and reaches a target position, the control part 3 locks the stretched cables 2 to realize bending control;
rotation control: the plurality of tensile cables 2 are sequentially pulled along the circumferential direction, the bending angles and directions of the plurality of sections of elastic sections 11 are sequentially changed and reach the target position, and the control part 3 locks the plurality of tensile cables 2 to realize rotation control.
The specific implementation mode of the invention is as follows: the control part 3 is used for driving the stretching cable 2 to lock and release the stretching cable 2, so that the control of different motion forms of the device is realized; to implement the telescoping control: the 3 tensile cables 2 are pulled simultaneously, the multiple sections of elastic sections 11 are compressed in the same direction to achieve the target position, when the target position needs to be operated, the motor 322 is driven, the rotating disc 323 drives the 3 ropes 325 to contract simultaneously, and then the 3 compression springs 33 are driven to compress, the 3 compression springs 33 are separated from the 3 tensile cables 2 respectively, and the control part 3 locks the multiple tensile cables 2 to achieve telescopic control; to achieve bend control: when any one tensile cable 2 is pulled, the multiple sections of elastic sections 11 bend towards the pulling direction of the pulled tensile cable 2 and reach a target position, when the target position needs to be operated, the motor 322 is driven, the rotating disc 323 drives the wire rope 325 connected with the pulled tensile cable 2 to contract, the compression spring 33 connected with the wire rope 325 is further driven to compress, the compression spring 33 is separated from the pulled tensile cable 2, and the control part 3 locks the multiple tensile cables 2 to realize bending control; to achieve rotational control: pulling many tensile cables 2 in proper order along the circumferencial direction, the bending angle and the direction of multisection elastic segment 11 are according to changing and reaching the target location, when needing to operate the target location, driving motor 322, rotary disk 323 drive 3 cotton ropes 325 and contract in proper order, and then drive 3 pressure spring 33 and compress in proper order, 3 compression spring separate in proper order with 3 tensile cables 2 respectively, control portion 3 locks many tensile cables 2, realize rotation control.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A retractable fast-reacting robotic arm, comprising: a drive unit (1), a tension cable (2), and a control unit (3);
the driving part (1) comprises a plurality of sections of elastic sections (11) which are sequentially connected end to end; one end of the elastic section (11) is a free end, and the other end of the elastic section is a fixed end;
the number of the stretching cables (2) is at least 3, and the stretching cables uniformly encircle the axes of the elastic segments (11) and are arranged in parallel with the axes; one end of the stretching cable (2) is fixed with the free end, sequentially penetrates through the elastic sections (11) towards the fixed end, and penetrates out of the fixed end; the elastic section (11) comprises an upper fixing plate (111), a lower fixing plate (112) and a tower-shaped spring (113); the upper fixing plate (111) is circular, and a first circular protrusion (1111) is arranged on the plate surface; the lower fixing plate (112) and the upper fixing plate (111) are the same in shape, and a plate surface is provided with a second circular protrusion (1112), and the diameter of the second circular protrusion (1112) is smaller than that of the first circular protrusion (1111); two ends of the tower-shaped spring (113) are clamped between the first circular protrusion (1111) and the second circular protrusion (1112);
the control part (3) is fixed on the fixed end; the tensile cable (2) can be locked and released; the control part (3) comprises a parallel frame (31), a compression spring controller (32), a compression spring (33) and a fastening plate (34);
the parallel frame (31) comprises two circular plates (311) which are arranged in parallel, and one circular plate (311) is fixedly attached to the plate surface of the upper fixing plate (111) of the elastic section (11); a plurality of fastening plates (34) are uniformly fixed on the edge of the circular plate (311);
the compression spring controller (32) comprises a cylinder (321), a motor (322), a rotating disc (323) and a wire rope (325); the cylinder (321) is hollow and cylindrical, two ends of the cylinder are respectively fixed between the two circular plates (311), and the side wall of the cylinder is provided with a plurality of circular holes (3211); the motor (322) is arranged inside the cylinder (321) and is fixedly connected to the middle of the circular plate (311), and the rotating disc (323) is arranged above the motor (322) and is fixedly connected with the end of a motor shaft (324) of the motor (322);
the number of the compression springs (33) is multiple; a plurality of said compression springs (33) being arranged radially outside said cylinder (321); one end of the compression spring (33) is fixed with the outer side of the cylinder (321), the other end of the compression spring points to the fastening plate (34), and the end head of the compression spring is fixed with a pressing plate (35);
the number of the thread ropes (325) is multiple; a plurality of wire ropes (325) are fixed on the edge of the rotating disc (323) at equal intervals, the wire ropes (325) penetrate through the round holes (3211), and the ends of the wire ropes are fixed with the pressure plate (35); the pressing plate (35) is used for being matched with the fastening plate (34) to clamp the tensile cable (2) under the elastic action of the compression spring (33).
2. A telescopic mechanical arm for rapid reaction according to claim 1, wherein the upper fixing plate (111) and the lower fixing plate (112) are provided with a first through hole (1113) at the edge position; the stretching cable (2) penetrates through the first through hole (1113), one end of the stretching cable is fixedly connected with the free end, and the other end of the stretching cable penetrates out of the control part (3).
3. A telescopic fast-reacting mechanical arm as claimed in claim 1, characterised in that in two adjacent said elastic segments (11): the lower fixing plate (112) of one elastic section (11) is attached and fixed to the plate surface of the upper fixing plate (111) of the other elastic section (11).
4. A telescopic mechanical arm with quick reaction according to claim 1, wherein the circular plate (311) is provided with a second through hole (3111) corresponding to the upper fixing plate (111).
5. A telescopic fast-reacting mechanical arm as claimed in claim 1, characterised in that said compression springs (33) are 3 in number.
6. A telescopic fast-reacting robot arm according to claim 2, characterised in that the number of tensile cables (2) is 3.
7. The retractable mechanical arm with rapid response as claimed in claim 6, wherein the number of the first through holes (1113) formed on the upper fixing plate (111) and the lower fixing plate (112) is 3.
8. A method of controlling a retractable fast-response robotic arm as claimed in any one of claims 1 to 7, comprising:
expansion control: the control part (3) is controlled to release the plurality of stretching cables (2) and stretch the plurality of stretching cables (2), the plurality of elastic sections (11) stretch towards the same direction and reach a target position, and then the control part (3) is controlled to lock the plurality of stretching cables (2) to realize stretching control;
and (3) bending control: pulling any one stretching cable (2), controlling the control part (3) to lock a plurality of stretching cables (2) after the elastic sections (11) bend towards the pulling direction of the pulled stretching cable (2) and reach a target position, and realizing bending control;
rotation control: draw many in proper order along the circumferencial direction tensile cable (2), multisection after the bending angle and the direction of elasticity section (11) change in proper order and reach the target position, control portion (3) locking many tensile cable (2), realization rotation control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110944295.8A CN113580124B (en) | 2021-08-17 | 2021-08-17 | Telescopic mechanical arm capable of quickly reacting and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110944295.8A CN113580124B (en) | 2021-08-17 | 2021-08-17 | Telescopic mechanical arm capable of quickly reacting and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113580124A CN113580124A (en) | 2021-11-02 |
| CN113580124B true CN113580124B (en) | 2022-08-19 |
Family
ID=78258247
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110944295.8A Active CN113580124B (en) | 2021-08-17 | 2021-08-17 | Telescopic mechanical arm capable of quickly reacting and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113580124B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847430B (en) * | 2023-02-27 | 2023-05-30 | 中国人民解放军国防科技大学 | Model-free prediction full-position control method and system for soft mechanical arm |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0812053D0 (en) * | 2008-07-02 | 2008-08-06 | Oliver Crispin Robotics Ltd | Improvements in or relating to robotic arms |
| US10543605B2 (en) * | 2017-08-15 | 2020-01-28 | Avigilon Corporation | Camera on movable arm |
| CN108393924B (en) * | 2018-02-10 | 2020-04-17 | 北京工业大学 | Line-driven telescopic bending full-flexible mechanical arm structure |
| CN109202878B (en) * | 2018-09-14 | 2020-11-20 | 电子科技大学 | Space multi-degree-of-freedom segmented control bionic flexible arm based on metamorphic mechanism |
| CN112873194B (en) * | 2021-01-19 | 2022-08-26 | 上海工程技术大学 | Line-driven continuous flexible mechanical arm and flexible robot comprising same |
-
2021
- 2021-08-17 CN CN202110944295.8A patent/CN113580124B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113580124A (en) | 2021-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107598910B (en) | Tendon-driven variable-scale continuous robot | |
| CN109176587B (en) | Multi-finger flexible manipulator based on volute spiral spring | |
| CN113580124B (en) | Telescopic mechanical arm capable of quickly reacting and control method thereof | |
| CN108481307B (en) | Continuous robot for large load bearing | |
| CN105856191B (en) | The more body mechanisms of high speed of rope parallel drive | |
| CN109202878B (en) | Space multi-degree-of-freedom segmented control bionic flexible arm based on metamorphic mechanism | |
| CN108638098B (en) | Omnidirectional staggered swinging rod array self-adaptive robot hand device | |
| CN108214522B (en) | Orthogonal swinging sliding tube array self-adaptive robot hand device | |
| CN110561408A (en) | Robot system | |
| CN110640782A (en) | Single-drive flexible mechanical control system and method adopting stay wire drive and robot | |
| CN110549322A (en) | modularized robot based on integral tensioning structure | |
| CN113942004B (en) | Snake-like soft robot based on tension structure | |
| CN111037546B (en) | Rope-driven scissor telescopic arm | |
| CN110802584A (en) | Rope-driven multi-joint flexible mechanical arm and robot | |
| CN102756376A (en) | Finger device for underactuated robot adapting along with shapes automatically | |
| CN110696026B (en) | Differential drive formula manipulator based on flexible coupling | |
| CN209664665U (en) | Tension tool and tensioner system | |
| CN208342868U (en) | A kind of more fingerstall tube kind part picking manipulator pawls that pine folder is controllable | |
| CN108858221B (en) | Reconfigurable line-driven continuous robot | |
| CN111453555A (en) | Laying device capable of preventing cable from being pulled | |
| CN218082707U (en) | Driving device of flexible variable-rigidity manipulator | |
| CN114888843A (en) | Friction locking-based joint rigidity changing method and device | |
| CN114367969B (en) | Pipeline crawling robot based on tensioning principle | |
| CN114278808B (en) | Variable-rigidity pipeline detection robot based on spherical joints | |
| CN208120626U (en) | A kind of spiral actuating lifting device |
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 | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240819 Address after: 250000 room 2-504, building Q, Hengda City, No. 58, Gongye North Road, Licheng District, Jinan City, Shandong Province Patentee after: SHANDONG CHENGKUN INFORMATION TECHNOLOGY CO.,LTD. Country or region after: China Address before: 86 No. 341000 Jiangxi city of Ganzhou province Zhanggong District Hongqi Avenue Patentee before: Jiangxi University of Science and Technology Country or region before: China |