CN113580124B - Telescopic mechanical arm capable of quickly reacting and control method thereof - Google Patents

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

A retractable and fast-response robotic arm and its control method

technical field

The invention relates to the technical fields of machinery, robot motion, military detection and the like, and more particularly to a retractable and fast-response mechanical arm and a control method thereof.

Background technique

With the rapid development of express delivery and other industries, the concept of robotic arms for packaging and sorting commodities has been continuously designed and widely used in various workplaces; the traditional robotic arms on the market are currently expensive, resulting in poor universality and low investment costs. High; the programming and computer simulation process takes a long time and the grasping of the robotic arm has a limited application environment; the multi-axis robotic arm is easy to realize numerical control, but the scope of action is small, and the effect of completing large-scale production and handling work is not good; in addition, The control accuracy and response speed of traditional manipulators have not yet achieved the expected results, resulting in lower production efficiency, which cannot meet the needs of high-speed and efficient production, and the shape of the manipulator occupies a larger working space due to its own structure. When working in a narrow space, Often can not take advantage of its crawling classification.

Therefore, how to provide a retractable and fast-response robotic arm with a simple and flexible structure, strong stability and high work efficiency is an urgent problem for those skilled in the art to solve.

SUMMARY OF THE INVENTION

In view of this, the present invention provides a retractable and rapid response manipulator and a control method thereof, aiming at solving the above technical problems.

In order to achieve the above object, the present invention adopts the following technical solutions:

A retractable and quick-response robotic arm, comprising: a driving part, a stretching cable and a control part;

The driving part comprises a plurality of elastic segments connected end to end in sequence; one end of the multiple elastic segments is a free end, and the other end is a fixed end;

The number of the stretching cables is at least 3, and they evenly surround the axes of the multiple elastic segments and are arranged in parallel with them; one end of the stretching cables is fixed with the free end, and faces the fixed end. The direction passes through the plurality of elastic segments in sequence, and passes through the fixed end;

The control part is fixed on the fixed end; and can realize the locking and releasing of the tensile cable.

Through the above technical solutions, the present invention provides a retractable and fast-response robotic arm, comprising a driving part, a stretching cable and a control part; the stretching cable is driven by the control and control part to lock and release the stretching cable , so as to realize the control of different movement forms of the device.

Preferably, in the above-mentioned retractable and fast-response robotic arm, the elastic segment includes an upper fixing plate, a lower fixing plate and a tower spring; the upper fixing plate is circular and has a first circle on the plate surface The lower fixing plate has the same shape as the upper fixing plate, and has a second circular projection on the plate surface, and the diameter of the second circular projection is smaller than the diameter of the first circular projection Diameter; both ends of the tower spring are clamped between the first circular protrusion and the second circular protrusion. The structure is simple and flexible, easy to compress, light in texture, has sufficient ejection force, and improves the stability and coordination of the whole device.

Preferably, in the above-mentioned retractable and fast-response robotic arm, first through holes are provided at the edges of the upper fixing plate and the lower fixing plate; the stretching cable passes through the first through holes. A hole is formed, and one end is fixedly connected to the free end, and the other end is protruded toward the control part. The structure is simple and stable.

Preferably, in the above-mentioned retractable and quick-response robotic arm, in two adjacent elastic segments: the lower fixing plate of one elastic segment and the upper fixing plate of the other elastic segment The plate surface of the fixing plate is attached and fixed. The structure is simple and stable.

Preferably, in the above-mentioned retractable and quick-response robotic arm, the control part includes a parallel frame, a compression spring controller, a compression spring and a fastening plate;

The parallel frame includes two circular plates arranged in parallel, and one of the circular plates is fitted and fixed with the plate surface of the upper fixing plate of the elastic segment; the edges of the circular plates are evenly fixed with a plurality of pieces Fastening plate;

The compression spring controller includes a cylinder, a motor, a rotating disk and a wire rope; the cylinder is a hollow cylinder, the two ends are respectively fixed between the two circular plates, and the side walls of the cylinder are provided with a plurality of holes. a circular hole; the motor is arranged inside the cylinder and is fixedly connected to the middle of the circular plate, the rotating disk is arranged above the motor and is fixedly connected to the motor shaft end of the motor;

The number of the compression springs is multiple; a plurality of the compression springs are arranged radially outside the cylinder; one end of the compression springs is fixed with the outer side of the cylinder, the other end points to the fastening plate, and the end The head is fixed with a pressure plate;

The number of the wire ropes is multiple; a plurality of the wire ropes are fixed at the edge of the rotating disk at equal distances, the wire ropes pass through the circular hole, and the ends are fixed with the pressure plate; the pressure plate is used for Under the elastic action of the compression spring, the tension cable is clamped in cooperation with the fastening plate. The structure is simple and stable, which can realize emergency braking at any time and realize the function of quick response.

Preferably, in the above-mentioned retractable and quick-response robotic arm, 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 above-mentioned telescopic and fast-response robotic arm, the number of the compression springs is three. Simple structure.

Preferably, in the above-mentioned retractable and fast-response robotic arm, the number of the stretching cables is three. Simple structure.

Preferably, in the above-mentioned retractable and quick-response robotic arm, the number of the first through holes opened on the upper fixing plate and the lower fixing plate is both three. Simple structure.

The present invention also provides a control method of a retractable and fast-response mechanical arm. The control part drives the stretching cable to lock and release the stretching cable, so as to realize the control of different movement forms of the device. Control methods include:

Telescopic control: control the control part to release a plurality of the stretching cables, and simultaneously stretch a plurality of the stretching cables, and after the elastic segments stretch in the same direction and reach the target position, control the The control part locks a plurality of the stretching cables to realize telescopic control;

Bending control: Pull any one of the stretch cables, and after the multiple elastic segments are bent toward the pulling direction of the pulled stretch cables and reach the target position, control the control part to lock the multiple stretch cables. Extend the cable to achieve bending control;

Rotation control: Pull a plurality of the stretching cables in turn in the circumferential direction, and after the bending angles and directions of the elastic segments of the plurality of sections change in sequence and reach the target position, the control part is controlled to lock the plurality of stretching cables cable for rotation control.

Through the above technical solutions, the main idea of the control method of the present invention is to control the control part to drive the stretching cable to lock and release the stretching cable, so as to realize the control of different movement forms of the device.

It should be noted that, the driving force for driving the stretching cable in the present invention can be driven by the rotation of the motor or the expansion and contraction of the hydraulic rod, and can also be other driving devices with power output.

As can be seen from the above technical solutions, compared with the prior art, the present invention provides a retractable and fast-response robotic arm and a control method thereof, which have the following beneficial effects:

1. The present invention has the advantages of simple structure, convenient operation, flexible expansion and contraction, multi-directional movement, and improved work efficiency to meet work requirements.

2. The present invention has the properties of being easy to compress, light in texture, having a sufficiently large ejection force, and can withstand greater pressure, which increases the stability and coordination of the entire device.

3. The present invention can realize emergency braking at any time, and has the performance of quick response.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work.

Fig. 1 accompanying drawing is the structural schematic diagram of the retractable and fast-response mechanical arm provided by the present invention;

2 is a schematic structural diagram of an elastic section of a retractable and fast-responding robotic arm provided by the present invention;

Fig. 3 accompanying drawing is the structure schematic diagram of the manipulator tower spring of the telescopic and fast response provided by the present invention;

FIG. 4 is a front view of the telescopic and fast-response robotic arm control part provided by the present invention;

5 is a top view of the telescopic and fast-response robotic arm control part provided by the present invention;

6 is a schematic structural diagram of the retractable state of the retractable and fast-reacting robotic arm provided by the present invention;

7 is a schematic structural diagram of the stretched state of the retractable and fast-response robotic arm provided by the present invention;

FIG. 8 is a schematic structural diagram of a retractable and fast-response robotic arm in a bent state provided by the present invention.

in:

1- drive part;

11-elastic segment; 111-upper fixing plate; 1111-first circular projection; 1112-second circular projection; 1113-first through hole; 112-lower fixing plate; 113-tower spring;

2- stretch the cable;

3 - Control Department;

31-parallel frame; 311-circular plate; 3111-second through hole; 32-compression spring controller; 321-cylinder; 3211-round hole; 322-motor; 323-rotating disk; 324-motor shaft; 325 - Cord; 33 - Compression spring; 34 - Fastening plate; 35 - Pressure plate.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Referring to FIG. 1 to FIG. 5 , an embodiment of the present invention discloses a retractable and fast-response robotic arm, including: a driving part 1 , a stretching cable 2 and a control part 3 ;

The driving part 1 includes a plurality of elastic segments 11 connected end to end in sequence; one end of the multi-segment elastic segment 11 is a free end, and the other end is a fixed end;

The number of stretching cables 2 is at least 3, and they evenly surround the axis of the multi-section elastic section 11 and are arranged parallel to it; Section 11, and pass out from the fixed end;

The control part 3 is fixed on the fixed end; and can realize the locking and releasing of the tensile cable 2 .

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 has a first circular protrusion 1111 on the plate surface; the lower fixing plate 112 has the same shape as the upper fixing plate 111, and has a second circular protrusion 1112 on the board surface, the diameter of the second circular protrusion 1112 is smaller than the diameter of the first circular protrusion 1111; the two ends of the tower spring 113 are clamped Connected between the first circular protrusion 1111 and the second circular protrusion 1112 .

In order to further optimize the above technical solution, first through holes 1113 are provided at the edge positions of the upper fixing plate 111 and the lower fixing plate 112; The other end is protruded toward the control part 3 .

In order to further optimize the above technical solution, in two adjacent elastic segments 11 , the lower fixing plate 112 of one elastic segment 11 is attached and fixed to the 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 includes a parallel frame 31, a compression spring controller 32, a compression spring 33 and a fastening plate 34;

The parallel frame 31 includes two circular plates 311 arranged in parallel, and one circular plate 311 is fitted and fixed to the surface of the upper fixing plate 111 of the elastic segment 11 ; the edges of the circular plate 311 are evenly fixed with a plurality of fastening plates 34 ;

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, the two ends are respectively fixed between the two circular plates 311, and the side walls of the cylinder 321 are 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, the rotating disk 323 is arranged above the motor 322 and is fixedly connected to the end of the motor shaft 324 of the motor 322;

The number of the compression springs 33 is multiple; the multiple compression springs 33 are radially arranged outside the cylinder 321; one end of the compression springs 33 is fixed to the outside of the cylinder 321, the other end points to the fastening plate 34, and a pressure plate 35 is fixed at the end;

The number of the cords 325 is multiple; the multiple cords 325 are fixed at the edge of the rotating disk 323 at equal distances, the cords 325 pass through the circular hole 3211, and the ends are fixed with the pressure plate 35; the pressure plate 35 is used to compress the elasticity of the spring 33 Under the action, the tension cable 2 is clamped in cooperation with the fastening plate 34 .

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 technical solution, the number of compression springs 33 is three.

In order to further optimize the above technical solution, the number of tensile cables 2 is three.

In order to further optimize the above technical solution, the number of the first through holes 1111 opened on the upper fixing plate 111 and the lower fixing plate 112 are both three.

Referring to accompanying drawings 6 to 8, the control method for applying the device includes:

Telescopic control: Control the control part 3 to release the multiple stretching cables 2 and simultaneously stretch the multiple stretching cables 2. After the multi-section elastic segments 11 expand and contract in the same direction and reach the target position, the control and control part 3 is locked more tightly. One tensile cable 2 to realize telescopic control;

Bending control: After pulling any stretch cable 2, the multi-section elastic section 11 bends toward the pulling direction of the pulled stretch cable 2 and reaches the target position, then the control unit 3 locks the multiple stretch cables 2 to achieve bend control;

Rotation control: Pull a plurality of tensile cables 2 in turn in the circumferential direction, and after the bending angle and direction of the multi-section elastic sections 11 change in turn and reach the target position, the control unit 3 locks the plurality of tensile cables 2 to achieve Rotation control.

The specific embodiment of the present invention is as follows: by controlling the control part 3 to drive the stretching cable 2, the stretching cable 2 is locked and released, so as to realize the control of different movement forms of the device; in order to realize the telescopic control: simultaneously pull the 3 A tensile cable 2, the multi-section elastic segments 11 are stored and compressed in the same direction and reach the target position. When the target position needs to be operated, the motor 322 is driven, and the rotating disc 323 drives the three ropes 325 to shrink simultaneously, and then The three compression springs 33 are driven to compress, the three compression springs 33 are separated from the three tension cables 2 respectively, and the control and control unit 3 locks the multiple tension cables 2 to realize telescopic control; in order to realize the bending control: pull any A tensile cable 2, the multi-section elastic section 11 is bent toward the pulling direction of the pulled tensile cable 2 and reaches the target position. When the target position needs to be operated, the motor 322 is driven, and the rotating disc 323 drives and pulls the puller. The cord 325 connected to the extension cord 2 shrinks, which in turn drives the compression spring 33 connected to the cord 325 to compress, the compression spring 33 is separated from the pulled tension cord 2, and the control unit 3 locks the multiple tension cords cable 2, to achieve bending control; in order to achieve rotation control: pull multiple tensile cables 2 in turn in the circumferential direction, the bending angle and direction of the multi-section elastic section 11 are changed and reach the target position, when the target position needs to be operated. When the motor 322 is driven, the rotating disc 323 drives the three wire ropes 325 to shrink in turn, and then drives the three compression springs 33 to compress in sequence. Tighten multiple tensile cables 2 to realize rotation control.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

The above description of the disclosed embodiments enables 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 implemented in 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.

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