A two-degree-of-freedom parallel telescopic manipulator based on tape spring

Abstract

The invention discloses a two-freedom-degree parallel connection telescopic mechanical arm based on a band tape spring. The two-freedom-degree parallel connection telescopic mechanical arm comprises afirst connecting frame, a second connecting frame, a third connecting frame, a driving motor, a driven motor, the band tape spring and a manipulator claw, wherein the first connecting frame and the second connecting frame are connected with an unmanned aerial vehicle; the driving motor is fixed to the first connecting frame; a wind-up roller is arranged on a driving shaft of the driving motor; the manipulator claw is arranged at the bottom of the third connecting frame; the driven motor is fixed to the third connecting frame; a driving wheel and a driven wheel are arranged in the third connecting frame; a driving shaft of the driven motor is connected with the driving wheel; and one end of the band tape spring is connected with the wind-up roller, and the other end of the band tape springpenetrates through the driving wheel and the driven wheel to be connected with the second connecting frame. According to the two-freedom-degree parallel connection telescopic mechanical arm disclosedby the invention, flexible parallel mechanical arms are manufactured by the band tape spring, so that the two-freedom-degree parallel connection telescopic mechanical arm is simple in structure, light in weight, high in expanding degree, and high in working flexibility; and the parallel mechanical arms have two freedom degrees, so that expanding and contracting and left-and-right translating canbe realized, the working range is wider, and the manipulator at the lower part can accurately grasp a target object.

Description

technical field [0001] The invention relates to the technical field of scalable flexible mechanical arms, in particular to a two-degree-of-freedom parallel flexible mechanical arm based on a tape measure spring. Background technique [0002] At present, most of the retractable mechanical arms adopt the traditional rigid structure, which has the characteristics of high precision and large bearing capacity, but the device is complicated, the operation is troublesome, and the volume and weight are large. Due to the limited load capacity of the drone, a new type is needed. lightweight retractable robotic arm. [0003] Most of the current technical solutions closest to the present invention are flexible robotic arms with poor operability: [0004] 1) In the patent document with the publication number CN107433582A and the patent name "A Kind of Omni-directional Motion Scalable Flexible Robotic Arm", the flexible robotic arm can realize omnidirectional movement, and the flexible a...

AI Technical Summary

Problems solved by technology

[0004] 1) In the patent document with the publication number CN107433582A and the patent name "A Kind of Omni-directional Motion Scalable Flexible Robotic Arm", the flexible robotic arm can realize omnidirectional movement, and the flexible arm includes a variable shear rod mechanism and a coplanar mechanism. The variable shear bar mechanism is evolved from the scissor bar mechanism, which can control the expansion and contraction of the shear bar more accurately, but the device has a complex structure, large volume, and heavy weight, and is not suitable for carrying under small UAVs to achieve long-distance target objects Pick

[0005] 2) In the patent document with the publication number CN108393924A and the patent name "A Wire-Driven Scalable and Bending Fully Flexible Manipulator Structure", the mechanism controls the posture by the spring wire rope, and controls the elongation of the spring by winding the wire. The structure of the arm is relatively stable, but the operating space of the mechanism can only be expanded and contracted on the vertical plane, and the left and right plane movement cannot be realized

[0006] 3) In the patent document with the publication number CN107253043A and the patent name "A Three-degree-of-freedom Variable Flexible Mechanical Arm Screw Screwing Tool", the tool uses magnetorheological fluid to realize the piston rod and the working sleeve at a set speed. Pushing improves the flexibility of the tool, but the stability of the tool movement is not high, and the accuracy of the docking is not high

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