伸缩臂结构

Abstract

本公开提供一种伸缩臂结构，伸缩臂结构包括固定基座、伸缩臂组件、驱动组件和柔性管。伸缩臂组件包括固定端和移动端，固定端设置于固定基座，移动端可移动地设置于固定端。驱动组件包括第一滚轮、第二滚轮和驱动机构，第一滚轮和第二滚轮可转动地设置于固定基座，并且间隔设置，驱动机构设置于固定基座，并与第一滚轮和第二滚轮传动连接，用于驱动第一滚轮转动。柔性管的一端设置于第一滚轮和第二滚轮之间，另一端与伸缩臂组件的移动端连接。其中，驱动机构驱动第一滚轮转动时，第一滚轮和第二滚轮带动柔性管沿长度方向移动，以使柔性管带动伸缩臂组件的移动端靠近或远离固定端。

Claims

1. A telescopic arm structure, characterized by, include: Fixed base; A telescopic boom assembly includes a fixed end and a movable end, wherein the fixed end is disposed on the fixed base, and the movable end is movably disposed on the fixed end; The driving assembly includes a first roller, a second roller, and a driving mechanism. The first roller and the second roller are rotatably disposed on the fixed base and are spaced apart. The driving mechanism is disposed on the fixed base and is connected to the first roller and the second roller in a transmission connection, for driving the first roller to rotate. A flexible tube, one end of which is disposed between the first roller and the second roller, and the other end is connected to the movable end of the telescopic arm assembly; When the driving mechanism drives the first roller to rotate, the first roller and the second roller drive the flexible tube to move along the length direction, so that the flexible tube drives the moving end of the telescopic arm assembly to move closer to or away from the fixed end.

2. The telescopic arm structure according to claim 1, characterized in that, The telescopic arm structure also includes a flexible rope and a take-up reel; one end of the flexible rope is disposed at the moving end, and the other end is wound around the take-up reel, and the elongation of the flexible rope in the length direction is lower than that of the flexible tube in the length direction; the take-up reel is rotatably disposed on the fixed base and is connected to the drive mechanism for transmission, and the drive mechanism is also used to drive the take-up reel to rotate in order to retract or release the flexible rope; when the flexible rope is retracted, it pulls the moving end to move towards the mounting base.

3. The telescopic arm structure according to claim 2, characterized in that, The drive mechanism includes a motor, a driving synchronous pulley, a first rotating shaft, a driven synchronous pulley, a synchronous belt, and a second rotating shaft. The motor is fixedly mounted on the fixed base. The driving synchronous pulley is connected to the output shaft of the motor. The driven synchronous pulley is connected to the first roller via the first rotating shaft, which is rotatably mounted on the fixed base and coaxially connected to the take-up reel. The synchronous belt connects the driving synchronous pulley and the driven synchronous pulley. The second rotating shaft is connected to the second roller and is rotatably mounted on the fixed base.

4. The telescopic arm structure according to claim 3, characterized in that, The first roller and the second roller are arranged in a group, and at least one group is provided; the first roller and the second roller are rigid wheels or flexible wheels.

5. The telescopic arm structure according to claim 3, characterized in that, The drive assembly further includes a mounting base, a motor mounting plate, a bearing support cover, a support bearing, and an adjustment plate; the mounting base is fixedly disposed on the fixed base, the motor mounting plate is fixedly disposed on the fixed base, and the motor is fixedly mounted on the motor mounting plate; the bearing support cover is fixedly disposed on the mounting base, and the two ends of the first rotating shaft are rotatably disposed on the bearing support cover and the mounting base respectively through the support bearing; the adjustment plate is disposed on the mounting base, and the second rotating shaft is rotatably connected to the mounting base.

6. The telescopic arm structure according to claim 5, characterized in that The mounting base plate is provided with mounting holes, and a kit is provided in the mounting holes. An adjusting screw is provided in the kit. The adjusting plate is connected to the mounting base plate through the adjusting screw. A spring is provided between the head of the adjusting screw and the mounting base plate. The spring is used to drive the adjusting plate and the second roller to move towards the first roller until the flexible tube is pressed between the first roller and the second roller.

7. The telescopic arm structure according to claim 1, characterized in that, The telescopic arm structure also includes a winding assembly, which is provided with a turntable or a storage groove. The turntable is rotatably disposed on the fixed base, and its outer surface is provided with a spiral groove adapted to the shape of the flexible tube. The end of the flexible tube opposite to the moving end is wound around the spiral groove of the turntable. The storage groove is disposed on the fixed base and is used to store a portion of the flexible tube.

8. The telescopic arm structure according to claim 1, characterized in that, The telescopic arm includes a sleeve assembly, which includes a plurality of sleeves nested in sequence. The sleeves can extend and retract along the length direction and are relatively fixed in the circumferential direction. The first-stage sleeve is configured as a fixed end and is fixedly connected to the fixed base, and the last-stage sleeve is configured as the movable end.

9. The telescopic arm structure according to claim 8, characterized in that An IMU is provided at the end of the sleeve in the final stage. The IMU is used to detect the end position and movement state of the sleeve assembly.

10. The telescopic arm structure according to claim 1, characterized in that, The telescopic arm structure also includes a wrist assembly disposed on the mobile end. The wrist assembly includes a first rotary servo, a second rotary servo, and an end effector rotary servo connected in sequence. The first rotary servo is mounted on the mobile end, and the end effector rotary servo is used to mount an end effector. The rotation planes of the first rotary servo, the second rotary servo, and the end effector rotary servo are perpendicular to each other to form a three-degree-of-freedom system.

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