With the rapid development of science and technology, optical-electromechanical integration technology has emerged. Optical-mechanical-electrical integration technology is a comprehensive application of group technologies such as mechanical technology, optoelectronic technology, electronic technology, and computer technology. Optical-mechanical-electrical integration technology involves many industries such as machinery manufacturing, transportation, home appliances, instrumentation, medical care, and toy entertainment, and plays an important role in industrial and economic development. In information technology, biology, space, oceans, new materials, new energy and other high-tech fields, the informatization and modernization of national defense equipment and the transformation of traditional industries cannot be separated from the development of optical-mechanical-electrical integration technologies.
The development of optical-mechanical-mechanical integration technology is rapid, and various technologies are being separated from the original technology system, with strong system characteristics and relatively independent research and application fields. With the development of microelectronics and microsystems technology, the application and development of the electromechanical integration technology has entered a new stage. Mechanical and electrical products and optical-mechanical and electro-mechanical products have become the main products of home appliances, medical equipment, toys and other industries; optical-mechanical and electromechanical integration technologies have played an important role in the transformation of industrial equipment and improving the accuracy and efficiency of manufacturing equipment; optical-mechanical-electrical integration technologies in aerospace and defense The development of intelligent robots and other areas that highlight the country's overall strength are even more prominent.
The book “Common Mechanisms for Optical-Mechatronics Systems†includes the design theory, basic composition, mechanism features, key technologies, typical cases, and application characteristics of common mechanisms used in optical-mechanical-mechanical-mechanical integration systems, including CNC machine tools, machining centers, and Examples of common mechanisms used in classical electro-mechanical and electromechanical products, such as coordinate measuring instruments, tool microscopes, industrial robots, and laser printers, systematically describe the compositional characteristics and application characteristics of the mechanisms included in these products. Laser cutting machines, photoelectric theodolites, and wheels are also introduced. For example, practical mechanisms such as crawler robots, biomimetic robots, CT scanners, and optical disk drives have emerged. The compositional characteristics and application characteristics of the mechanisms included in these devices have been analyzed in detail, and an optical-mechanical-electromechanical integration system has been demonstrated. New technologies and new achievements of common institutions.
"Mechanical and electromechanical integration systems commonly used institutions" published by the Machinery Industry Press.
Variable shape crawler robot
The so-called variable-shape crawler robot means that the configuration of the crawler used by the robot can be appropriately changed according to the terrain conditions and operation requirements. Figure 8-44 shows the outline of a variable shape crawler robot. The main part of the robot is two tracks of variable shape, driven by two main motors, respectively. When the two tracks are at the same speed, the robot moves forward or backward; when the two tracks have different speeds, the robot performs steering movement. When the main boom rotates around the axis on the crawler frame, it drives the planet wheels to rotate, thereby implementing different configurations of the crawler tracks to suit different sports and working environments (see Figure 8-45).
Figure 8-46 shows a schematic view of a deformed track drive. The main motor drives the drive wheel to move the track. The main arm motor meshes with the pinion 1 of the motor coaxially to drive the main arm lever to rotate on the one hand; on the other hand, it drives the sprocket to rotate through the meshing of the gear 2, the gear 3 and the gear 4, and the sprocket further makes the chain pass through the chain. Install the planet's crank. Because gears 1 and 4 and gears 2 and 3 have the same number of teeth, the rotational speeds of gear 1 and gear 4 are the same and the directions are reversed. Together with the equal number of sprocket teeth at both ends of the chain, when the main arm motor is working, the angle of rotation of the main boom is equal to the absolute angle of the crank and the direction is opposite.
Figure 8-47 shows the calculation of the orbit of the planet's wheel center. It can be derived from the diagram that the orbit of the planet's center P can meet the following formula:
Obviously, equation (8-4) is a standard ellipse equation, which means that the robot's track can stay tight without any change in shape.
2. Variable position crawler robot
The variable position crawler robot refers to a crawler robot that can change its position with respect to a vehicle body. This change of position can be either one degree of freedom or two degrees of freedom. Figure 8-48 shows a two-degrees-of-freedom displacement caterpillar robot. Each crawler can be deflected around the horizontal axis and vertical axis of the vehicle body to change the overall configuration of the robot.
Figure 8-49 is a schematic diagram of the above-mentioned displacement crawler robot transmission mechanism. From Fig. 8-49a we can see that when the A-axis rotates, the pair of bevel gears are engaged to transmit the motion to the drive wheel to drive the crawler; when the B-axis rotates, the other pair of bevel gears mesh to drive the The crawler attached to the crawler frame shifts the track around the axis of the drive shaft; when the C-axis is driven, the crawler, together with its mounting frame, rotates relative to the vehicle body about the C axis to change its position. The three axes A, B, and C are driven by a single motor. By switching the three clutches A, B, and C, they can realize different transmission routes. For details, see Figure 8-49b.
Displaced tracked robots combine the advantages of crawler robots and omnidirectional wheeled robots. When the caterpillar tracks are displaced in the direction of one degree of freedom, they can be used to climb ladders and across ditches (see Figure 8-50). When the caterpillar tracks are displaced in the direction of another degree of freedom, it is possible to achieve full-scale walking of the car body. (See Figure 8-51).
The above content was selected from the “Mechanical and Electromechanical Systems Common Organizations†published by the Machinery Industry Press.
Author: Luo Qingsheng, eds ISBN: 978-7-111-25512-3
Pricing: 38.00 yuan
Book Content Consulting Telephone -
Book purchase site: