CN111823269A - Measuring tape zipper type telescopic mechanical arm and design method thereof - Google Patents
Measuring tape zipper type telescopic mechanical arm and design method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention relates to a zipper type telescopic mechanical arm of a measuring tape, which comprises a telescopic arm part and a retraction mechanism part for releasing and retracting the telescopic arm; the telescopic arm is a non-solid telescopic arm which is made of flexible metal and has an equilateral triangle section and is called a steel belt; each two sides of the three steel belts are linked through the meshing structure of the zipper; in the structure of the retraction mechanism, two ends of a central shaft of each roller and each compression roller are respectively inserted into a roller mounting plate; a drive shaft with screw threads is arranged in the center of the bottom support plate; the driving shaft gear is concentrically and fixedly connected with the driving shaft; the motor gear is directly meshed with the driving shaft gear; the motor of the mechanism is arranged on the bottom supporting plate, is positioned beside the driving shaft and is fixed on the bottom mounting plate through screws; the three-sided steel belt is synchronously driven to extend and recover by the positive rotation and the reverse rotation of the motor; the cable isolation layer and the cable recovery coil spring are used for collecting and releasing cables of the telescopic boom tail end operation equipment passing through the inside of the telescopic boom.
Description
Technical Field
The invention relates to a measuring tape zipper type telescopic mechanical arm and a design method thereof, belonging to the field of mechanical design and control.
Background
The telescopic arm is an operation device which can expand the operation radius and reduce the storage volume by stretching. In the field of aerospace, the use of telescopic booms is of great importance. The telescopic arm can be used for detecting and maintaining the far end of the spacecraft (such as a solar sailboard), assisting the spaceman in working out of the cabin, guiding the rendezvous and docking of the spacecraft and the like. Therefore, telescopic arms are an important tool for performing space tasks.
The existing traditional telescopic boom has limitations in the aspects of telescopic boom and length-mass ratio, can consume too much storage space and carrying mass of a rocket, and is not suitable for being applied to the field of aerospace. Aiming at the current situation, the telescopic arm which is decomposed into a tape measure structure during storage and is assembled in real time by using a zipper structure during use is invented. The telescopic boom meets the special requirements of the telescopic boom in the aerospace field, and is particularly suitable for space operation. Meanwhile, the method has good application prospect in many traditional fields.
Disclosure of Invention
Objects of the invention
The invention aims to design a telescopic arm with high telescopic ratio and high length-mass ratio so as to reduce the weight and the storage volume of the telescopic arm, thereby being more suitable for being applied to the field of aerospace.
(II) technical scheme
The invention discloses a measuring tape zipper type telescopic mechanical arm, which mainly comprises the following two parts: the telescopic arm part and the retracting mechanism part release and recover the telescopic arm.
The telescopic arm is in a triangular prism shape, and is a non-solid telescopic arm which is made of flexible metal and has an equilateral triangle section, as shown in fig. 3. On three sides of the telescopic arm are three separate components, called "steel bands", as shown in fig. 2. Each two sides of the three-sided steel band are linked by a zipper-like engagement structure to form a stable arm structure, as shown in fig. 3. The engaging structure of such a slide fastener corresponds to the "slide fastener type" in the name of the invention. Oblique long-strip-shaped openings are formed in the three steel belts. And two mounting holes are respectively formed at the top ends of the three steel belts and are used for assembling the operation equipment at the tail end of the telescopic boom.
Fig. 4 is an assembly view showing a retracting mechanism for controlling the telescopic arm, and fig. 5 is an exploded view thereof.
In the structure of the retracting mechanism, there are three rollers 4 and three pinch rollers 5. Accordingly, there are three pairs of drum mounting plates 2. Both ends of the central shaft of each roller 4 and each pinch roller 5 are inserted into one roller mounting plate 2, respectively. The above process causes each pair of the roller mounting plates 2 to support the shaft ends of one roller 4 and one pressing roller 5, respectively. The three pairs of roller mounting plates 2 are distributed on the circular bottom support plate 1 at equal angles. The drum mounting plate cover plate 3 covers and fixes the tops of the three pairs of drum mounting plates 2 at the same time. The triangular prism shaped telescopic arm output member 7 is installed at the center position of the drum mounting plate cover plate 3.
In the centre of the bottom support plate 1, a drive shaft 9 with a thread is mounted. The drive shaft gear 10 is concentrically secured to the drive shaft 9 and is located on the bottom side of the bottom support plate 1. The motor gear 8 is directly engaged with the drive shaft gear 10, also located on the bottom side of the bottom support plate 1. The motor 6 of the mechanism is arranged on the bottom support plate 1 and is positioned beside the driving shaft 9, the motor is fixed on the bottom mounting plate 1 through screws, and the driving shaft of the mechanism passes through the bottom mounting plate 1 and directly drives the motor gear 8.
The motor 6 directly drives the motor gear 8; the motor gear 8 drives the drive shaft gear 10 and the drive shaft 9. The thread of the driving shaft 9 is matched with the oblique line long-strip-shaped hole of the three-side steel strip, and the three-side steel strip is synchronously driven to extend and recover by forward rotation and reverse rotation of the motor 6.
The cable isolation layers 11, 13 and the cable recovery coil spring 12 are used for winding and unwinding cables of the telescopic boom tip working equipment passing through the inside of the telescopic boom.
The whole telescopic arm mechanism is in the following operation mode: the three- sided steel belts 14, 15, 16 are wound around one drum 4. The steel strip end passes around the pinch roller 5 and is output from the center of the telescopic arm output member 7 as shown in fig. 1.
In the non-stretched recovery state, three steel belts are respectively rolled into a roll to achieve the storage form similar to a steel tape, which corresponds to the tape type in the invention name;
in the extension process of the telescopic arm, the motor 6 rotates forwards to drive the motor gear 8 to rotate forwards; the motor gear 8 drives the driving shaft gear 10 to rotate forwards, and further drives the driving shaft 9 to rotate forwards; the driving shaft 9 rotates forwards to drive the three coils of steel strips to be discharged outwards synchronously through the threads. At the pressing roller 5, the three-side steel belt is assembled into a telescopic arm in real time through a meshing structure similar to a zipper, and is output from the center of a telescopic arm output piece 7.
In the recovery process of the telescopic boom, the motor 6 rotates reversely, and the driving motor gear 8 rotates reversely; the motor gear 8 drives the driving shaft gear 10 to rotate reversely, so as to drive the driving shaft 9 to rotate reversely; the driving shaft 9 reversely rotates to drive the three coils of steel strips to be furled again through the threads. In the process, the engagement between every two steel belts is opened in real time, and each steel belt can be normally recycled.
The geometric design process of the telescopic boom is completed by SolidWorks software. The design process is also mainly divided into two parts: the design of the steel belt of the telescopic arm and the core function design of the retraction mechanism are formed.
A first part: the steel belt design of the telescopic arm is formed. The task requirements for analyzing the meshing structure between the steel strips are: under the straight meshing state, the meshing node for linking the two steel belts can not be easily opened and can not relatively move; the nodes are free to engage and disengage when the strip is bent to a certain curvature. Therefore, the design process of the steel strip forming the telescopic boom can be divided into three steps: establishing a steel belt parameterized model; establishing a steel belt dynamic meshing simulation model; and (4) adjusting parameters of the steel strip parametric model by combining the dynamic meshing simulation model, and finally finding out proper steel strip parameters. The curvature described above satisfies: the circumference of a circle drawn with this curvature is between 12 and 18 lengths of steel strip engaging elements, the specific value being determined by the design process.
The method comprises the following steps: and establishing a steel belt parameterized model. Using SolidWorks software, a rough model of the steel strip is first built. Each of the engagement units of the steel strip becomes a "node". The two side edges of each meshing node are bent and rounded to ensure that the meshing between the steel strips can be smoothly opened when the steel strips are bent. Meanwhile, in order to better position and ensure the fastening compactness of the steel belt, a small tooth is added at the opposite side of each node; and corresponding small tooth holes are dug on the nodes for inserting the small teeth on the opposite side.
Through the process, a parameterized model is established, and the parameters are divided into six groups: the included angle between the outer edge of the node and the extending direction of the steel strip; the angle formed by the fold and the outside of the node; the angle of the bend; radius of node fillet; the length and height of the upper and lower bottoms of the trapezoidal small teeth; the length and height of the upper and lower bottoms of the openings corresponding to the trapezoidal small teeth.
Step two: and establishing a steel belt dynamic meshing simulation model. According to the above analysis of the requirements of the steel strip for the task, the steel strip to be engaged is always maintained at a constant curvature at the point of engagement. The curvature described above satisfies: the circumference of a circle drawn with this curvature is between 12 and 18 lengths of steel strip engaging elements, the specific value being determined by the design process. Thus, the dynamic process of steel strip engagement can be equated as: bending the steel strip to make the curvature radius equal to the curvature radius of the ideal meshing part; two steel strip models bent according to the requirements are placed at an included angle of 60 degrees (the included angle is the same as that of two steel strips in the actual steel strip meshing process), and a continuous meshing process similar to gear meshing is carried out. And (3) establishing a cylindrical steel strip dynamic simulation model through the analysis, and if the parameters meet the task requirements, continuously meshing the two cylindrical steel strips without interference. The mating configuration of the two steel strips during engagement is shown in figure 7.
Step three: and (5) regulating the parameters. First, the approximate interval and search step size of each set of parameters are determined by trial and error. Then, according to a lattice point search method, whether each group of parameter combination in the interval can enable the dynamic meshing model to operate correctly is inspected, and whether the steel belt parametric models can be fastened firmly with each other is inspected; if one of the parameters cannot be satisfied, the set of parameters is not feasible, and the next set of parameters is considered. The above process continues until a feasible solution is searched.
A second part: the core function design of the steel belt retraction mechanism. The steel strip retraction mechanism needs to meet the following functional requirements: synchronously winding and unwinding three steel belts; the curvature of the three-side steel belt at the meshing position accords with the curvature of a dynamic meshing simulation model in the steel belt design process. Through the analysis, the core function design of the radio and tape player can be divided into two steps: the driving mode design of a mechanism for ensuring synchronous winding and unwinding of three steel belts is realized; and the measure design for ensuring that the curvature of the three-side steel belt meshing part meets the meshing requirement is adopted.
The method comprises the following steps: and designing a mechanism driving mode. The motor 6 drives the motor gear 8 to drive the drive shaft gear 10 and the drive shaft 9. The thread of the driving shaft 9 is matched with the oblique line long-strip-shaped hole of the three-side steel strip so as to synchronously drive the three-side steel strip to extend and recover through the positive rotation and the reverse rotation of the motor 6. Therefore, synchronous winding and unwinding of the three-sided steel belt is realized through the single motor. Wherein, the major diameter of the drive shaft 9 with screw thread must cut with the three-sided steel band; the steel strip is provided with corresponding oblique holes, the oblique angle of the oblique holes is equal to the lead angle of the threads of the driving shaft 9, and the distance between every two holes is equal to the thread pitch of the threads of the driving shaft 9.
Step two: measures are designed to ensure that the curvature of the engagement is satisfactory. And adding rollers at the meshing positions of each roll of steel belt, wherein the curvature radius of the rollers is consistent with the curvature radius verified in the dynamic simulation model. The roller is the pressure roller 5 in the mechanism assembly.
(III) advantageous effects
The invention realizes a flexible mechanical arm of a tape zipper type, which has the main advantages that:
the telescopic boom is disassembled for storage, and is assembled in real time during use, so that the storage space is greatly reduced compared with the traditional telescopic boom, and the telescopic ratio is obviously improved. Compared with the traditional telescopic arm, the theoretical calculation value of the telescopic ratio is increased to more than 6 times, and the actually measured telescopic ratio of the principle prototype is increased to more than 2 times;
the telescopic arm in the non-solid triangular prism shape designed through the structural stability greatly reduces the quality of the telescopic arm, so that the length-to-mass ratio is improved. Compared with the traditional telescopic arm, the theoretical calculation value and the principle prototype measured value are respectively improved to more than 13 times and 11 times.
The realization principle and the structural design of the telescopic boom determine that the telescopic boom can be extended at any time and can be stopped at any time, so that the length of the telescopic boom is controlled very flexibly.
In rocket-borne missions, the storage space and the bearing mass (weight) of the rocket are extremely scarce resources. And meanwhile, the flexibility requirement of the telescopic boom is high due to space operation. The advantages make it suitable for the aerospace field. Meanwhile, the telescopic boom is suitable for the conditions of higher requirements on the size, weight and extension length of the telescopic boom. Therefore, the excellent application effect can be achieved in many fields. If used for reconnaissance: a lifting camera is added on a ground carrier (such as an unmanned scout car, a lunar vehicle, a tank, an armored car and the like) so that the ground carrier has a higher scout position; and the fixed position hiding of the lifting camera is realized by utilizing environment camouflage. And the device is also used for overhauling in a narrow and long space, such as a pipeline, a chimney, a deep well, a nuclear reactor and the like.
Drawings
FIG. 1 is an overall assembly view of the present invention.
FIG. 2 is a structure diagram of a single-sided steel strip and a parameterized model of the steel strip.
Fig. 3 is a configuration view of the telescopic arm.
Fig. 4 is an assembly view of the pick and place mechanism.
Fig. 5 is an exploded view of the pick and place mechanism.
Fig. 6 and 7 show the fitting state during the engagement of the steel strips.
The numbers in the figure illustrate the following:
| serial number | Name (R) | Serial number | Name (R) |
| 1 | Bottom support plate | 9 | |
| 2 | Cylinder mounting plate (three pairs) | 10 | |
| 3 | Roller mounting |
11 | |
| 4 | Roller (three in all) | 12 | Cable |
| 5 | Pressure roller (three in all) | 13 | Cable insulation layer 1 |
| 6 | |
14 | |
| 7 | Telescopic |
15 | Steel strip 1 |
| 8 | |
16 | |
Detailed Description
Example one: solar panel inspection for manned spacecraft
According to the design method described above, the steel strip design is first performed.
The first step is as follows: and establishing a steel belt parameterized model. The width of the steel belt is 100mm, the width of the node is 15mm, and the length of the node is 30 mm.
The second step is that: and establishing a steel belt dynamic meshing simulation model. Taking an ideal steel belt with the engagement radius of 150 mm. Bending the steel strip by taking the ideal meshing radius as a curvature radius; and (3) matching two steel belts bent according to the process at an included angle of 60 degrees to establish a steel belt dynamic meshing simulation model.
The third step: and (5) regulating the parameters. Combining the dynamic simulation model and the steel strip parametric model to perform parameter trial and error, and determining search intervals and search step lengths of six groups of parameters of the steel strip as follows: the search interval of the included angle between the outer edge of the node and the extending direction of the steel strip is 60-80 degrees, and the search step length is 5 degrees; the searching interval of the angle formed by the crease and the outer edge of the node is 20-40 degrees, and the searching step length is 5 degrees; the search interval of the bending angle is 40-60 degrees, and the search step length is 5 degrees; the searching interval of the radius of the node rounded corner is 2mm-4mm, and the searching step length is 1 mm; the search interval of the upper bottom of the trapezoidal small tooth is 2mm-4mm, the search interval of the lower bottom is 5mm-8mm, the search interval of the high bottom is 4mm-6mm, and the search step length is 1 mm; the search interval of the upper bottom of the opening corresponding to the trapezoidal small teeth is 4mm-6mm, the search interval of the lower bottom is 7mm-10mm, the search interval of the high is 4mm-6mm, and the search step length is 1 mm.
And (4) using a lattice point search method to examine the feasibility of various parameter combinations one by one until a set of feasible parameter solutions is found. The parameter adjusting result is as follows: the included angle between the outer edge of the node and the extending direction of the steel strip is 75 degrees; the angle formed by the crease and the outer edge of the node is 30 degrees; the bending angle is 50 degrees; the radius of the node fillet is 3 mm; the upper bottom of the trapezoidal small tooth is 3mm, the lower bottom is 6mm, and the height is 5 mm; the upper bottom of the opening corresponding to the trapezoidal small tooth is 5mm, the lower bottom is 8mm, and the height is 5 mm.
The pick-and-place mechanism adopts the core function design of the pick-and-place mechanism in the second part of the design method.
The steel strip material adopts No. 301 stainless steel; the material of the retraction mechanism adopts aluminum alloy;
according to the parameter scheme, the flexible arm with the weight of less than 20 kg and the extension length of more than 10m can be realized. And a camera is arranged at the tail end of the telescopic arm.
By the scheme, the inspection arm of the spacecraft can be built with low weight cost and low space cost. The telescopic arm is arranged on the manned spacecraft main body close to the solar battery sailboard, so that the extension direction of the telescopic arm faces to the extension direction of the solar battery sailboard. The working radius of which may cover the distal end of the solar panel.
When the solar battery sailboard of the manned spacecraft breaks down, the motor 6 rotates forwards to drive the motor gear 8 to rotate forwards; the motor gear 8 drives the driving shaft gear 10 to rotate forwards, and further drives the driving shaft 9 to rotate forwards; the driving shaft 9 rotates forwards to drive the three coils of steel strips to be discharged outwards synchronously through the threads. At the pressing roller 5, three steel belts are assembled into a telescopic arm in real time through a meshing structure similar to a zipper. The camera installed at the tail end of the telescopic arm is released along with the telescopic arm, the solar battery sailboard is inspected through the camera, the fault position and the fault reason can be efficiently checked, and convenience is brought to the extravehicular operation and maintenance task of the spacecraft.
And after the inspection task is finished, the telescopic arm is recovered. The motor 6 rotates reversely to drive the motor gear 8 to rotate reversely; the motor gear 8 drives the driving shaft gear 10 to rotate reversely, so as to drive the driving shaft 9 to rotate reversely; the driving shaft 9 rotates reversely to drive the three steel coils to retract synchronously through the threads. And the three steel belts are respectively rolled into a roll. At the pinch rollers 5, the mesh between the three steel strips opens in real time. Finally, the telescopic arm is completely recycled, and a very small storage space is occupied during storage.
Compared with telescopic arms in other forms, the telescopic arm has the advantages that the cost of storage space and the cost of load carrying consumed by using the telescopic arm are obviously reduced. If the invention is combined with other platforms providing extra degrees of freedom, a spacecraft operating arm with more flexibility and stronger operating capability can be realized, and the application potential of the spacecraft operating arm is greatly improved.
Example two: for reconnaissance
According to the previous design method, the steel strip design was first performed as in example 1.
The first step is as follows: and establishing a steel belt parameterized model. The width of the steel strip is 35mm, the width of a node is 5mm, and the length of the node is 10 mm;
the second step is that: and establishing a steel belt dynamic meshing simulation model. The ideal engagement radius was taken to be 50 mm. And establishing a dynamic simulation model by the method of the same example I.
The third step: and (5) regulating the parameters. The search interval and the search step length of the six groups of parameters are as follows: the search interval of the included angle between the outer edge of the node and the extending direction of the steel strip is 60-80 degrees, and the search step length is 5 degrees; the searching interval of the angle formed by the crease and the outer edge of the node is 20-40 degrees, and the searching step length is 5 degrees; the search interval of the bending angle is 40-60 degrees, and the search step length is 5 degrees; the searching interval of the radius of the node rounded corner is 1mm-2mm, and the searching step length is 0.5 mm; the search interval of the upper bottom of the trapezoidal small tooth is 1mm-2mm, the search interval of the lower bottom is 2mm-3mm, the search interval of the upper bottom is 1mm-2mm, and the search step length is 0.5 mm; the search interval of the upper bottom of the opening corresponding to the trapezoidal small teeth is 1mm-3mm, the search interval of the lower bottom is 2mm-4mm, the search interval of the high bottom is 1mm-2mm, and the search step length is 0.5 mm.
After parameter adjustment, determining the sizes of six groups of parameters of the steel belt as follows: the included angle between the outer edge of the node and the extending direction of the steel strip is 75 degrees; the angle formed by the crease and the outer edge of the node is 30 degrees; the bending angle is 50 degrees; the radius of the node fillet is 1 mm; the upper bottom of the trapezoidal small tooth is 1mm, the lower bottom is 2mm, and the height is 1.5 mm; the upper bottom of the opening corresponding to the trapezoidal small tooth is 1.5mm, the lower bottom is 2.5mm, and the height is 1.5 mm.
The design of the core function of the radio and tape player is the same as that of the second part of the design method.
The steel strip material adopts No. 301 stainless steel; the material of the retraction mechanism adopts aluminum alloy;
according to the parameter scheme, the flexible arm with the weight of less than 5 kg and the extension length of more than 3m can be realized. The camera is arranged at the tail end of the telescopic arm, so that the lifting camera with strong telescopic capacity, small overall size and light weight is realized.
The facility is buried in the earth around valuable ground targets (such as banks, military bases, etc.) while being somewhat hidden by environmental camouflage.
When a reconnaissance task is required, the motor 6 rotates forwards to drive the motor gear 8 to rotate forwards; the motor gear 8 drives the driving shaft gear 10 to rotate forwards, and further drives the driving shaft 9 to rotate forwards; the driving shaft 9 rotates forwards to drive the three coils of steel strips to be discharged outwards synchronously through the threads. At the pressing roller 5, three steel belts are assembled into a telescopic arm in real time through a meshing structure similar to a zipper. The camera arranged at the tail end of the telescopic arm rises along with the telescopic arm to perform reconnaissance activities. Since the telescopic arm lever is thin, the mechanism is also hidden even in the state of lifting operation. Because the telescopic arm can be extended to more than 3m, the lifting camera can see the other sides of a plurality of enclosing walls, and the reconnaissance capability is strong.
When the work is not needed, the motor 6 rotates reversely, and the driving motor gear 8 rotates reversely; the motor gear 8 drives the driving shaft gear 10 to rotate reversely, so as to drive the driving shaft 9 to rotate reversely; the driving shaft 9 rotates reversely to drive the three steel coils to retract synchronously through the threads. And the three steel belts are respectively rolled into a roll. At the pinch rollers 5, the mesh between the three steel strips opens in real time. And finally, the telescopic arm is retracted, and the whole mechanism is completely hidden.
Similarly, the mechanism is arranged on the unmanned reconnaissance vehicle, so that the unmanned reconnaissance vehicle has stronger reconnaissance capability.
Claims (10)
1. The utility model provides a flexible arm of tape measure zip fastener type which characterized in that: the method comprises the following two parts: a telescopic arm part and a retraction mechanism part for releasing and retracting the telescopic arm;
the telescopic arm is in a triangular prism shape, and is made of flexible metal and is a non-solid telescopic arm with an equilateral triangle section; three sides of the telescopic arm are three independent components called steel belts; each two sides of the three steel belts are connected through a meshing structure of the zipper to form a stable arm structure;
in the structure of the retraction mechanism, three rollers and three pressing rollers are respectively arranged; the roller mounting plates are three pairs; the two ends of the central shaft of each roller and each compression roller are respectively inserted into a roller mounting plate; each pair of roller mounting plates respectively support the shaft ends of a roller and a compaction roller;
a drive shaft with screw threads is arranged in the center of the bottom support plate; the driving shaft gear is concentrically and fixedly connected with the driving shaft and is positioned at the bottom side of the bottom supporting plate; the motor gear is directly meshed with the driving shaft gear and is also positioned at the bottom side of the bottom supporting plate; the motor of the mechanism is arranged on the bottom supporting plate and beside the driving shaft, and is fixed on the bottom mounting plate through a screw, and the driving shaft of the mechanism passes through the bottom mounting plate to directly drive the motor gear;
the motor directly drives the motor gear; the motor gear drives the driving shaft gear and the driving shaft; the threads of the driving shaft are matched with the oblique long-strip-shaped openings of the three-side steel strip, and the three-side steel strip is synchronously driven to extend and recover by forward rotation and reverse rotation of the motor;
the cable isolation layer and the cable recovery coil spring are used for collecting and releasing cables of the telescopic boom tail end operation equipment passing through the inside of the telescopic boom.
2. A tape measure zipper type telescopic arm as claimed in claim 1, wherein: oblique long-strip-shaped openings are formed in the three steel belts; and two mounting holes are respectively formed at the top ends of the three steel belts and are used for assembling the operation equipment at the tail end of the telescopic boom.
3. A tape measure zipper type telescopic arm as claimed in claim 1, wherein: the three pairs of roller mounting plates are distributed on the circular bottom supporting plate at equal angles; the roller mounting plate cover plate covers and fixes the tops of the three pairs of roller mounting plates simultaneously; the triangular prism-shaped telescopic arm output piece is arranged at the center of the cover plate of the roller mounting plate.
4. A tape measure zipper type telescopic arm as claimed in claim 1, wherein: the three-side steel belt is respectively wound on a roller, and the end head of the steel belt is output from the center of the telescopic arm output piece by bypassing the compression roller.
5. A tape measure zipper type telescopic arm as claimed in claim 1, wherein: and in the non-stretched recovery state, the three steel belts are respectively rolled into a roll to achieve the storage shape of the steel tape.
6. A tape measure zipper type telescopic arm as claimed in claim 1, wherein: in the extension process of the telescopic arm, the motor rotates forwards to drive the motor gear to rotate forwards; the motor gear drives the driving shaft gear to rotate forwards so as to drive the driving shaft to rotate forwards; the driving shaft rotates forwards to drive the three coils of steel strips to be discharged outwards synchronously through the threads; and at the pressing roller, the three-side steel belt is spliced into the telescopic arm in real time through a meshing structure similar to a zipper and is output from the center of the telescopic arm output piece.
7. A tape measure zipper type telescopic arm as claimed in claim 1, wherein: in the recovery process of the telescopic arm, the motor rotates reversely to drive the motor gear to rotate reversely; the motor gear drives the driving shaft gear to rotate reversely, so as to drive the driving shaft to rotate reversely; the driving shaft reversely rotates to drive the three coils of steel strips to be reeled again through the threads; the engagement between every two steel belts is opened in real time, and the normal recovery of each steel belt is ensured.
8. A design method of a tape measure zipper type telescopic mechanical arm is divided into two parts and is characterized in that:
a first part: the design of the steel belt forming the telescopic boom; the task requirements of the meshing structure between the steel belts are as follows: under the straight meshing state, the meshing node for linking the two steel belts can not be easily opened and can not relatively move; under the condition that the steel belt is bent to a certain curvature, the node is freely meshed and disengaged; the curvature described above satisfies: a circle drawn with the curvature and having a circumference between 12 and 18 steel strip engagement unit lengths;
a second part: designing the core function of a steel belt retraction mechanism; the steel strip retraction mechanism needs to meet the following functional requirements: synchronously winding and unwinding three steel belts; the curvature of the three-side steel belt at the meshing position accords with the curvature of a dynamic meshing simulation model in the steel belt design process.
9. A method of designing a slide fastener type telescopic arm for a tape measure according to claim 8, wherein: the first part specifically comprises:
step 1.1: establishing a steel belt parameterized model; firstly, establishing a rough model of a steel belt; each engagement unit of the steel strip becomes a node; the two side edges of each meshing node are bent and rounded to ensure that the meshing between the steel strips is smoothly opened when the steel strips are bent; meanwhile, the buckling compactness of the steel belt is ensured, and a small tooth is added on the opposite side of each node; corresponding small tooth holes are dug in the nodes and used for inserting small teeth on the opposite side;
there are six groups of parameters: including the included angle between the outer edge of the node and the extending direction of the steel strip; the angle formed by the fold and the outside of the node; the angle of the bend; radius of node fillet; the length and height of the upper and lower bottoms of the trapezoidal small teeth; the length and the height of the upper bottom and the lower bottom of the opening corresponding to the trapezoidal small teeth;
step 1.2: establishing a steel belt dynamic meshing simulation model; according to the analysis of the requirements of the steel strip tasks, a constant curvature is always kept at the meshing part, namely the steel strip to be meshed; the curvature described above satisfies: a circle drawn with the curvature and having a circumference between 12 and 18 steel strip engagement unit lengths; thus, the dynamic process of meshing the steel strips is equivalent to: bending the steel belt to make the curvature radius equal to the artificial ideal curvature radius of the meshing part; placing two steel strip models bent according to requirements according to an included angle of 60 degrees, and carrying out a continuous meshing process of gear meshing; if the parameters meet the task requirements, the two cylindrical steel belts are subjected to a continuous meshing process without interference;
step 1.3: adjusting the parameters; firstly, determining an approximate interval and a search step length of each group of parameters through trial and error; then, according to a lattice point search method, whether each group of parameter combination in the interval can enable the dynamic meshing model to operate correctly is inspected, and whether the steel belt parametric models can be fastened firmly with each other is inspected; if one of the parameters cannot be met, the group of parameters is not feasible, and the next group of parameters is considered; the above process continues until a feasible solution is searched.
10. A tape measure zipper type telescopic arm as claimed in claim 8, wherein: the second part specifically comprises:
step 2.1: designing a mechanism driving mode; the motor drives the motor gear to drive the driving shaft gear and the driving shaft; the threads of the driving shaft are matched with the oblique long-strip-shaped openings of the three-side steel strip, and the three-side steel strip is synchronously driven to extend and recover by forward rotation and reverse rotation of the motor; therefore, synchronous winding and unwinding of the three-sided steel belt is realized through the single motor; wherein, the major diameter of the drive shaft with screw thread must cut with the three-sided steel band; corresponding oblique holes are formed in the steel belt, the oblique angle of each oblique hole is equal to the lead angle of the driving shaft thread, and the distance between every two oblique holes is equal to the thread pitch of the driving shaft thread;
step 2.2: designing measures for ensuring that the curvature of the meshing part meets the requirements; adding a roller at the meshing position of each roll of steel belt, wherein the curvature radius of the roller is consistent with the curvature radius verified in the dynamic simulation model; the roller is a pressing roller in the mechanism assembly.
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